Gérard POISSON
103
Documents
Publications
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Artificial Potential Field APF-based Obstacle Avoidance Technique for Robot Arm Teleoperation27th International Conference on Methods and Models in Automation and Robotics (MMAR), Aug 2023, Międzyzdroje, Poland
Conference papers
hal-04491145v1
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PHRI Safety Control Using a Virtual Flexible Joint ApproachICINCO, Jul 2020, Paris, France
Conference papers
hal-02898816v1
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Évolution des architectures mécaniques des robots médicauxCongrès Français de Mécanique 2019, Aug 2019, Brest, France
Conference papers
hal-02284438v1
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Robotic Manipulator for Positioning a Magnetic Actuator Dedicated to Drug Delivery in the CochleaJournées d'Etude sur la TéléSanté, Sorbonne Universités, May 2019, Paris, France
Conference papers
hal-02161049v1
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Permanent Magnets based Actuator for Microrobots Navigation2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, France. pp.7062-7067, ⟨10.1109/IROS40897.2019.8968558⟩
Conference papers
hal-02898365v1
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Variable Stiffness Mechanism for Robotic RehabilitationIFToMM WC 2019, Jun 2019, Krakow, Poland
Conference papers
hal-02284442v1
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A novel remote-center-of-motion serial manipulator for inner ear drug deliveryIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM-2018), Jul 2018, Auckland, New Zealand. ⟨10.1109/AIM.2018.8452258⟩
Conference papers
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Physical human-robot interaction with the OpenPHRI libraryIEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia
Conference papers
hal-01823337v1
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Safety performance of a variable stiffness actuator for collaborative robots27th International Conference on Robotics in Alpe Adria Danube Region (RAAD2018), Jun 2018, Patras, Greece. ⟨10.1007/978-3-030-00232-9_4⟩
Conference papers
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Introducing OpenPHRI: a software library for physical human-robot interactionICRA 2018 Late Breaking Posters, May 2018, Brisbane, Australia
Conference papers
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Design Process of a New Lighting Robotic Arm for Operating RoomIFToMM Symposium on Mechanism Design for Robotics, Aug 2018, Udine, Italy. pp.310-317, ⟨10.1007/978-3-030-00365-4_37⟩
Conference papers
hal-02898366v1
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Mécanisme de tenségrité pour la sécurité en robotiqueCongrès National de la Recherche des IUT 2018, Jun 2018, Aix en Provence, France
Conference papers
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A Framework for intuitive collaboration with a mobile manipulatorIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6293-6298, ⟨10.1109/IROS.2017.8206532⟩
Conference papers
hal-01489029v2
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Singularity avoidance in a robotized ultrasound scan2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), Aug 2017, Miedzyzdroje, Poland. pp.915-920, ⟨10.1109/MMAR.2017.8046951⟩
Conference papers
hal-02898835v1
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Collaborative Impedance Control of a Redundant Robot for Tele-operated MIS7th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, CRAS 2017, Sep 2017, Montpellier, France
Conference papers
hal-01975428v1
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Dynamic simulation of vertebral Column and control of the posture using a parallel mechanism14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), May 2017, Madrid, Spain
Conference papers
hal-01975418v1
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Design and simulation of spine affected by scoliosis and proposition of dynamic braceIEEE International Conference on Robotics and Biomimetics: ROBIO 2017, Dec 2017, Macau, China
Conference papers
hal-01975317v1
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Generalized Framework for Control of Redundant Manipulators in RA-MISJournées d'Etude sur la TéléSANté, 6ème edition, Pôle Capteurs, Université d'Orléans, May 2017, Bourges, France
Conference papers
hal-01565004v1
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Kinematic Design of a Lighting Robotic Arm for Operating RoomInternational Symposium on Robotics and Mechatronics (IFToMM), May 2017, Poitiers, France
Conference papers
hal-02137253v1
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Robotisation d’un bras d’éclairage de bloc opératoireCongrès National de la Recherche des IUT 2017, May 2017, Auxerre, France
Conference papers
hal-01974518v1
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A new kinematic formulation of the RCM constraint for redundant torque-controlled robots2017 IEEE International Conference on Intelligent Robots and Systems (IROS), Sep 2017, Vancouver, Canada
Conference papers
hal-01975091v1
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Improved Dynamic Formulation for Decoupled Cartesian Impedance Control and RCM Constraint2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden
Conference papers
hal-01975331v1
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Panorama des équipes de recherches implantées sur un site IUTCongrès National de la Recherche des IUT (CNR IUT 2016), Jun 2016, Nantes, France
Conference papers
hal-02050802v1
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An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot InteractionICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3043-3048, ⟨10.1109/ICRA.2016.7487468⟩
Conference papers
hal-01274736v1
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Active calibration of tactile sensors mounted on a robotic handIROS: Intelligent RObots and Systems Workshop on Multimodal sensor-based robot control for HRI and soft manipulation, Sep 2015, Hambourg, Germany
Conference papers
lirmm-01247148v1
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Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery21ème Congres Français de Mécanique, Aug 2013, Bordeaux, France
Conference papers
hal-00836776v2
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Dimensional optimization of A TWO-ARM robot for single-site surgery operationsASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States
Conference papers
hal-00836839v1
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Spherical wrist dimensional synthesis adapted for tool-guidance medical robotsCongrès Français de Mécanique, Aug 2013, Bordeaux, France
Conference papers
hal-00839791v1
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An effective fuzzy-DVZ controller for an omnidirectional mobile robotSystems, Signals and Devices (SSD),, Mar 2012, Chemnitz, Germany. pp.1-6, ISBN: 978-1-4673-1590-6, ⟨10.1109/SSD.2012.6197996⟩
Conference papers
hal-00707983v1
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Approche technique et sociale de l'utilisation de la robotique téléopérée pour le diagnostic échographiqueCongrès National de la Recherche en IUT, Jun 2012, Tours, France
Conference papers
hal-00773353v1
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Design and optimization of a master-slave system for tele-echography applicationASME 2012, 11th Biennial Conference on Engineering Systems
Design and Analysis, ESDA 2012, Jul 2012, Nantes, France. pp.343- 352
Conference papers
hal-00923696v1
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Optimal synthesis of new spherical parallel mechanism for application to tele-echography chainASME 2011, International Design Engineering Technical Conferences (IDETC), Aug 2011, Washington, United States. pp.DETC2011-47184
Conference papers
hal-00647359v1
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Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach19th Mediterranean Conference on Control and Automation, MED 2011, Jun 2011, Greece. pp.7 - 12, ⟨10.1109/MED.2011.5983043⟩
Conference papers
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On the trajectory tracking and coordination of multi-robot systems with communication delayInternational Multi-Conference on Systems, Signals and Devices (SSD), 2011 8th, Mar 2011, Sousse, Tunisia. pp.1-6, ⟨10.1109/SSD.2011.5986782⟩
Conference papers
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Comparaison des performances de deux robots sphériques à architecture sérielle et parallèle selon des critères géométriques et cinématiques20ème Congres Français de Mécanique, Aug 2011, Besançon, France
Conference papers
hal-00657062v1
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Démarche de conception collaborative d'un robot pour la télé-échographieColloque National de Recherche en IUT (CNR IUT 2011), Jun 2011, Cherbourg, France
Conference papers
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DVZ-based Obstacle Avoidance Control of a Wheelchair Mobile RobotIEEE Intemational Conference on Mechatronics, Apr 2011, Istanbul, Turkey. pp 911-915
Conference papers
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Contribution to the Design of a Robotized Tele-Ultrasound System2nd IFToMM International Symposium on Robotics and Mechatronics, ISRM 2011, Nov 2011, Shangai, China. pp.ISMR
Conference papers
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Adaptive Multi-Robots SynchronizationIEEE International Symposium on Industrial Electronics (ISIE), 2010, Jul 2010, Bari, Italy. pp.1797 - 1802, ⟨10.1109/ISIE.2010.5637712⟩
Conference papers
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Adaptive synchronization control of multi-robot teams: cooperative and coordinated schemesMediterranean Conference on Control & Automation (MED), 2010, Jun 2010, Marrakech, Morocco. pp.586 - 591, ⟨10.1109/MED.2010.5547733⟩
Conference papers
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Input-State Linearisation of an Omni-Directional mobile RobotIEEE-ISIE, the largest summer conference of the IEEE Industrial electronics, Jul 2010, Bari, Italy. pp.ISIE
Conference papers
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Optimisation dimensionnelle d'un robot de télé-échographie.(CNRIUT), 2010, Jun 2010, Angers, France. pp.1-8
Conference papers
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Optimization of a 4 dof tele-echography robotInternational Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. pp.3501 - 3506, ⟨10.1109/IROS.2010.5649680⟩
Conference papers
hal-00647560v1
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Mutual and external synchronization control of multi-robot systemsInternational Multi-Conference on Systems Signals and Devices (SSD), Jun 2010, Amman, Jordan. pp.1 - 6, ⟨10.1109/SSD.2010.5585567⟩
Conference papers
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Et si les robots étaient beaux...Journées Nationales de Recherche en Robotique (JNRR'09), Nov 2009, Neuvy sur Barangeon, France
Conference papers
hal-00661967v1
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Ergonomic mouse based interface for 3D orientation control of a tele-sonography robotInternational Conference on Intelligent Robots and Systems, IROS 2009. IEEE/RSJ, Oct 2009, St Louis, United States. pp.61 - 66, ⟨10.1109/IROS.2009.5354366⟩
Conference papers
hal-00647581v1
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Modeling and geometrical validation of a tele-echography robotInternational Conference on Intelligent Robots and Systems, IROS 2008 IEEE/RSJ, Sep 2008, Nice, France. pp.1447 - 1452, ⟨10.1109/IROS.2008.4650901⟩
Conference papers
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Motion coordination control of multiple marine craftsInternational Workshop on Advanced Motion Control, 2008. AMC '08. 10th IEEE, Mar 2008, Trento, France. pp.44 - 49, ⟨10.1109/AMC.2008.4516039⟩
Conference papers
hal-00647582v1
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Formation control for a class of output-feedback systems3e National Conference on "Control Architectures of Robots" (CAR), May 2008, Bourges, France. pp.12
Conference papers
hal-00661965v1
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DOF Analysis of the Ultrasonography Technique for Improving Ergonomy in Tele-Echography2008 IEEE International Conference on Robotics and Biomimetics - Robio 2008, Dec 2008, Bangkok, Thailand. 6 p
Conference papers
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Matching between telemetric measures and images for mobile roboticsICIG 2007. Fourth International Conference on imagen and graphics, Aug 2007, Chengdu - Sichuan, China. pp. 747-752, ⟨10.1109/ICIG.2007.127⟩
Conference papers
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Observer design for euler lagrange systems: application to path following control of an underactuated surface vesseliros, Oct 2007, San Diego, United States. pp.2883-2888
Conference papers
hal-01056288v1
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Guidance based path following control for an underactuated shipIEEE International Multi-Conference on Systems, Signals and Devices, Mar 2007, Hammamet, Tunisia
Conference papers
hal-01056291v1
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MARTE Project : Tele-echography between kyperounta and nicosia (Cyprus)9th IFAC Symposium on Automated Systems Based on Human Skill and Knowledge, 2006, May 2006, Nancy, France. pp.Part. 1, ⟨10.3182/20060522-3-FR-2904.00059⟩
Conference papers
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Omni-directional robot with spherical orthogonal wheels: concepts and analysesRobotics and Automation, 2006. ICRA 2006. IEEE International Conference, May 2006, Orlando-Floride, United States. pp. 3374-3379, ⟨10.1109/ROBOT.2006.1642217⟩
Conference papers
hal-00659333v1
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A multi-level architecture controlling robots from autonomy to teleoperationFirst National Workshop on Control Architectures of Robots : sofware approaches and issues, Apr 2006, Montpellier, France. pp.Inconnu
Conference papers
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A modular architecture for autonomus and tele-operated medical robotsMICCAI' 2006 - Medical robotics Workshop, Oct 2006, Copenhagen, Denmark. pp.PP. 1-8
Conference papers
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Session robotique médicale La conception de robots pour l'assistance aux gestes médicaux et chirurgicauxJNRR 2005 - 5e Journées Nationales de la Recherche en Robotique, Oct 2005, Guidel, France
Conference papers
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A local map building process for a reactive navigation of a mobile robotICRA, 2004, New Orleans, United States. pp.4839-4844, ⟨10.1109/ROBOT.2004.1302484⟩
Conference papers
hal-00920627v1
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Experiments with the TER Tele-echography Robot.--, 2002, France. pp.138-146
Conference papers
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Quick primitives extraction using inertia matrix on measures issue from an ultrasonic networkICRA, 2001, Seoul, South Korea. pp.3999,4004, ⟨10.1109/ROBOT.2001.933242⟩
Conference papers
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TER : a system robotic tele-Echography--, 2001, France. p. 326
Conference papers
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Use of the CRX10iA cobot for microparticles delivery inside the cochleaConference on New Technologies for Computer and Robot Assisted Surger, Sep 2023, Paris, France
Conference poster
hal-04490557v1
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Understanding Interactions in Complex Systems: toward a Science of InteractionsCambridge Scholar Publishing, pp.405, 2017, 978-1-4438-9496-8
Books
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Design of Robotic Braces for Patients with ScoliosisMDPI Robotics, pp.30-37, 2020, ⟨10.1007/978-3-030-48989-2_4⟩
Book sections
hal-02898819v1
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The social functions of gossip and the Leviathan modelUnderstanding Interactions in Complex Systems Toward a Science of Interaction, Cambridge Scholar Publishing, pp.139-175, 2017
Book sections
hal-02606531v1
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Optimisation dimensionnelle d'un robot de télé-échographieJournal National de la recherche en IUT, IUT Toulouse II Figeac, pp.58-74, 2011
Book sections
hal-00649659v1
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Robotized Tele-echographySajeesh Kumar, Elisabeth A. Krupinski (Eds). Teleradiology, Springer-Verlag Berlin Heidelberg, pp.139-153, 2008, ⟨10.1007/978-3-540-78871-3⟩
Book sections
hal-00647923v1
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A tele-operated robotic system for mobile tele-echography : the Otelo projectIstepanian Robert; Laxminarayan Swamy; Pattichis Constantinos S. M-Health - Chapitre V §35, V, Kluwer academic/plenum publishers, pp. 461-473, 2006, International Topics in biomedical Ingeneering, ⟨10.1007/0-387-26559-7_35⟩
Book sections
hal-00660410v1
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Suspension de Plafond à cinématique améliorée pour porter une pièce d’équipementFrance, N° de brevet: BR-27301, French patent 1662777. 2018, N° publication 3 060 704
Patents
hal-01975040v1
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OpenPHRI: an open-source library for safe physical human-robot interaction2017
Other publications
hal-01625947v1
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Interactions in Complex Systems2016
Preprints, Working Papers, ...
halshs-01377409v1
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