
Gérard POISSON
Professeur Émérite à l'Université d'Orléans Laboratoire Prisme
35%
Libre accès
106
Documents
Affiliations actuelles
- Université d'Orléans (UO)
- Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME)
Identifiants chercheurs
Domaines de recherche
Sciences de l'ingénieur [physics]
Compétences
Robotique : Conception, Commande, Téléopération, Comanipulation
Publications
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Publications
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A Geometric Approach for the IK of 6R Robots with Non-spherical WristIFToMM ISRM-2024, Apr 2024, DJERBA, Tunisia. pp.329-342, ⟨10.1007/978-3-031-59888-3_30⟩
Communication dans un congrès
hal-04735038
v1
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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
Communication dans un congrès
hal-04491145
v1
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Robot-assisted tele-echography with obstacle avoidance for CT-PET-US diagnosticConferences of new technologies for Computer and Robot Assisted Surgery, Sorbonne Université, CNRS, Inserm, Sep 2023, Paris Auditorium du Grand Palais, France
Communication dans un congrès
hal-04895968
v1
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PHRI Safety Control Using a Virtual Flexible Joint ApproachICINCO, Jul 2020, Paris, France
Communication dans un congrès
hal-02898816
v1
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Variable Stiffness Mechanism for Robotic RehabilitationIFToMM WC 2019, Jun 2019, Krakow, Poland
Communication dans un congrès
hal-02284442
v1
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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
Communication dans un congrès
hal-02161049
v1
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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⟩
Communication dans un congrès
hal-02898365
v1
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Évolution des architectures mécaniques des robots médicauxCongrès Français de Mécanique 2019, Aug 2019, Brest, France
Communication dans un congrès
hal-02284438
v1
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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⟩
Communication dans un congrès
hal-02898366
v1
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Introducing OpenPHRI: a software library for physical human-robot interactionICRA 2018 Late Breaking Posters, May 2018, Brisbane, Australia
Communication dans un congrès
hal-01734741
v1
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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⟩
Communication dans un congrès
hal-01975355
v1
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Physical human-robot interaction with the OpenPHRI libraryIEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia
Communication dans un congrès
hal-01823337
v1
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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⟩
Communication dans un congrès
hal-01974591
v1
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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
Communication dans un congrès
hal-01974504
v1
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Robotisation d’un bras d’éclairage de bloc opératoireCongrès National de la Recherche des IUT 2017, May 2017, Auxerre, France
Communication dans un congrès
hal-01974518
v1
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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⟩
Communication dans un congrès
hal-02898835
v1
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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
Communication dans un congrès
hal-01975317
v1
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Kinematic Design of a Lighting Robotic Arm for Operating RoomInternational Symposium on Robotics and Mechatronics (IFToMM), May 2017, Poitiers, France
Communication dans un congrès
hal-02137253
v1
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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
Communication dans un congrès
hal-01565004
v1
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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
Communication dans un congrès
hal-01975418
v1
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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
Communication dans un congrès
hal-01975428
v1
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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⟩
Communication dans un congrès
hal-01489029
v2
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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
Communication dans un congrès
hal-01975091
v1
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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⟩
Communication dans un congrès
hal-01274736
v1
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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
Communication dans un congrès
hal-01975331
v1
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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
Communication dans un congrès
hal-02050802
v1
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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
Communication dans un congrès
lirmm-01247148
v1
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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
Communication dans un congrès
hal-00836776
v2
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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
Communication dans un congrès
hal-00836839
v1
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Design and optimization of a master-slave system for tele-echography application11th Biennial Conference on Engineering Systems
Design and Analysis, ESDA 2012, Jul 2012, Nantes, France. pp.343- 352, ⟨10.1115/ESDA2012-82744⟩
Communication dans un congrès
hal-00923696
v1
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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⟩
Communication dans un congrès
hal-00707983
v1
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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
Communication dans un congrès
hal-00773353
v1
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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
Communication dans un congrès
hal-00647386
v1
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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
Communication dans un congrès
hal-00647415
v1
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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
Communication dans un congrès
hal-00661966
v1
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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⟩
Communication dans un congrès
hal-00647357
v1
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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⟩
Communication dans un congrès
hal-00647591
v1
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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
Communication dans un congrès
hal-00657062
v1
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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
Communication dans un congrès
hal-00647359
v1
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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
Communication dans un congrès
hal-00630139
v1
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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⟩
Communication dans un congrès
hal-00647420
v1
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Optimisation dimensionnelle d'un robot de télé-échographie.(CNRIUT), 2010, Jun 2010, Angers, France. pp.1-8
Communication dans un congrès
hal-00647927
v1
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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⟩
Communication dans un congrès
hal-00647380
v1
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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⟩
Communication dans un congrès
hal-00647537
v1
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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⟩
Communication dans un congrès
hal-00647560
v1
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Et si les robots étaient beaux...Journées Nationales de Recherche en Robotique (JNRR'09), Nov 2009, Neuvy sur Barangeon, France
Communication dans un congrès
hal-00661967
v1
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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⟩
Communication dans un congrès
hal-00647581
v1
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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
Communication dans un congrès
hal-00660428
v1
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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⟩
Communication dans un congrès
hal-00647582
v1
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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⟩
Communication dans un congrès
hal-00647570
v1
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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
Communication dans un congrès
hal-00661965
v1
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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
Communication dans un congrès
hal-01056288
v1
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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
Communication dans un congrès
hal-01056291
v1
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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⟩
Communication dans un congrès
hal-00659782
v1
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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
Communication dans un congrès
hal-00659301
v1
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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
Communication dans un congrès
hal-00660388
v1
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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⟩
Communication dans un congrès
hal-00659333
v1
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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⟩
Communication dans un congrès
hal-00659757
v1
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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
Communication dans un congrès
lirmm-04005224
v1
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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⟩
Communication dans un congrès
hal-00920627
v1
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Experiments with the TER Tele-echography Robot.--, 2002, France. pp.138-146
Communication dans un congrès
hal-00021442
v1
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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⟩
Communication dans un congrès
hal-00920625
v1
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TER : a system robotic tele-Echography--, 2001, France. p. 326
Communication dans un congrès
hal-00021553
v1
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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
Poster de conférence
hal-04490557
v1
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Understanding Interactions in Complex Systems: toward a Science of InteractionsCambridge Scholar Publishing, pp.405, 2017, 978-1-4438-9496-8
Ouvrages
hal-01799730
v1
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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⟩
Chapitre d'ouvrage
hal-02898819
v1
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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
Chapitre d'ouvrage
hal-02606531
v1
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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
Chapitre d'ouvrage
hal-00649659
v1
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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⟩
Chapitre d'ouvrage
hal-00647923
v1
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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⟩
Chapitre d'ouvrage
istex
hal-00660410
v1
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Interactions in Complex Systems2016
Pré-publication, Document de travail
halshs-01377409
v1
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Virtual Adjustable Joint Stiffness Toward a Safer Human/Robot InteractionInternational Conference on Informatics in Control, Automation and Robotics, 793, Springer International Publishing, pp.291-315, 2022, Lecture Notes in Electrical Engineering, 978-3-030-92441-6. ⟨10.1007/978-3-030-92442-3_16⟩
Proceedings/Recueil des communications
hal-04490979
v1
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Variable Stiffness Mechanism for Robotic RehabilitationAdvances in Mechanism and Machine Science., 73, pp.1761-1769, 2019
N°spécial de revue/special issue
hal-02284437
v1
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Kinematic Design of a Lighting Robotic Arm for Operating RoomComputational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics, 50, pp.44-52, 2018
N°spécial de revue/special issue
hal-02137272
v1
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