Margot Vulliez

Présentation

I am a Research Scientist at Inria within the auctus team. My research aims at rethinking how robots can assist and collaborate with Humans in a shared environement. The main challenge is to improve human-robot interaction and coordination to better perform shared activities.

To meet this goal, my works focus on four axes:

Mechatronic design of robotic systems,

Control of human-robot-environment interaction,

Shared-autonomy approach of robotic assistance,

Ergonomic and cognitive studies of human-robot collaboration.

I am particularly interested in augmented haptic teleoperation, where the robot and human agent interact remotly through a sensory-rich interface (motion, haptic, visual, auditory data).

Publications

Article dans une revue (5)

Local Autonomy-Based Haptic-Robot Interaction With Dual-Proxy Model Mikael Jorda,Margot Vulliez,Oussama Khatib IEEE Transactions on Robotics, 2022, 38 (5), pp.2943-2961. ⟨10.1109/TRO.2022.3160053⟩ Article dans une revue hal-03830217v1
RTRobMultiAxisControl: A framework for real-time multi-axis and multi-robot control H. Fischer,Margot Vulliez,P. Laguillaumie,P. Vulliez,J.-P. Gazeau IEEE Transactions on Automation Science and Engineering, 2019, 16 (3), pp.1205-1217. ⟨10.1109/TASE.2018.2889813⟩ Article dans une revue hal-02876003v1
Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device Margot Vulliez,Said Zeghloul,Oussama Khatib Mechanism and Machine Theory, 2018, 128, pp.395-411. ⟨10.1016/j.mechmachtheory.2018.06.015⟩ Article dans une revue hal-01964675v1
Dynamic approach of the feedrate interpolation for trajectory planning process in multi-axis machining Margot Vulliez,Sylvain Lavernhe,Olivier Bruneau International Journal of Advanced Manufacturing Technology, 2017, 88 (5), pp.2085-2096. ⟨10.1007/s00170-016-8903-y⟩ Article dans une revue hal-01330726v1
A new serial approach of the forward kinematic model of spherical parallel manipulators for real-time applications Houssem Saafi,Margot Vulliez,Said Zeghloul,Med Amine Laribi Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2016, 232 (4), pp.677-684. ⟨10.1177/0954406216688027⟩ Article dans une revue hal-02294131v1

Communication dans un congrès (7)

A Model Predictive Control Approach To Blending In Shared Control Elio Jabbour,Margot Vulliez,Celestin Preault,Vincent Padois ICRA 2026 - IEEE International Conference on Robotics & Automation, Jun 2026, Vienne, Austria Communication dans un congrès hal-04753213v2
A New Compact Paired-Parallel Architecture for Haptic Transparency Margot Vulliez,Oussama Khatib AKR 2024 - 19th International Symposium on Advances in Robot Kinematics, Jun 2024, Ljubljana, Slovenia. pp.288-296, ⟨10.1007/978-3-031-64057-5_33⟩ Communication dans un congrès hal-04759634v1
Ruling guidance an adaptive and dynamic haptic guide model Alexis Boulay,David Daney,Margot Vulliez MMT Symposium 2024 - Mechanism and Machine Theory Symposium, Jun 2024, Guimaraes, Portugal. p.383-384 Communication dans un congrès hal-04776071v1
Comparative metrics of advanced serial/parallel biped design and characterization of the main contemporary architectures Virgile Batto,Thomas Flayols,Nicolas Mansard,Margot Vulliez IEEE-RAS International Conference on Humanoid Robots 2023, Dec 2023, Austin (Texas), United States. ⟨10.1109/Humanoids57100.2023.10375224⟩ Communication dans un congrès hal-04191553v2
Développement d'un scénario de maintenance industriel, écologique et reproductible pour l'évaluation ergonomique des interfaces humain-machine et de la charge mentale Marine Desvergnes,Nicolas Louveton,Cécile Scotto Di Cesare,Kathleen Belhassein,Margot Vulliezet al. ERGO'IA 2023 - "L’avenir de l’humain dans les systèmes sociotechniques du futur", Oct 2023, Biarritz, France Communication dans un congrès hal-04405063v1
Multi-objective design optimization of the Delthaptic, a new 6-DOF haptic device Said Zeghloul,Margot Vulliez 14th International Conference on Industrial Informatics (INDIN 2016), IEEE, Jul 2016, Poitiers, France. pp.248-253, ⟨10.1109/INDIN.2016.7819167⟩ Communication dans un congrès hal-03590011v1
Multi-scale Curvature Analysis and Correlations with the Fatigue Limit on Steel Surfaces after Milling Margot Vulliez,Matthew Gleason,Aurélien Souto-Lebel,Yann Quinsat,Claire Lartigueet al. 2nd CIRP Conference on Surface Integrity (CSI), May 2014, Birmingham, United Kingdom. pp.308-313, ⟨10.1016/j.procir.2014.04.052⟩ Communication dans un congrès hal-01010455v1

Poster de conférence (3)

Ambiguous visuo-haptic integration in a teleoperation environment Rémi Lafitte,Margot Vulliez,Cécile Scotto IMRF 2025 - 23rd International Multisensory Research Forum, Jul 2025, Durham (GB), United Kingdom Poster de conférence hal-05343415v1
Toward a human-centered haptic guidance Alexis Boulay,David Daney,Margot Vulliez,Romain Schmitt Journée TS4 du GdR Robotique, Jan 2025, Paris, France Poster de conférence hal-05128277v1
A haptic guidance generic approach Alexis Boulay,David Daney,Margot Vulliez,Romain Schmitt,Arthur Bonastre JJCR 2023 - Journée des Jeunes Chercheurs en Robotique, Oct 2023, Moliets-et-Maâ, France Poster de conférence hal-04334395v1

Pré-publication, Document de travail (1)

A new unified and adaptive haptic guidance method, an exploratory user study Alexis Boulay,Benjamin Camblor,Margot Vulliez,David Daney 2024 Pré-publication, Document de travail hal-04727078v1

Thèse (1)

Le Delthaptic, un nouveau dispositif haptique parallèle polyvalent à six degrés de liberté actifs. Margot Vulliez Automatique / Robotique. Université de Poitiers - Faculté des Sciences Fondamentales et Appliquées, 2018. Français. ⟨NNT : ⟩ Thèse tel-01964667v1