Sébastien Krut

Chercheur CNRS en Robotique
117
Documents
Affiliation actuelle
  • Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)
Identifiants chercheurs
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Publications

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Spectral Identification of Inertial Parameters in Forced Sinusoidal Regimes

Clément Robert , Sébastien Krut , Olivier Company , Alain Vissiere , Pierre Noiré et al.

Journal of Dynamic Systems, Measurement, and Control, 2026, 148 (4), pp.041009. ⟨10.1115/1.4070775⟩

Article dans une revue lirmm-05513423v2
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CT/MR-Compatible Physical Human-Robotized Needle Interactions: from Modeling to Percutaneous Steering

Ederson Antônio Gomes Dorileô , Nabil Zemiti , Sébastien Krut , Philippe Poignet

Mechatronics, 2022, 85, pp.102840. ⟨10.1016/j.mechatronics.2022.102840⟩

Article dans une revue lirmm-03680857v1
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A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

International Journal of Humanoid Robotics, 2021, 18 (5), pp.#2150016. ⟨10.1142/S021984362150016X⟩

Article dans une revue lirmm-03470787v1
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Application-oriented selection of poses and forces for robot elastostatic calibration

Vinayak Jagannathrao Kalas , Alain Vissière , Olivier Company , Sébastien Krut , Pierre Noiré et al.

Mechanism and Machine Theory, 2021, 159, pp.104176. ⟨10.1016/j.mechmachtheory.2020.104176⟩

Article dans une revue hal-03265995v1
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Jacobian-based natural frequency analysis of parallel manipulators

A.G.L. Hoevenaars , Sébastien Krut , J.L. Herder

Mechanism and Machine Theory, 2020, 148, pp.103775. ⟨10.1016/j.mechmachtheory.2019.103775⟩

Article dans une revue hal-05527803v1
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Resolution evaluation of 6-degree-of-freedom precision positioning systems: Definitions and apparatus

Alain Vissière , Sébastien Krut , Thierry Roux , Pierre Noiré , Olivier Company et al.

Measurement - Journal of the International Measurement Confederation (IMEKO), 2020, 152, pp.#107375. ⟨10.1016/j.measurement.2019.107375⟩

Article dans une revue lirmm-02413706v1

An agile manufacturing system for large workspace applications

Hai Yang , Cédric Baradat , Sébastien Krut , François Pierrot

International Journal of Advanced Manufacturing Technology, 2016, 85 (1), pp.25-35. ⟨10.1007/s00170-014-6023-0⟩

Article dans une revue lirmm-01347428v1
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Dynamic Parameter Identification of Over-actuated Parallel Robots

Sébastien Briot , Sébastien Krut , Maxime Gautier

Journal of Dynamic Systems, Measurement, and Control, 2015, 137 (11), pp.111002. ⟨10.1115/1.4030867⟩

Article dans une revue hal-01157978v1
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Design and experimental evaluation of a dynamically balanced redundant planar 4-RRR parallel manipulator

Volkert van Der Wijk , Sébastien Krut , François Pierrot , Just Herder

The International Journal of Robotics Research, 2013, pp.743-758. ⟨10.1177/0278364913484183⟩

Article dans une revue lirmm-00822698v1
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A Simple Design Rule for 1st Order Form-Closure of Underactuated Hands

Sébastien Krut , Vincent Begoc

Mechanical Sciences (MS), 2011, 2, pp.1-8. ⟨10.5194/ms-2-1-2011⟩

Article dans une revue lirmm-00808329v1
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Secured Microprocessor-Controlled Prosthetic Leg for Elderly Amputees: Preliminary Results

Sébastien Krut , Christine Azevedo Coste , Pierre Chabloz

Applied Bionics and Biomechanics, 2011, Special Issue on Assistive and Rehabilitation Robotics, pp.385-398. ⟨10.3233/ABB-2011-0002⟩

Article dans une revue lirmm-00502000v1

Par2: a Spatial Mechanism for Fast Planar Two-Degree-of-Freedom Pick-and-Place Applications

Olivier Company , François Pierrot , Sébastien Krut , Cédric Baradat , Vincent Nabat

Meccanica, 2011, 46 (1), pp.239-248. ⟨10.1007/s11012-010-9413-x⟩

Article dans une revue istex lirmm-00580594v1
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Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study

David Corbel , Olivier Company , Sébastien Krut , François Pierrot

Journal of Mechanisms and Robotics, 2010, 2 (3), pp.0310008. ⟨10.1115/1.4001779⟩

Article dans une revue lirmm-00539838v1
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Extension of the Form-Closure Property to Underactuated Hands

Sébastien Krut , Vincent Begoc , Etienne Dombre , François Pierrot

IEEE Transactions on Robotics, 2010, 26 (5), pp.853-866. ⟨10.1109/TRO.2010.2060830⟩

Article dans une revue lirmm-00529721v1

Simplified dynamic modeling and improvement of a four degree of freedom pick-and-place manipulator with articulated moving platform

Olivier Company , François Pierrot , Sébastien Krut , Vincent Nabat

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2009, 223 (I1), pp.13-27. ⟨10.1243/09596518JSCE616⟩

Article dans une revue istex lirmm-00304441v1

Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry

François Pierrot , Vincent Nabat , Olivier Company , Sébastien Krut , Philippe Poignet

IEEE Transactions on Robotics, 2009, 25 (2), pp.212-224. ⟨10.1109/TRO.2008.2011412⟩

Article dans une revue lirmm-00385724v1
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Design and Preliminary in Vivo Validation of a Robotic Laparoscope Holder for Minimally Invasive Surgery

Benoît Herman , Bruno Dehez , Khanh Tran Duy , Benoit Raucent , Etienne Dombre et al.

The International Journal of Medical Robotics and Computer Assisted Surgery, 2009, 5 (3), pp.319-326. ⟨10.1002/rcs.263⟩

Article dans une revue istex lirmm-00386036v1
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Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

Sébastien Andary , Ahmed Chemori , Sébastien Krut

Advanced Robotics, 2009, 23 (15), pp.1999-2014. ⟨10.1163/016918609X12529279062438⟩

Article dans une revue lirmm-00455577v1

Internal Singularity Analysis of a Class of Lower Mobility Parallel Manipulators with Articulated Travelling Plate

Olivier Company , Sébastien Krut , François Pierrot

IEEE Transactions on Robotics, 2006, 22 (1), pp.1-11. ⟨10.1109/TRO.2005.858862⟩

Article dans une revue lirmm-00106282v1
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Velocity Performances Indices for Parallel Mechanisms with Actuation Redundancy

Sébastien Krut , Olivier Company , François Pierrot

Robotica, 2004, Vol. 22 (Part 2), pp.129-139. ⟨10.1017/S0263574703005411⟩

Article dans une revue lirmm-00108547v1

Modelling and Preliminary Design Issues of a 4 Axis Parallel Machine for Heavy Parts Handling

Olivier Company , Sébastien Krut , François Pierrot

Journal of Multi-body Dynamics, 2002, 216 (Special Issue, IMechE Part K), pp.1-11. ⟨10.1177/146441930221600102⟩

Article dans une revue istex lirmm-00268578v1
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Model-based thermal drift compensation for high-precision hexapod robot actuators

Clément Robert , Alain Vissière , Olivier Company , Pierre Noiré , Thierry Roux et al.

Euspen Special Interest Conference: Precision and Performance 2025, Nov 2025, Cranfield University, United Kingdom. pp.121-124

Communication dans un congrès lirmm-05383786v1
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Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ROBOSOFT 2024 - 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego, CA, United States. pp.492-497, ⟨10.1109/RoboSoft60065.2024.10521998⟩

Communication dans un congrès lirmm-04660122v1
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Metrology of the hexapod positioning systems for ground system equipment: recent innovations, and state of the art of reachable performances

Pierre Noiré , Matthieu Cuq , Clément Robert , Thierry Roux , Sébastien Krut et al.

SPIE Astronomical Telescopes + Instrumentation Conference, SPIE, Jun 2024, Yokohama, Japan. ⟨10.1117/12.3020420⟩

Communication dans un congrès lirmm-04753894v1
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Design optimization of a soft micro-robot for medical intervention

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ICAR 2023 - 21st IEEE International Conference on Advanced Robotics, Dec 2023, Abu Dhabi, United Arab Emirates. pp.291-296, ⟨10.1109/ICAR58858.2023.10406498⟩

Communication dans un congrès hal-04310368v1

Towards searching the operating equilibrium hexapod motor temperature

Walid Jhinaoui , Alain Vissière , Olivier Company , Guillaume Mayaud , Pierre Noire et al.

ICCAD 2021 - 5th IEEE International Conference on Control, Automation and Diagnosis, Nov 2021, Grenoble, France. pp.1-6, ⟨10.1109/ICCAD52417.2021.9638758⟩

Communication dans un congrès hal-03500263v1
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Thermal deflection decoupled 6-DOF pose measurement of hexapods

Vinayak Jagannathrao Kalas , Alain Vissière , Olivier Company , Sébastien Krut , Pierre Noiré et al.

EUSPEN 2020 - 20th International Conference of the European Society for Precision Engineering and Nanotechnology, European Society for Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva, Switzerland

Communication dans un congrès hal-02815562v1
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A New Efficient Stiffness Evaluation Method to Improve Accuracy of Hexapods

Vinayak Jagannathrao Kalas , Alain Vissière , Thierry Roux , Olivier Company , Sébastien Krut et al.

IDETC/CIE 2018 - International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2018, Quebec City, Canada. pp.V05AT07A045, ⟨10.1115/DETC2018-85986⟩

Communication dans un congrès hal-02025724v1

Determination of a Rigid Body Orientation By Means of Indirect Measurements

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot

EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.61-69, ⟨10.1007/978-3-319-44156-6_7⟩

Communication dans un congrès lirmm-01830279v1
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Innovative Approach to Use Air Bearings in Cubesat Ground Tests

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau

CubeSat Workshop, ESA, CNES, May 2016, La Valette, Malta

Communication dans un congrès hal-01348039v1
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Dynamics effects on natural frequencies in modal analysis of PKMs

Julien Prades , Franck Jourdan , Olivier Company , Sébastien Krut , François Pierrot

MMAR: Methods and Models in Automation and Robotics, Aug 2015, Miedzyzdroje, Poland. pp.300-305, ⟨10.1109/mmar.2015.7283891⟩

Communication dans un congrès lirmm-01275362v1
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Robotic Test Bench for CubeSat Ground Testing: Concept and Satellite Dynamic Parameter Identification

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau

IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. pp.5447-5453, ⟨10.1109/IROS.2015.7354148⟩

Communication dans un congrès lirmm-01310817v1

Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.1716-1723, ⟨10.1109/IROS.2014.6942786⟩

Communication dans un congrès lirmm-01275338v1
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Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot

SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩

Communication dans un congrès lirmm-00947459v1
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A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5712-5719, ⟨10.1109/ICRA.2014.6907699⟩

Communication dans un congrès lirmm-01275355v1
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On the performance evaluation and analysis of general robots with mixed dofs

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.490-497, ⟨10.1109/IROS.2014.6942604⟩

Communication dans un congrès lirmm-01275349v1
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A Novel 4 DoFs (3T-1R) Parallel Manipulator with Actuation Redundancy - Workspace Analysis

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

MeTrApp: Mechanisms, Transmissions and Applications, Oct 2013, Bilbao, Spain. pp.317-324, ⟨10.1007/978-94-007-7485-8_39⟩

Communication dans un congrès lirmm-00906202v1
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Test Bench For Nanosatellite Attitude Determination And Control System Ground Tests

Irina Gavrilovich , Sébastien Krut , Marc Gouttefarde , François Pierrot , Laurent Dusseau

4S: Small Satellites Systems and Services Symposium, May 2014, Porto Petro, Spain

Communication dans un congrès lirmm-01310802v1
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Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808778⟩

Communication dans un congrès lirmm-00945690v1
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A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

Humanoids, Nov 2014, Madrid, Spain. pp.693-698, ⟨10.1109/HUMANOIDS.2014.7041438⟩

Communication dans un congrès lirmm-01089549v1
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An Agile Manufacturing System for Large Workspace Applications

Hai Yang , Cédric Baradat , Sébastien Krut , François Pierrot

FAIM: Flexible Automation and Intelligent Manufacturing, Jun 2013, Porto, Portugal. pp.57-70, ⟨10.1007/978-3-642-39223-8_6⟩

Communication dans un congrès lirmm-00808440v1
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A Novel (3T-1R) Redundant Parallel Mechanism with Large Operational Workspace and Rotational Capability

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.436-443, ⟨10.1109/IROS.2013.6696388⟩

Communication dans un congrès lirmm-00906223v1
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Optimal Pattern Generator For Dynamic Walking in humanoid Robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. ⟨10.1109/SSD.2013.6564107⟩

Communication dans un congrès lirmm-00804250v1

Dynamic Parameter Identification of Actuation Redundant Parallel Robots using their Power Identification Model: Application to the DualV

Sébastien Briot , Maxime Gautier , Sébastien Krut

IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.1822-1827, ⟨10.1109/IROS.2013.6696596⟩

Communication dans un congrès lirmm-00907838v1
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Dynamic Parameter Identification of Actuation Redundant Parallel Robots: Application to the DualV

Sébastien Briot , Maxime Gautier , Sébastien Krut

AIM: Advanced Intelligent Mechatronics, Jul 2013, Wollongong, Australia. pp.637-643, ⟨10.1109/AIM.2013.6584164⟩

Communication dans un congrès hal-00818104v1
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On the Design of Mobile Parallel Robots for Large Workspace Applications

Hai Yang , Sébastien Krut , François Pierrot , Cédric Baradat

IDETC'11: International Design Engineering Technical Conferences Computers and Information in Engineering Conference, Aug 2011, Washington, DC, United States. pp.N/A

Communication dans un congrès lirmm-00641623v1
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Locomotion Approach of REMORA: a REonfigurable MObile Robot for Manufacturing Applications

Hai Yang , Sébastien Krut , François Pierrot , Cédric Baradat

IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.5067-5072, ⟨10.1109/IROS.2011.6094897⟩

Communication dans un congrès lirmm-00641618v1
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Generic Method for Deriving the General Shaking Force Balance Conditions of Parallel Manipulators with Application to a Redundant Planar 4-RRR Parallel Manipulator

Volkert van Der Wijk , Sébastien Krut , François Pierrot , Just Herder

IFToMM 2011 World Congress: The 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. pp.A12-523

Communication dans un congrès lirmm-00609009v1
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Conception de robots à pattes dans un objectif d'applications industrielles

Hai Yang , Sébastien Krut , Cédric Baradat , François Pierrot

CFM 2011 - 20e Congrès Français de Mécanique, Aug 2011, Besançon, France. pp.2784-2791

Communication dans un congrès lirmm-00643511v1
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A pseudo-isotropic three phalanxes under-actuated finger

Ghassan Dandash , Rani Rizk , Sébastien Krut , Etienne Dombre

IFToMM'2011: 13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico. pp.1-8

Communication dans un congrès lirmm-00643542v1

A New Concept of Self-Reconfigurable Mobile Machining Centers

Hai Yang , Sébastien Krut , François Pierrot , Cédric Baradat

IROS: Intelligent RObots and Systems, Oct 2010, Tapei, Taiwan. pp.2784-2791

Communication dans un congrès lirmm-00543869v1
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Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous-actionné

Ahmed Chemori , Sébastien Krut , Nahla Touati

3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.10

Communication dans un congrès lirmm-00723940v1

Characterization of Parallel Manipulator Available Wrench Set Facets

Marc Gouttefarde , Sébastien Krut

Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. pp.475-482

Communication dans un congrès lirmm-00533860v1
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MoonWalker, a Lower Limb Exoskeleton able to Sustain Bodyweight using a Passive Force Balancer

Sébastien Krut , Michel Benoit , Etienne Dombre , François Pierrot

ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, Alaska, United States. pp.2215-2220, ⟨10.1109/ROBOT.2010.5509961⟩

Communication dans un congrès lirmm-00493759v1
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A Simple Design Rule for 1st Order Form-Closure of Underactuated Hands

Sébastien Krut , Vincent Begoc

UG: Underactuated Grasping, 2010, Montreal, Quebec, Canada. pp.1-7

Communication dans un congrès lirmm-00539832v1
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Sherpa, un robot marcheur bipède à actionnement réversible

Sébastien Krut , Ahmed Chemori

3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9

Communication dans un congrès lirmm-00809721v1
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A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground

Ahmed Chemori , Sébastien Le Floch , Sébastien Krut , Etienne Dombre

Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485

Communication dans un congrès lirmm-00643523v1
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Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed

Sébastien Andary , Ahmed Chemori , Sébastien Krut

IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩

Communication dans un congrès lirmm-00429808v1
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Novel Mechanical Design of Biped Robot SHERPA Using 2 DOF Cable Differential Modular Joints

Ionut Mihai Constantin Olaru , Sébastien Krut , François Pierrot

IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.4463-4468, ⟨10.1109/IROS.2009.5354425⟩

Communication dans un congrès lirmm-00429945v1

Above 40g Acceleration for Pick-and-Place with a New 2-Dof PKM

François Pierrot , Cédric Baradat , Vincent Nabat , Olivier Company , Sébastien Krut et al.

ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1794-1800, ⟨10.1109/ROBOT.2009.5152193⟩

Communication dans un congrès lirmm-00399019v1
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Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms

Nicolas Riehl , Marc Gouttefarde , Sébastien Krut , Cédric Baradat , François Pierrot

ICRA 2009 - International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.2193-2198, ⟨10.1109/ROBOT.2009.5152576⟩

Communication dans un congrès lirmm-00397805v1
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Par2: a Spatial Mechanism for Fast Planar, 2-dof, Pick-and-Place Applications

Cédric Baradat , Vincent Nabat , Olivier Company , Sébastien Krut , François Pierrot

Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2009, Montpellier, France. pp.10

Communication dans un congrès lirmm-00305178v1
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Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary , Ahmed Chemori , Sébastien Krut

IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩

Communication dans un congrès lirmm-00305317v1

Humanoid Robotic Research Activities

Philippe Fraisse , Sébastien Krut

Humanoids Robots: State of the Art from Real Platform, Sep 2008, France

Communication dans un congrès lirmm-00355527v1

Design of a 3D Gravity Balanced Orthosis for Upper Limb

Rani Rizk , Sébastien Krut , Etienne Dombre

ICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.2447-2452, ⟨10.1109/ROBOT.2008.4543580⟩

Communication dans un congrès lirmm-00287578v1
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A Control Law for Energy Efficient and Human Like Walking Biped Robot SHERPA Based on a Control and a Ballistic Phase - Application on the Cart-Table Model

Marc Bachelier , Sébastien Krut , Ahmed Chemori

Humanoids, Dec 2008, Daejeon, South Korea

Communication dans un congrès lirmm-00363728v1

On the Design of Fully Constrained Parallel Cable-Driven Robots

Marc Gouttefarde , Sébastien Krut , Olivier Company , François Pierrot , Nacim Ramdani

Advances in Robots Kinematics: Analysis and Design, Jun 2008, Batz-sur-Mer, France. pp.71-78

Communication dans un congrès lirmm-00322375v1

A Parallel Cable-Driven Crane for Scara Motions

Sébastien Krut , Nacim Ramdani , Marc Gouttefarde , Olivier Company , François Pierrot

DETC: Design Engineering Technical Conferences, Aug 2008, Brooklyn, NY, United States. pp.101-108, ⟨10.1115/DETC2008-49969⟩

Communication dans un congrès lirmm-00322385v1

From Par4 to Adept Quattro

François Pierrot , Vincent Nabat , Olivier Company , Sébastien Krut

Robotic Systems for Handling and Assembly - 3rd International Colloquium of the Collaborative Research Center SFB 562, Apr 2008, Braunschweig, Germany, pp.207-220

Communication dans un congrès lirmm-00285857v1

Towards Principles for the Design of a Form-Closure Capable Underactuated Pneumatic Hand

Vincent Begoc , Sébastien Krut , Etienne Dombre , François Pierrot , Claude Durand

IFToMM: World Congress on Mechanism and Machine Science, Jun 2007, Besançon, France

Communication dans un congrès lirmm-00187945v1
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Grasp-Stability Analysis of a Two-Phalanx Isotropic Underactuated Finger

Rani Rizk , Sébastien Krut , Etienne Dombre

IROS'07: IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2007, San Diego, Californie, USA, pp.3289-3294

Communication dans un congrès lirmm-00194179v1
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Analysis of a High Resolution Planar PKM

Olivier Company , Sébastien Krut , François Pierrot

IFToMM World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France

Communication dans un congrès lirmm-00124013v1
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A Futuristic Monorail Tramway Stabilized by an Inertia Wheel

Bruno Garabédian , Michel Benoit , Sébastien Krut

ICCA 2007 - 6th IEEE International Conference on Control and Automation, May 2007, Guangzhou, China. pp.1581-1586, ⟨10.1109/ICCA.2007.4376626⟩

Communication dans un congrès lirmm-00187917v1
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Mechanical Design of a New Pneumatically Driven Underactuated Hand

Vincent Begoc , Sébastien Krut , Etienne Dombre , Claude Durand , François Pierrot

ICRA 2007 - International Conference on Robotics and Automation, Apr 2007, Roma, Italy. pp.927-933, ⟨10.1109/ROBOT.2007.363104⟩

Communication dans un congrès lirmm-00189382v1
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HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design

Sébastien Krut , Olivier Company , Vincent Nabat , François Pierrot

IROS: Intelligent RObots and Systems, Oct 2006, Beijing, China. pp.1656-1661, ⟨10.1109/IROS.2006.282120⟩

Communication dans un congrès lirmm-00106296v1
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An Improved Method for the Geometrical Calibration of Parallelogram-based Parallel Robots

Ludovic Savoure , Patrick Maurine , David Corbel , Sébastien Krut

ICRA: International Conference on Robotics and Automation, May 2006, Orlando, United States. pp.769-776, ⟨10.1109/ROBOT.2006.1641803⟩

Communication dans un congrès lirmm-00118225v1
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Four-Dof PKM with Articulated Travelling-Plate

François Pierrot , Olivier Company , Sébastien Krut , Vincent Nabat

PKS'06: Parallel Kinematics Seminar, Apr 2006, Chemnitz (Allemagne), pp.25-26

Communication dans un congrès lirmm-00105558v1
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On the Form-Closure Capability of Robotic Underactuated Hand

Vincent Begoc , Claude Durand , Sébastien Krut , Etienne Dombre , François Pierrot

ICARCV 2006 - 9th International Conference on Automation, Robotics and Computer Vision, Dec 2006, Singapour, Singapore. pp.2011-2018, ⟨10.1109/ICARCV.2006.345424⟩

Communication dans un congrès lirmm-00128161v1
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Modélisation et Planification d'Actions Elémentaires Robotiques par Apprentissage de Réseaux de Contraintes

Mathias Paulin , Eric Bourreau , Christopher Dartnell , Sébastien Krut

JFPC 2006 - 2e Journées Francophones de Programmation par Contraintes, Apr 2006, Nîmes, France. pp.405-414

Communication dans un congrès lirmm-00119291v1

Lower Mobility PKM for Large Tilting Angles

François Pierrot , Olivier Company , Vincent Nabat , Sébastien Krut

Collaborative Research Centre 562, May 2005, Braunschweig, Germany. pp.253-268

Communication dans un congrès lirmm-00106562v1
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Par4: Very High Speed Parallel Robot for Pick and Place

Vincent Nabat , Olivier Company , Sébastien Krut , Maria de La O Rodriguez , François Pierrot

IROS: Intelligent Robots and Systems, Aug 2005, Edmonton, Alberta, Canada

Communication dans un congrès lirmm-00106125v1

High resolution flexible 3-RRR planar parallel micro-stage in near singular configuration for resolution improvement. Part I

Stéphane Ronchi , Olivier Company , Sébastien Krut , François Pierrot , Alain Fournier

IROS: Intelligent Robots and Systems, Aug 2005, Edmonton, Alberta, Canada. pp.547-552, ⟨10.1109/IROS.2005.1545142⟩

Communication dans un congrès lirmm-00106124v1
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Very Fast Schoenflies Motion Generator

Vincent Nabat , Maria de La O Rodriguez , Olivier Company , Sébastien Krut , François Pierrot et al.

ICIT: International Conference on Industrial Technology, Dec 2005, Hong-Kong, China. ⟨10.1109/ICIT.2005.1600665⟩

Communication dans un congrès lirmm-00106494v1
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High Resolution Flexible 3-RRR Planar Parallel Micro-Stage in Near Singular Configuration for Resolution Improvement

Stéphane Ronchi , Olivier Company , Sébastien Krut , François Pierrot , Alain Fournier

ICIT: International Conference on Industrial Technology, Dec 2005, Hong Kong, China

Communication dans un congrès lirmm-00106493v1
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A Force-Isotropic Underactuated Finger

Sébastien Krut

ICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.2314-2319, ⟨10.1109/ROBOT.2005.1570458⟩

Communication dans un congrès lirmm-00106463v1
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On PKM with Articulated Travelling-Plate and Large Tilting Angles

François Pierrot , Olivier Company , Sébastien Krut

IMEC'04: 11th International Machine-Tool Engineers Conference, Nov 2004, Tokyo, Japan. pp.285-296

Communication dans un congrès lirmm-00109130v1
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Kinematic Calibration of Linear-Actuated Parallel Mechanisms from Leg Observation

Pierre Renaud , Nicolas Andreff , Sébastien Krut , Grigoré Gogu

ISR: International Symposium on Robotics, Mar 2004, Paris, France

Communication dans un congrès lirmm-00108814v1
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Force Performance Indexes for Parallel Mechanisms with Actuation Redundancy, Especially for Parallel Wire-Driven Manipulators

Sébastien Krut , Olivier Company , François Pierrot

IROS: Intelligent RObots and Systems, Sep 2004, Sendai, Japan. pp.3936-3941

Communication dans un congrès lirmm-00108812v1

Evaluation of a 4 Degree of Freedom Parallel Manipulator Stiffness

Sébastien Krut , Olivier Company , C. Coradini , Jean-Christophe Fauroux

IFToMM:'04: International Federation for the Promotion of Mechanism and Machine Science, Apr 2004, Tianjin (China), pp.1857-1861

Communication dans un congrès lirmm-00108924v1

A High-Speed Parallel Robot for Scara Motions

Sébastien Krut , Vincent Nabat , Olivier Company , François Pierrot

ICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, United States. pp.4109-4115, ⟨10.1109/ROBOT.2004.1308914⟩

Communication dans un congrès lirmm-00108840v1

I4: A New Parallel Mechanism for Scara Motions

Sébastien Krut , Olivier Company , Michel Benoit , Hiromichi Ota , François Pierrot

ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.1875-1880, ⟨10.1109/ROBOT.2003.1241868⟩

Communication dans un congrès lirmm-00269505v1
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Eureka: A New 5-Degree-of-Freedom Redundant Parallel Mechanism with High Tilting Capabilities

Sébastien Krut , Olivier Company , François Pierrot

IROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3575-3580, ⟨10.1109/IROS.2003.1249710⟩

Communication dans un congrès lirmm-00191915v1
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A New 5-Degree-of-Freedom Redundant Parallel Mechanism with High Tilting Capabilities

Sébastien Krut , Olivier Company , François Pierrot

IROS: Intelligent RObots and Systems, Oct 2003, Las Vegas, United States. pp.3575-3580

Communication dans un congrès lirmm-00269435v1
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Velocity Performances Indexes for Parallel Mechanisms with Actuation Redundancy

Sébastien Krut , Olivier Company , François Pierrot

Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Oct 2002, Quebec (Canada), pp.46-56

Communication dans un congrès lirmm-00269415v1
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Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie

Nicolas Andreff , Belhassen-Chedli Bouzgarrou , Etienne Dombre , Damien Chablat , Olivier Company et al.

ROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11

Communication dans un congrès lirmm-00268624v1
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Twice: A Tilting Angle Amplification System for Parallel Robots

Sébastien Krut , Olivier Company , Frédéric Marquet , François Pierrot

ICRA: International Conference on Robotics and Automation, May 2002, Washington, United States. pp.4108-4113, ⟨10.1109/ROBOT.2002.1014388⟩

Communication dans un congrès lirmm-00269414v1
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Control of a 3-DOF Over-Actuated Parallel Mechanism

Frédéric Marquet , Olivier Company , Sébastien Krut , Olivier Gascuel , François Pierrot

DETC: Design Engineering Technical Conferences - CIE: Computers and Information in Engineering Conference, Sep 2002, Montreal, Canada. pp.1185-1191, ⟨10.1115/DETC2002/MECH-34343⟩

Communication dans un congrès lirmm-00191519v1
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MAX - Robots à architecture complexe : de la conception à la performance et l’autonomie

Etienne Dombre , Olivier Company , Sébastien Krut , Frédéric Marquet , François Pierrot et al.

ROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.1-8

Communication dans un congrès lirmm-00108665v1
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Enhancing Parallel Robots Accuracy with Redundant Sensors

Frédéric Marquet , Olivier Company , Sébastien Krut , François Pierrot

ICRA: International Conference on Robotics and Automation, May 2002, Washington, United States. pp.4114-4119

Communication dans un congrès lirmm-00269420v1
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Human based hybrid kinematic/dynamic whole-body control in humanoid robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. , French-German-Japanese Conference on Humanoid and Legged Robots, 2014

Poster de conférence lirmm-00993302v1
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Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking

David Galdeano , Ahmed Chemori , Sébastien Krut

HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011

Poster de conférence lirmm-00982345v1
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Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , François Pierrot , Sébastien Krut

Systems, Automation, and Control, 5, De Gruyter, pp.17-34, 2018, 9783110470468. ⟨10.1515/9783110470468-002⟩

Chapitre d'ouvrage lirmm-03990387v1
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Optimal Pattern Generator for Dynamic Walking in humanoid Robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse

Systems, Automation and Control, 1, De Gruyter, pp.115-139, 2016, 9783110448436. ⟨10.1515/9783110448436-008⟩

Chapitre d'ouvrage lirmm-03990367v1
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Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot

Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264

Chapitre d'ouvrage lirmm-01892495v1

Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

Samah Aref Shayya , Sébastien Krut , Olivier Company , Cédric Baradat , François Pierrot

Advances in Robot Kinematics, pp.545-553, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_56⟩

Chapitre d'ouvrage lirmm-01878979v1

On the Design of a Fast Parallel Robot Based on Its Dynamic Model

Vincent Nabat , Sébastien Krut , Olivier Company , Philippe Poignet , François Pierrot

Experimental Robotics, Springer, pp.409-419, 2008, 978-3-540-77456-3. ⟨10.1007/978-3-540-77457-0⟩

Chapitre d'ouvrage lirmm-00232868v1

On PKM with articulated travelling-plate and large tilting angles

Sébastien Krut , François Pierrot , Olivier Company

Jadran Lernarcic and B. Roth. Advances in Robot Kinematics, Springer, pp.445-454, 2006, 1-4020-4940-4

Chapitre d'ouvrage lirmm-00118110v1
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Modelling of a 4 Axis Parallel Machine for Heavy Parts Handling

Olivier Company , Sébastien Krut , François Pierrot

R. Neugebauer. Parallel Kinematics Seminar, 16, Verlag Scripten, pp.151-168, 2002, 3-928921-76-2

Chapitre d'ouvrage lirmm-00191524v1
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Modelling of a 4 Axis Parallel Machine for Heavy Parts Handling

Olivier Company , Sébastien Krut , François Pierrot

R. Neugebauer. Parallel Kinematics Seminar, Vol. 16, Verlag Scripten, pp. 151-168, 2002, 3-928921-76-2

Chapitre d'ouvrage lirmm-00269424v1

Modelling of a 4 Axis Parallel Machine for Heavy Parts Handling

Olivier Company , Sébastien Krut , François Pierrot

R. Neugebauer. Parallel Kinematics Seminar, Vol. 16, Verlag Scripten, pp.151-168, 2002, 3-928921-76-2

Chapitre d'ouvrage lirmm-00268579v1