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Clement Gosselin
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Journal Articles

Reorientation of Free-Falling Legged Robots

Mark Charlet, Clément Gosselin
Journal: ASME Open Journal of Engineering
Publisher: ASME
Article Type: Research Papers
ASME Open J. Engineering. January 2022, 1: 011009.
Paper No: AOJE-21-1009
https://doi.org/10.1115/1.4053897
Published Online: March 4, 2022
View Article titled, Reorientation of Free-Falling Legged Robots
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Topics: Robots, Kinematics, Rotation
Proceedings Papers

Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism

Louis-Thomas Schreiber, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A038, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85322
https://doi.org/10.1115/DETC2018-85322
View Paper titled, Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism
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Topics: Kinematics, Parallel mechanisms, Redundancy (Engineering), Actuators, Degrees of freedom, Stress, Trajectories (Physics)
Proceedings Papers

Dynamic Trajectory Planning and Geometric Design of a Two-DOF Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop

Jordan M. Longval, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A030, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85138
https://doi.org/10.1115/DETC2018-85138
View Paper titled, Dynamic Trajectory Planning and Geometric Design of a Two-DOF Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop
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Topics: Cables, Design, Robots, Trajectories (Physics), Algebra, Actuators, Dynamic models, End effectors, Kinematics, Oscillations
Proceedings Papers

Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators

Mark Charlet, Élodie Marcellini, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A014, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85395
https://doi.org/10.1115/DETC2018-85395
View Paper titled, Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators
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Topics: Manipulators, Projectiles, Trajectories (Physics), Robots, Interpolation, Polynomials
Proceedings Papers

Kinematic and Workspace Modelling of a 6- P US Parallel Mechanism

Jérôme Landuré, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A049, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86122
https://doi.org/10.1115/DETC2018-86122
View Paper titled, Kinematic and Workspace Modelling of a 6- P US Parallel Mechanism
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Topics: Kinematics, Modeling, Parallel mechanisms, Algorithms, Architecture, Jacobian matrices, Kinematic analysis
Proceedings Papers

Optimization of the Singularity Locus of a Novel Kinematically Redundant Spherical Parallel Manipulator

Jérôme Landuré, Clément Gosselin
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A016, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67840
https://doi.org/10.1115/DETC2017-67840
View Paper titled, Optimization of the Singularity Locus of a Novel Kinematically Redundant Spherical Parallel Manipulator
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Topics: Architecture, Design, Jacobian matrices, Manipulators, Optimization, Robots
Proceedings Papers

Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction

Meiying Zhang, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A062, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59205
https://doi.org/10.1115/DETC2016-59205
View Paper titled, Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction
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Topics: Design, Human-robot interaction, Torque, Springs, Manipulators, Stiffness
Proceedings Papers

Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations

Xiaoling Jiang, Clément Gosselin
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A051, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46369
https://doi.org/10.1115/DETC2015-46369
View Paper titled, Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations
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Topics: Cables, Equations of motion, Robots, Trajectories (Physics), Differential equations, Kinematics, Dynamic modeling, Jacobian matrices, Pendulums, Tension
Proceedings Papers

Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters

Meiying Zhang, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A003, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46486
https://doi.org/10.1115/DETC2015-46486
View Paper titled, Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
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Topics: Robots, Torque, End effectors, Safety, Human-robot interaction
Proceedings Papers

Dynamically Feasible Trajectories for Three-DOF Planar Cable-Suspended Parallel Robots

Xiaoling Jiang, Clément Gosselin
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A085, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34419
https://doi.org/10.1115/DETC2014-34419
View Paper titled, Dynamically Feasible Trajectories for Three-DOF Planar Cable-Suspended Parallel Robots
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Topics: Cables, Robots, Trajectories (Physics), Dynamic modeling, Kinematics, Pendulums, Tension
Proceedings Papers

On the Direct Static Problem of a Planar Rigid Body Suspended From Two Cables

Pascal Dion-Gauvin, Clément Gosselin
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A098, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35330
https://doi.org/10.1115/DETC2014-35330
View Paper titled, On the Direct Static Problem of a Planar Rigid Body Suspended From Two Cables
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Topics: Cables, Polynomials, Equilibrium (Physics)
Proceedings Papers

Design and Experimental Validation of a Two-Degree-of-Freedom Force Illusion Device

Nicolò Pedemonte, Frédérik Berthiaume, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A002, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34375
https://doi.org/10.1115/DETC2014-34375
View Paper titled, Design and Experimental Validation of a Two-Degree-of-Freedom Force Illusion Device
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Topics: Design, Haptics, Parallel mechanisms
Proceedings Papers

Polynomial Inverse Kinematic Solution of the Jaco Robot

Clément Gosselin, Hanwei Liu
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A055, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34152
https://doi.org/10.1115/DETC2014-34152
View Paper titled, Polynomial Inverse Kinematic Solution of the Jaco Robot
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Topics: Kinematics, Polynomials, Robots, End effectors, Equations of motion
Proceedings Papers

On the Design of a Portable Force Illusion Device for Navigation Aids

Jacobus W. M. Wever, Clement Gosselin, Just L. Herder
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A004, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12374
https://doi.org/10.1115/DETC2013-12374
View Paper titled, On the Design of a Portable Force Illusion Device for Navigation Aids
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Topics: Design, Navigation, Engineering prototypes, Engines, Gravity (Force), Haptics, Kinematics, Mechatronic devices, Motors, Shapes
Proceedings Papers

Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators

Xianwen Kong, Damien Chablat, Stéphane Caro, Jingjun Yu, Clément Gosselin
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A047, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12575
https://doi.org/10.1115/DETC2013-12575
View Paper titled, Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators
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Topics: Chain, Manipulators, Redundant manipulators, Kinematics, Degrees of freedom, Generators, Parallel mechanisms, Screws
Proceedings Papers

Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully-Specified Paths With G 1 Discontinuities

Eric Barnett, Clément Gosselin
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A065, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12108
https://doi.org/10.1115/DETC2013-12108
View Paper titled, Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully-Specified Paths With G 1 Discontinuities
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Topics: Cables, Parallel mechanisms, Trajectories (Physics), Manufacturing, Robotics, Robots, Tension
Proceedings Papers

On the Force Capabilities of Two-Degree-of-Freedom Planar Parallel Mechanisms Equipped With Torque Limiters

Wei Chen, Clément Gosselin
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A044, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12379
https://doi.org/10.1115/DETC2013-12379
View Paper titled, On the Force Capabilities of Two-Degree-of-Freedom Planar Parallel Mechanisms Equipped With Torque Limiters
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Topics: Parallel mechanisms, Torque, Robots, Safety, Design, End effectors, Jacobian matrices, Architecture
Proceedings Papers

Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism

Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A001, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12107
https://doi.org/10.1115/DETC2013-12107
View Paper titled, Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism
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Topics: Engineering prototypes, Inertia (Mechanics), Parallel mechanisms
Proceedings Papers

Complete Moment Balancing of Contra Planar 5R Linkages

Brian Moore, Clément Gosselin
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 411-418, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70034
https://doi.org/10.1115/DETC2012-70034
View Paper titled, Complete Moment Balancing of Contra Planar 5R Linkages
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Topics: Linkages
Proceedings Papers

On the Design of Mechanically Programmable Underactuated Anthropomorphic Robotic and Prosthetic Grippers

Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 85-94, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70705
https://doi.org/10.1115/DETC2012-70705
View Paper titled, On the Design of Mechanically Programmable Underactuated Anthropomorphic Robotic and Prosthetic Grippers
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Topics: Artificial limbs, Design, Grippers, Robotics, Engineering prototypes, Design engineering, Geometry, Grasping, Levers, Synchronization