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Guillaume Aiche

dblp:228/9820 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2020
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 61% Robot manipulation · 39%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation › medical robotics
needle manipulation		 0.412020
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation* · ICRA 2020
Robotics › Motion planning and robot control
robot control		 0.412020
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation* · ICRA 2020
Robotics › Motion planning and robot control › robot control › impedance control
stiffness control		 0.412020
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation* · ICRA 2020
Robotics › Robot manipulation › robot design
mechanism design		 0.112020
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation* · ICRA 2020

Methods — techniques the papers use, named apart from their topics

position tracking · 0.4analytical stiffness modeling · 0.4
YearPublicationVenuePosition
2020 Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation*
abstract
This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is established, and a control methodology is proposed. A prototype of the robot is developed and assessed experimentally. The position tracking is evaluated using a 6-DOF magnetic tracker sensor showing a root mean square error less than 0.8° in both directions of the needle guide.
J. R. Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet
 ICRA2