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Philippe Wenger, Directeur de Recherche CNRS, LS2N, Nantes, France


Philippe Wenger obtained his PhD in 1989 in Nantes University, France, and the Professor Habilitation in 1998. He joined the IRCCyN in 1990 as a CNRS research scientist and is with the LS2N since 2017. He is a CNRS Director of Research since 2002 and serves as a Professor at Ecole Centrale de Nantes since 2000 where he teaches a course on the optimal kinematic design of robots in the EMARO master (European Master on Robotics). He has led several research teams since 1998, including the robotics team of IRCCyN from 2010 to 2016. He has been involved in the kinematic analysis and design of robotic mechanisms for more than 30 years. He has participated in several national and international projects on the innovative design of robots in a variety of applications including machining, pick-and-place, medical and bio-inspired design. He has been regularly collaborating with industrial partners such as GE-Healthcare, Staubli, PSA, Renault, EDF, Airbus, STX-France and DCNS. He has given 26 keynotes or plenary lectures in national and international conferences, workshops and seminars. He has been a visiting professor in various Universities such as Laval Univ. (Canada), Lomonossov Univ. (Russia), Keio Univ. (Japan), ITLag (Mexico), Eniso (Tunisia),  AIT Bangkok (Thailand), IIT Indore (India) and Changzhou Univ. (China). He has organized and chaired 6 international conferences and workshops, and has been a member in the scientific committee of more than 20 international conferences. He serves as an Associate Editor for Mechanism and Machine Theory and ASME Journal of Mechanisms and Robotics, and as a Vice-Chair of the IFToMM Committee Computational Kinematics.


Journal articles65 documents

  • Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, Damien Chablat, Denis Creusot, et al.. Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck. Journal of Mechanisms and Robotics, 2022, 14 (1), ⟨10.1115/1.4051521⟩. ⟨hal-03314549⟩
  • Philippe Wenger, Damien Chablat. A review of cuspidal serial and parallel manipulators. Journal of Mechanisms and Robotics, 2022, pp.1-37. ⟨10.1115/1.4055677⟩. ⟨hal-03809104⟩
  • Matthieu Furet, Anick Abourachid, Christine Böhmer, Valentine Chummun, Christine Chevallereau, et al.. Estimating motion between avian vertebrae by contact modeling of joint surfaces. Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (2), pp.123-131. ⟨10.1080/10255842.2021.1934676⟩. ⟨hal-03344918⟩
  • Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco, Damien Chablat, Philippe Wenger. Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal. Mechanism and Machine Theory, 2022, 171, pp.104729. ⟨10.1016/j.mechmachtheory.2022.104729⟩. ⟨hal-03578664⟩
  • Anick Abourachid, Benoît Gagnier, Matthieu Furet, Raphael Cornette, Arnaud Delapre, et al.. Modeling intervertebral articulation: The rotule à doigt mechanical joint (RAD) in birds and mammals. Journal of Anatomy, 2021, 239 (6), pp.1287-1299. ⟨10.1111/joa.13517⟩. ⟨mnhn-03445533⟩
  • Philippe Wenger, Damien Chablat. Robots cuspidaux : théorie et applications. Les Techniques de l'Ingenieur, 2021. ⟨hal-03345018v2⟩
  • Vimalesh Muralidharan, Philippe Wenger. Optimal design and comparative study of two antagonistically actuated tensegrity joints. Mechanism and Machine Theory, 2021, 159. ⟨hal-03107170⟩
  • Christine Chevallereau, Philippe Wenger, Yannick Aoustin, Franck Mercier, Nicolas Delanoue, et al.. Leg design for biped locomotion with mono-articular and bi-articular linear actuation. Mechanism and Machine Theory, 2021, 156, pp.104138. ⟨10.1016/j.mechmachtheory.2020.104138⟩. ⟨hal-02985257⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator. Robotica, 2019, 37 (7), pp.1240-1266. ⟨10.1017/S0263574718000826⟩. ⟨hal-01859984⟩
  • Matthieu Furet, Philippe Wenger. Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator. Journal of Mechanisms and Robotics, 2019, 11 (6), ⟨10.1115/1.4044209⟩. ⟨hal-02338783⟩
  • Philippe Wenger, Damien Chablat. Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms. Robotica, 2019, 37 (7), pp.1214-1224. ⟨10.1017/S026357471800070X⟩. ⟨hal-01861785⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity. Mechanism and Machine Theory, 2018, 129, pp.293-315. ⟨10.1016/j.mechmachtheory.2018.08.001⟩. ⟨hal-01858955⟩
  • Abhilash Nayak, Thomas Stigger, Manfred Husty, Philippe Wenger, Stéphane Caro. Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters. Computer Aided Geometric Design, 2018, 63, pp.122 - 134. ⟨10.1016/j.cagd.2018.05.003⟩. ⟨hal-01860789⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Operation modes and self-motions of the 2-RUU parallel manipulator. International Journal of Mechanisms and Robotic Systems, 2016, 3 (4), pp.280-296. ⟨10.1504/IJMRS.2016.085228⟩. ⟨hal-01721232⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger, Josef Schadlbauer, Manfred Husty. Reconfiguration analysis of a 4-RUU parallel manipulator. Mechanism and Machine Theory, 2016, ⟨10.1016/j.mechmachtheory.2015.09.004⟩. ⟨hal-01757269⟩
  • Romain Benoit, Nicolas Delanoue, Sébastien Lagrange, Philippe Wenger. Guaranteed detection of the singularities of 3R robotic manipulators. Mechanical Sciences (MS), 2016, 7 (1), pp.31-38. ⟨10.5194/ms-7-31-2016⟩. ⟨hal-01388781⟩
  • Daniel Reveles Ramos, J. Alfonso Pamanes, Philippe Wenger. Trajectory Planning of Kinematically Redundant Parallel Manipulators by Using Multiple Working Modes. Mechanism and Machine Theory, 2016, 98, pp.216-230. ⟨10.1016/j.mechmachtheory.2015.09.011⟩. ⟨hal-01712832⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. Natural Frequency Computation of Parallel Robots. Journal of Computational and Nonlinear Dynamics, 2015, 10 (2), ⟨10.1115/1.4028573⟩. ⟨hal-01061512⟩
  • Latifah Nurahmi, Josef Schadlbauer, Stéphane Caro, Manfred Husty, Philippe Wenger. Kinematic Analysis of the 3-RPS Cube Parallel Manipulator. Journal of Mechanisms and Robotics, 2015, 7 (1), ⟨10.1115/1.4029305⟩. ⟨hal-01757334⟩
  • Fabian Andres Lara-Molina, João Maurício Rosário, Didier Dumur, Philippe Wenger. Robust generalized predictive control of the Orthoglide robot. Industrial Robot: An International Journal, 2014, 41 (3), pp.275-285. ⟨10.1108/IR-07-2013-374⟩. ⟨hal-01094056⟩
  • Josef Schadlbauer, Manfred Husty, Stéphane Caro, Philippe Wenger. Self-Motions of 3-RPS Manipulators. Frontiers of Mechanical Engineering, 2013, 8 (1), pp.62-69. ⟨10.1007/s11465-013-0366-3⟩. ⟨hal-00914024⟩
  • Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger. Singularity-free Design of the Translational Parallel Manipulator IRSBot-2. Mechanism and Machine Theory, Elsevier, 2013, 64, pp.262-285. ⟨10.1016/j.mechmachtheory.2013.02.005⟩. ⟨hal-00832557⟩
  • Montserrat Manubens, Guillaume Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouillier. Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2012, pp.1-10. ⟨hal-00690975⟩
  • Fabian Andres Lara-Molina, João Maurício M. Rosário, Didier Dumur, Philippe Wenger. Application of predictive control techniques within parallel robot. Sba Controle & Automação, 2012, 23 (5), pp.530-540. ⟨10.1590/S0103-17592012000500002⟩. ⟨hal-00746797⟩
  • Semaan Amine, M Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément Gosselin. Singularity Analysis of 3T2R Parallel Mechanisms using Grassmann-Cayley Algebra and Grassmann Line Geometry. Mechanism and Machine Theory, Elsevier, 2012, 52, pp.326-340. ⟨10.1016/j.mechmachtheory.2011.11.015⟩. ⟨hal-00833520⟩
  • Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément M. Gosselin. Singularity Conditions of 3T1R Parallel Manipulators with Identical Limb Structures. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2012, 4 (1), pp.1-11. ⟨10.1016/j.mechmachtheory.2013.09.004⟩. ⟨hal-00642238⟩
  • Semaan Amine, Stéphane Caro, Philippe Wenger, Daniel Kanaan. Singularity Analysis of the H4 Robot using Grassmann-Cayley Algebra. Robotica, Cambridge University Press, 2011, pp.1-10. ⟨10.1017/S0263574711001330⟩. ⟨hal-00642230⟩
  • Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément M Gosselin. Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2011, 35 (5), pp.515-528. ⟨10.1139/tcsme-2011-0031⟩. ⟨hal-00684999⟩
  • Nicolas Binaud, Stéphane Caro, Philippe Wenger. Comparison of 3-RPR Planar Parallel Manipulators with regard to their Dexterity and Sensitivity to Geometric Uncertainties. Meccanica, Springer Verlag, 2011, 46 (14), pp.75-88. ⟨10.1007/s11012-010-9390-0⟩. ⟨hal-00833524⟩
  • Guillaume Moroz, Fabrice Rouillier, Damien Chablat, Philippe Wenger. On the determination of cusp points of 3-R\underline{P}R parallel manipulators. Mechanism and Machine Theory, Elsevier, 2010, 45 (11), pp.1555-1567. ⟨10.1016/j.mechmachtheory.2010.06.016⟩. ⟨hal-00545502⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide. Mechanism and Machine Theory, Elsevier, 2010, 45 (8), pp.1125-1141. ⟨10.1016/j.mechmachtheory.2010.03.008⟩. ⟨hal-00553166⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions. Mechatronics, Elsevier, 2009, 19 (4), pp.478-488. ⟨10.1016/j.mechatronics.2008.11.008⟩. ⟨hal-00418777⟩
  • Daniel Kanaan, Philippe Wenger, Stéphane Caro, Damien Chablat. Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra. IEEE Transactions on Robotics, IEEE, 2009, 25 (5), pp.995-1004. ⟨10.1109/TRO.2009.2017132⟩. ⟨hal-00425361⟩
  • Stéphane Caro, Nicolas Binaud, Philippe Wenger. Sensitivity analysis of 3-RPR planar parallel manipulators. Journal of Mechanical Design, American Society of Mechanical Engineers, 2009, 131, pp.121005-1--121005-13. ⟨10.1115/1.4000216⟩. ⟨hal-00456135v2⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2009, pp.1-19. ⟨hal-00425337⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Stiffness Analysis of Overconstrained Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2009, 44 (5), pp.966-982. ⟨10.1016/j.mechmachtheory.2008.05.017⟩. ⟨hal-00372638⟩
  • Daniel Kanaan, Philippe Wenger, Damien Chablat. Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine. Mechanism and Machine Theory, Elsevier, 2009, 44 (2), pp.487-498. ⟨10.1016/j.mechmachtheory.2008.03.002⟩. ⟨hal-00342928⟩
  • Anatol Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger. Stiffness Analysis Of Multi-Chain Parallel Robotic Systems. Journal of Automation, Mobile Robotics and Intelligent Systems, 2009, 3 (3), pp.75-82. ⟨hal-00418768⟩
  • Nicolas Binaud, Stéphane Caro, Philippe Wenger. Sensitivity Comparison of Planar Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2009, 45, pp.1477-1490. ⟨10.1016/j.mechmachtheory.2010.07.004⟩. ⟨hal-00833527⟩
  • Damien Chablat, Philippe Wenger, Stefan Staicu. Dynamics of the Orthoglide parallel robot. Scientific Bulletin - "Politehnica" University of Bucharest. Series D, Mechanical engineering, Politechnica University of Bucharest, 2009, 71 (3), pp.3-16. ⟨hal-00425143⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators. Mechanism and Machine Theory, Elsevier, 2008, 23 (4), pp.480-490. ⟨10.1016/j.mechmachtheory.2007.03.011⟩. ⟨hal-00261669⟩
  • Sébastien Briot, Ilian Bonev, Damien Chablat, Philippe Wenger, Vigen Arakelian. Self-Motions of General 3-RPR Planar Parallel Robots. The International Journal of Robotics Research, SAGE Publications, 2008, 27 (7), pp. 855-866. ⟨10.1177/0278364908092466⟩. ⟨hal-00310393⟩
  • Philippe Wenger. Cuspidal and Noncuspidal Robot Manipulators. Robotica, Cambridge University Press, 2007, 25 (6), pp.717-724. ⟨hal-00454562⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators. Robotica, Cambridge University Press, 2007, 25 (6), pp.717-724. ⟨10.1017/S0263574707003785⟩. ⟨hal-00184991⟩
  • Félix Majou, Clément Gosselin, Philippe Wenger, Damien Chablat. Parametric stiffness analysis of the Orthoglide. Mechanism and Machine Theory, Elsevier, 2007, 42 (3), pp.296-311. ⟨hal-00168332⟩
  • Philippe Wenger, Damien Chablat, Mazen Zein. Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators. Journal of Mechanical Design, American Society of Mechanical Engineers, 2007, 129 (12), pp.1-6. ⟨hal-00162649⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications. Mechanism and Machine Theory, Elsevier, 2006, 41 (8), pp.971-986. ⟨10.1016/j.mechmachtheory.2006.03.013⟩. ⟨hal-00168501⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat. Sensitivity Analysis of the Orthoglide: A 3-DOF Translational Parallel Kinematic Machine. Journal of Mechanical Design, American Society of Mechanical Engineers, 2006, 128, pp.392-402. ⟨10.1115/1.2166852⟩. ⟨hal-00169005v2⟩
  • Carlo Innocenti, Philippe Wenger. Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure. Journal of Mechanical Design, 2006, 128 (1), pp.272-278. ⟨hal-00454563⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide. Robotica, Cambridge University Press, 2006, 24 (1), pp.39-49. ⟨hal-00168340⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis. Robustness Study of Generic and Non-Generic 3R Positioning Manipulators. Journal IFToMM Problems of Applied Mechanics, 2006, 22 (1), pp.9-23. ⟨hal-00463711⟩
  • Daniel Kanaan, Philippe Wenger, Damien Chablat. Workspace Analysis of the Parallel Module of the VERNE Machine. Problems of Mechanics, 2006, 25 (4), pp.26-42. ⟨hal-00160062⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Tolerance Synthesis of Mechanisms: a Robust Design Approach. Journal of Mechanical Design, American Society of Mechanical Engineers, 2005, 127, pp.86-94. ⟨10.1115/1.1825047⟩. ⟨hal-00463707⟩
  • Anatol Pashkevich, Philippe Wenger, Damien Chablat. Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms. Mechanism and Machine Theory, Elsevier, 2005, 40 (8), pp.907-930. ⟨hal-00168494⟩
  • Philippe Wenger, Damien Chablat, Maher Baili. A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions. Journal of Mechanical Design, American Society of Mechanical Engineers, 2005, 127, pp.150-155. ⟨hal-00169594⟩
  • Damien Chablat, Philippe Wenger, Félix Majou, Jean-Pierre Merlet. An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines. The International Journal of Robotics Research, SAGE Publications, 2004, 23 (6), pp.615-624. ⟨hal-00166631⟩
  • Maher Baili, Philippe Wenger, Damien Chablat. Kinematic Analysis of a Family of 3R Manipulators. Problems of Mechanics, 2004, 15 (2), pp.27-32. ⟨hal-00162645⟩
  • Philippe Wenger, Damien Chablat, Anatol Pashkevich. Geometric synthesis of orthoglide-type mechanisms. Transactions of Belarusian Engineering Academy, 2004, 17 (1), pp.69-72. ⟨hal-00169635⟩
  • Damien Chablat, Philippe Wenger. Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2003, 19 (3), pp.403-410. ⟨hal-00168179⟩
  • Damien Chablat, Philippe Wenger. Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles. Mechanism and Machine Theory, Elsevier, 2001, 36 (6), pp.763-783. ⟨hal-00145142⟩
  • Philippe Wenger, Clément Gosselin, Damien Chablat. A Comparative Study of Parallel Kinematic Architectures for Machining Applications. Electronic Journal of Computational Kinematics, 2001, 1 (1), pp.23. ⟨hal-01703831⟩
  • Philippe Wenger. Some guidelines for the kinematic design of new manipulators. Mechanism and Machine Theory, 2000, 35 (3), pp.437-449. ⟨10.1016/S0094-114X(99)00015-4⟩. ⟨hal-02355184⟩
  • Philippe Wenger. Classification of 3R Positioning Manipulators. Journal of Mechanical Design, 1998, 120 (2), pp.327-332. ⟨10.1115/1.2826976⟩. ⟨hal-02362907⟩
  • Philippe Wenger, P. Chedmail. On the connectivity of manipulator free workspace. Journal of Robotic Systems, 1991, 8 (6), pp.767-799. ⟨10.1002/rob.4620080604⟩. ⟨hal-02355226⟩
  • Philippe Wenger, Patrick Chedmail. Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles. The International Journal of Robotics Research, 1991, 10 (3), pp.214-227. ⟨10.1177/027836499101000303⟩. ⟨hal-02355205⟩

Conference papers114 documents

  • Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau. Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators. 25 ème Congrès Français de Mécanique, Aug 2022, Nantes, France. ⟨hal-03797283⟩
  • Nicolas J.S. Testard, Christine Chevallereau, Philippe Wenger. Control in the operational space of a redundant and under-actuated tensegrity robot. 25ème Congrès Français de Mécanique, Aug 2022, Nantes, France. ⟨hal-03797431⟩
  • Damien Chablat, Rémi Prébet, Mohab Safey El Din, Durgesh Salunkhe, Philippe Wenger. Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry. 2022 International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩. ⟨hal-03596704v3⟩
  • Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau. Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategies. Advances in Robot Kinematics 2022, Jun 2022, Bilbao, Spain. ⟨hal-03797235⟩
  • Benjamin Fasquelle, Matthieu Furet, Parag Khanna, Damien Chablat, Christine Chevallereau, et al.. A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints. ICRA'2020, May 2020, Paris, France. ⟨hal-02517339⟩
  • Matthieu Furet, Damien Chablat, Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, et al.. Prototype of a tensegrity manipulator to mimic bird necks. 24ème Congrès Français de Mécanique, Aug 2019, Brest, France. ⟨hal-02264288⟩
  • Swaminath Venkateswaran, Matthieu Furet, Damien Chablat, Philippe Wenger. Design and analysis of a tensegrity mechanism for a bio-inspired robot. The ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019, Aug 2019, Annaheim, California, United States, Aug 2019, Annaheim, CA, United States. ⟨10.1115/DETC2019-97544⟩. ⟨hal-02189437⟩
  • Christine Böhmer, Anick Abourachid, Philippe Wenger, Benjamin Fasquelle, Matthieu Furet, et al.. Combining precision and power to maximize performance: a case study of the woodpecker's neck. 44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France. ⟨hal-02265058⟩
  • A. Abourachid, C Böhmer, Philippe Wenger, Damien Chablat, Christine Chevallereau, et al.. Modelling, design and control of a bird neck using tensegrity mechanisms. ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada. ⟨hal-02355070⟩
  • Thomas Stigger, Abhilash Nayak, Stéphane Caro, Philippe Wenger, Martin Pfurner, et al.. Algebraic Analysis of a 3-RUU Parallel Manipulator. The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨hal-01757514⟩
  • Matthieu Furet, Max Lettl, Philippe Wenger. Kinematic analysis of planar tensegrity 2-X manipulators. 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨hal-01791317⟩
  • Matthieu Furet, Anders van Riesen, Christine Chevallereau, Philippe Wenger. Optimal design of tensegrity mechanisms used in a bird neck model. European Conference on Mechanism Science (EUCOMES'2018), Sep 2018, Aachen, Germany. pp.365-375, ⟨10.1007/978-3-319-98020-1_43⟩. ⟨hal-01989992⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. A Dual Reconfigurable 4-rRUU Parallel Manipulator. 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨10.1109/REMAR.2018.8449902⟩. ⟨hal-01757553⟩
  • Anders van Riesen, Matthieu Furet, Christine Chevallereau, Philippe Wenger. Dynamic analysis and control of an antagonistically actuated tensegrity mechanism. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.481-490, ⟨10.1007/978-3-319-78963-7_60⟩. ⟨hal-01989963⟩
  • Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩. ⟨hal-01989982⟩
  • Matthieu Furet, Philippe Wenger. Workspace and cuspidality analysis of a 2-X planar manipulator. 4th IFToMM Symposium on Mechanism Design for Robotics, Sep 2018, Udine, Italy. ⟨hal-01810820⟩
  • Jayant Kumar Mohanta, Santhakumar Mohan, Philippe Wenger, Christine Chevallereau. A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine. IFToMM Asian Mechanism and Machine Science 2018, Dec 2018, Bengaluru, India. ⟨hal-01984427⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator. 7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France. ⟨hal-01757936⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Operation Modes and Singularities of 3-PRS Parallel Manipulators with Different Arrangements of P-joints. ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-47935⟩. ⟨hal-02947216⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Operation Modes and Self-motions of a 2-RUU Parallel Manipulator. The 3rd IFToMM Symposium on Mechanism Design for Robotics, Jun 2015, Aalborg, Denmark. ⟨hal-02947228⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Design of 3-RPS Parallel Manipulators based on Operation Modes. The 14th IFToMM World Congress in Mechanism and Machine Science, Oct 2015, Taipei, Taiwan. ⟨hal-02947194⟩
  • Latifah Nurahmi, Stéphane Caro, Philippe Wenger. Synthesis of 3-RPS Parallel Manipulators based on Prescribed Operation Modes. The 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. ⟨hal-02947222⟩
  • Rohit Kalla, Latifah Nurhami, Sandipan Bandyopadhyay, Stéphane Caro, Philippe Wenger. A study of Σ 2 singularities in the 3-RPS Parallel Manipulator. iNaCoMM 2015, Dec 2015, Kanpur, India. ⟨hal-02338828⟩
  • Stéphane Caro, Damien Chablat, Philippe Lemoine, Philippe Wenger. Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis. International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-46292⟩. ⟨hal-01143102⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures. ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩. ⟨lirmm-01221401⟩
  • Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin. A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures. CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩. ⟨lirmm-01221407⟩
  • Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger. Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory. ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Aug 2013, Portland, Oregon, United States. ⟨10.1115/DETC2013-13037⟩. ⟨hal-00818100⟩
  • Semaan Amine, Latifah Nurahmi, Philippe Wenger, Stéphane Caro. Conceptual design of Schoenflies motion generators based on the wrench graph. ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. ⟨10.1115/DETC2013-13084⟩. ⟨hal-00830400⟩
  • Stéphane Caro, Philippe Wenger, Damien Chablat. Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot. ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩. ⟨hal-00692371⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. Constraint Singularity-Free Design of the IRSBot-2. Advances in Robot Kinematics, Jun 2012, Innsbruck, Austria. ⟨hal-00676851⟩
  • Dinh Quan Nguyen, Sébastien Briot, Philippe Wenger. Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators. ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Jul 2012, Nantes, France. pp.175-184, ⟨10.1115/ESDA2012-82208⟩. ⟨hal-00667609⟩
  • Semaan Amine, Stéphane Caro, Philippe Wenger. Constraint and Singularity Analysis of the Exechon. The Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions (MTM) and the International Conference on Robotics (Robotics’12), Jan 2012, Clermont-Ferrand, France. pp.141-150, ⟨10.4028/www.scientific.net/AMM.162.141⟩. ⟨hal-03533368⟩
  • Semaan Amine, Mehdi Tale-Masouleh, Stéphane Caro, Philippe Wenger, Clément M. Gosselin. Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra. The 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Jun 2011, Montréal, Canada. pp.1-12. ⟨hal-00642267⟩
  • Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide. 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France. ⟨hal-00590041⟩
  • Abdel Kader Zaiter, Philippe Wenger, Damien Chablat. A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes. 4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8. ⟨hal-00598302⟩
  • Coralie Germain, Sébastien Briot, Victor Glazunov, Stéphane Caro, Philippe Wenger. IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations. ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩. ⟨hal-00590082⟩
  • Nicolas Binaud, Stéphane Caro, Philippe Wenger. Etude des Conditions d'Assemblage de Manipulateurs Hyperstatiques : application à un manipulateur 5 barres. CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France. ⟨hal-03422528⟩
  • Damien Chablat, Guillaume Moroz, Philippe Wenger. Uniqueness domains and non singular assembly mode changing trajectories. International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1-6. ⟨hal-00583302⟩
  • Michel Coste, Philippe Wenger, Damien Chablat. Singular surfaces and cusps in symmetric planar 3-RPR manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩. ⟨hal-00610313⟩
  • Nicolas Binaud, Philippe Cardou, Stéphane Caro, Philippe Wenger. The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances. ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2010, Montreal, Canada. ⟨10.1115/DETC2010-28635⟩. ⟨hal-01941777⟩
  • Semaan Amine, Daniel Kanaan, Stéphane Caro, Philippe Wenger. Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle. Advances in Robot Kinematics, Jun 2010, Piran-Portoroz, Slovenia. pp.273-282. ⟨hal-00642259⟩
  • Damien Chablat, Stéphane Caro, Raza Ur-Rehman, Philippe Wenger. Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach. 34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8. ⟨hal-00545466⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators. 20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩. ⟨hal-00464101⟩
  • Guillaume Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouillier. Cusp points in the parameter space of RPR-2PRR parallel manipulators. 3rd European Conference on Mechanism Science : EUCOMES 2010, Sep 2010, Cluj-Napoca, Romania. pp.29-37, ⟨10.1007/978-90-481-9689-0_4⟩. ⟨hal-00545445⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Design optimization of parallel manipulators for high-speed precision machining applications. 13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6. ⟨hal-00414240⟩
  • Guillaume Jacquenot, Fouad Bennis, Jean-Jacques Maisonneuve, Philippe Wenger. 2D multi-objective placement algorithm for free-form components. ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2009, San Diego, United States. pp.DETC2009-87603. ⟨hal-00432667v2⟩
  • Frédéric Boyer, Damien Chablat, Philippe Lemoine, Philippe Wenger. The eel-like robot. ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8. ⟨hal-00411844v2⟩
  • Guillaume Jacquenot, Fouad Bennis, Jean-Jacques Maisonneuve, Philippe Wenger. Optimisation de placement dans les problèmes de conception. CFM 2009 - 19ème Congrès Français de Mécanique, Aug 2009, Marseille, France. ⟨hal-03391298⟩
  • Guillaume Jacquenot, Fouad Bennis, Jean-Jacques Maisonneuve, Philippe Wenger. Présentation d'une méthode de résolution pour les problèmes de placement 2D et 3D. ROADEF 2009, Feb 2009, Nancy, France. ⟨hal-00432671⟩
  • Philippe Wenger, Damien Chablat. Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators. International Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8. ⟨hal-00412923⟩
  • Guillaume Jacquenot, Fouad Bennis, Jean-Jacques Maisonneuve, Philippe Wenger. Méthode générique pour la résolution des problèmes de placement bidimensionnel. 11ème Colloque National AIP PRIMECA, Apr 2009, La Plagne, France. pp.45. ⟨hal-00432669⟩
  • Guillaume Jacquenot, Fouad Bennis, Jean-Jacques Maisonneuve, Philippe Wenger. Optimisation de placement dans les problèmes de conception. Congrès Français de Mécanique CFM'2009, Aug 2009, Marseille, France. pp.6. ⟨hal-00432672⟩
  • Anatol Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger. Accuracy Improvement for Stiffness Modeling of Parallel Manipulators. 42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8. ⟨hal-00414207⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis. Troisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8. ⟨hal-00372622⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique. 5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10. ⟨hal-00340626⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Stiffness Analysis Of Multi-Chain Parallel Robotic Systems. 9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6. ⟨hal-00326672⟩
  • Ilian Bonev, Sébastien Briot, Philippe Wenger, Damien Chablat. Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots. 2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4. ⟨hal-00323101⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators. ICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6. ⟨hal-00257728⟩
  • Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analyses of the Orthoglide 5-axis. Congress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6. ⟨hal-00322702⟩
  • Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger. SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra. Advances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10. ⟨hal-00322730⟩
  • Daniel Kanaan, Philippe Wenger, Damien Chablat. Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra. 11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10. ⟨hal-00322720⟩
  • Daniel Kanaan, Philippe Wenger, Damien Chablat. Kinematics analysis of the parallel module of the VERNE machine. The 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6. ⟨hal-00145391⟩
  • Anatol Pashkevich, Philippe Wenger, Damien Chablat. Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances. ICRA, Apr 2007, Rome, Italy. pp.1-6. ⟨hal-00164595⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications. Mar 2007, Monastir, Tunisia. pp.1-8. ⟨hal-00162690⟩
  • Anatol Pashkevich, Roman Gomolitsky, Philippe Wenger, Damien Chablat. Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide. May 2007, Angers, France. pp.1-8. ⟨hal-00145161⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators. Jun 2007, Besançon, France. pp.1-6. ⟨hal-00145398⟩
  • Daniel Kanaan, Philippe Wenger, Damien Chablat. Workspace and Kinematic Analysis of the VERNE machine. AIM, Sep 2007, Zürich, Switzerland. pp.1-6. ⟨hal-00164877⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. Singular curves and cusp points in the joint space of 3-RPR parallel manipulators. 2006, Orlando, United States. pp.1-6. ⟨hal-00160809⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematic Calibration of the Orthoglide-Type Mechanisms. 2006, Saint Etienne, France. pp.1-6. ⟨hal-00145163⟩
  • Damien Chablat, Philippe Wenger, Ilian Bonev. Kinematic analysis of the 3-RPR parallel manipulator. 10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228. ⟨hal-00168606⟩
  • Damien Chablat, Philippe Wenger. A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye. IDETC, 2006, Philadelphie, United States. pp.1-8. ⟨hal-00164992⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators. European Conference on Mechanism Science, Feb 2006, Obergurgl, Austria. pp.1-12. ⟨hal-00145468⟩
  • Ilian Bonev, Damien Chablat, Philippe Wenger. Working and Assembly Modes of the Agile Eye. IEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322. ⟨hal-00168519⟩
  • Hector Moreno, Alfonso Pamanes, Philippe Wenger, Damien Chablat. Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks. 3rd International Conference on Informatics in Control, Aug 2006, Setubal, Portugal. pp.1-7. ⟨hal-00169506⟩
  • Damien Chablat, Philippe Wenger. A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye. Virtual Concept, Nov 2005, France. pp.1-6. ⟨hal-00165085⟩
  • Maher Baili, Damien Chablat, Philippe Wenger. Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux. Congrès international Conception et Modélisation des Systèmes Mécaniques, Mar 2005, Hammamet, Tunisie. pp.1-12. ⟨hal-00165061⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Comparison of Robustness Indices and Introduction of a Tolerance Synthesis Method for Mechanisms. Canadian Congress of Applied Mechanics, May 2005, Montreal, Canada. pp.1-2. ⟨hal-00465501⟩
  • Damien Chablat, Philippe Wenger. Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot. ICRA, Apr 2005, Barcelone, Spain. pp.1-6. ⟨hal-00162717⟩
  • Mazen Zein, Philippe Wenger, Damien Chablat. An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications. Proceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12. ⟨hal-00165015⟩
  • Damien Chablat, Philippe Wenger. The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator. 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7. ⟨hal-00144971⟩
  • Félix Majou, Clément Gosselin, Philippe Wenger, Damien Chablat. Parametric Stiffness Analysis of the Orhtoglide. International Symposium on Robotics, Mar 2004, Paris, France. pp.1-7. ⟨hal-00168400⟩
  • Philippe Wenger, Maher Baili, Damien Chablat. A Workspace based Classification of 3R Orthogonal Manipulators. 2004, Sestri-Levante, Italy. pp.1-10. ⟨hal-00145373⟩
  • Damien Chablat, Philippe Wenger, Jean-Pierre Merlet. A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis. Apr 2004, Tianjin, China. pp.1-6. ⟨hal-00163905⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. The Orthoglide: Kinematics and Workspace Analysis. 2004, Sestri-Levante, Italy. pp.1-10. ⟨hal-00145372⟩
  • Stéphane Caro, Philippe Wenger, Fouad Bennis, Damien Chablat. Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine. ASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩. ⟨hal-00170102⟩
  • Maher Baili, Philippe Wenger, Damien Chablat. A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace. ICRA, Apr 2004, Barcelona, Spain. pp.1-6. ⟨hal-00163907⟩
  • Damien Chablat, Philippe Wenger. A New Concept of Modular Parallel Mechanism for Machining Applications. 2003, Taipei, Taiwan. pp.1-6. ⟨hal-00145368⟩
  • Maher Baili, Philippe Wenger, Damien Chablat. Classification of one family of 3R positioning Manipulators. 2003, Coimbra, Portugal. pp.1-6. ⟨hal-00145367⟩
  • Damien Chablat, Philippe Wenger, Félix Majou. The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications. ICRA, 2003, Coimbra, Portugal. pp.1-6. ⟨hal-00145366⟩
  • Stéphane Caro, Fouad Bennis, Philippe Wenger. Etat de l'art de la Conception Robuste de Mécanismes. Journée AIP-PRIMECA, Jan 2002, Cachan, France. pp.1-10. ⟨hal-00465473⟩
  • Félix Majou, Philippe Wenger, Damien Chablat. Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide. IDMME, 4ème conférence internationale sur la conception et la fabrication intégrées en mécanique, May 2002, Clermont-Ferrand, France. pp.1-10. ⟨hal-00145262⟩
  • Damien Chablat, Stéphane Caro, Philippe Wenger, Jorge Angeles. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators. 2002, Clermont-Ferrand, France. pp.1-10. ⟨hal-00145264⟩
  • Philippe Wenger, Damien Chablat, Félix Majou. L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope. 2ème Assises Machines et Usinage à Grande Vitesse, Mar 2002, France. pp.1-9. ⟨hal-00165111⟩
  • Damien Chablat, Philippe Wenger, Stéphane Caro, Jorge Angeles. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators. ASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩. ⟨hal-00168513⟩
  • Damien Chablat, Philippe Wenger, Jean-Pierre Merlet. Workspace Analysis of the Orthoglide using Interval Analysis. 2002, Caldes de Malavella, Spain. pp.1-10. ⟨hal-00145304⟩
  • Sylvain Guegan, Wisama Khalil, Damien Chablat, Philippe Wenger. Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide. CIFA, Jul 2002, Nantes, France. pp.1-6. ⟨hal-00162630⟩
  • Nicolas Andreff, Belhassen-Chedli Bouzgarrou, Etienne Dombre, Damien Chablat, Olivier Company, et al.. Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie. ROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11. ⟨lirmm-00268624⟩
  • Félix Majou, Philippe Wenger, Damien Chablat. A Novel method for the design of 2-DOF Parallel mechanisms for machining applications. 2002, Caldes de Malavella, Spain. pp.1-11. ⟨hal-00145299⟩
  • Philippe Wenger, Damien Chablat. Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide. 2002, Québec, Canada. pp.1-9. ⟨hal-00145281⟩
  • Philippe Wenger, Clément Gosselin, Damien Chablat. A Comparative Study of Parallel Kinematic Architectures for Machining Applications. WCK, May 2001, Séoul, South Korea. pp.1-6. ⟨hal-00165167⟩
  • Félix Majou, Philippe Wenger, Damien Chablat. The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria. The 3rd INTERNATIONAL CONFERENCE ON METAL CUTTING AND HIGH SPEED MACHINING, 2001, Metz, France. pp.1-10. ⟨hal-00145122⟩
  • Philippe Wenger, Damien Chablat. Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide. ARK, 2000, Slovenia. pp.1-11. ⟨hal-00165169⟩
  • Damien Chablat, Philippe Wenger, Jorge Angeles. Conception Isotropique d'une morphologie parallèle : Application à l'usinage. IDMME, May 2000, Montréal, Canada. pp.1-10. ⟨hal-00162571⟩
  • Damien Chablat, Philippe Wenger. A New Three-DOF Parallel Mechanism: Milling Machine Applications. 2000, Chemnitz, Germany. pp.1-9. ⟨hal-00145120⟩
  • Damien Chablat, Philippe Wenger. On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators. Tenth World Congress On The Theory Of Machines And Mechanisms, Jun 1999, Oulu, Finland. pp.1-6. ⟨hal-00428530⟩
  • Damien Chablat, Philippe Wenger. Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators. Tenth World Congress on the Theory of Machines and Mechanisms, Jun 1999, Oulu, Finland. pp.1-6. ⟨hal-00145125⟩
  • Damien Chablat, Philippe Wenger. La parcourabilité pour les manipulateurs pleinement parallèles. La Plagne AIP-Priméca, 1999, La Plagne, France. pp.1-8. ⟨hal-00145086⟩
  • Damien Chablat, Philippe Wenger. Moveability and Collision Analysis for Fully-Parallel Manipulators. RoManSy, Jul 1998, Paris, France. pp.1-8. ⟨hal-00162334⟩
  • Damien Chablat, Philippe Wenger, Jorge Angeles. The Kinematic design of a 3-dof Hybrid Manipulator. Integrated Design and Manufacturing in Mechanical Engineering, 1998, Compiègne, France. pp.1-8. ⟨hal-00145047⟩
  • Damien Chablat, Philippe Wenger, Jorge Angeles. The Isoconditioning Loci of A Class of Closed-Chain Manipulators. May 1998, Bruxelle, Belgium. pp.1970-1976. ⟨hal-00162274⟩
  • Damien Chablat, Philippe Wenger. Working Modes and Aspects in Fully-Parallel Manipulator. International Conference on Robotics and Automation, May 1998, Bruxelle, Belgium. pp.1964-1969, ⟨10.1109/ROBOT.1998.680601⟩. ⟨hal-00162268⟩
  • Philippe Wenger, Damien Chablat. Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study. ARK, 1998, Austria. pp.117-126. ⟨hal-00162563⟩
  • Philippe Wenger, Damien Chablat. Definition sets for the Direct Kinematics of Parallel Manipulators. 8th International Conference in Advanced Robotics, Jul 1997, Monterey, United States. pp.859 - 864, ⟨10.1109/ICAR.1997.620282⟩. ⟨hal-00144986⟩
  • Philippe Wenger, Damien Chablat. Uniqueness Domains in the Workspace of Parallel Manipulators. 1997, Nantes, France. pp.1-6. ⟨hal-00145036⟩

Books2 documents

  • Philippe Wenger, Christine Chevallereau, Doina Pisla Hannes Bleuler Aleksandar Rodic. New trends in medical and service robotics: Human centered analysis, control and design. Springer, 2016, 978-3-319-30674-2. ⟨hal-01740197⟩
  • Philippe Wenger, Jadran Lenarčič. Advances in Robot Kinematics: Analysis and Design. Springer, 2008. ⟨hal-01740254⟩

Book sections21 documents

  • J Mohanta, S Mohan, Philippe Wenger, Christine Chevallereau. A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine. Springer. Lecture Notes in Mechanical Engineering, 2021, 978-981-15-4476-7. ⟨hal-03639735⟩
  • Damien Chablat, Guillaume Moroz, Fabrice Rouillier, Philippe Wenger. Using Maple to analyse parallel robots. Jürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩. ⟨hal-02289699⟩
  • Philippe Wenger, Matthieu Furet. Kinematic analysis of a planar manipulator with anti-parallelogram joints and offsets. Advances in Robot Kinematics, Springer, 2020. ⟨hal-03010542⟩
  • Vimalesh Muralidharan, Philippe Wenger, Matthieu Furet. Static analysis and design strategy of two antagonistically actuated joints. New Trends in Mechanism and Machine Science, 2020. ⟨hal-03010558⟩
  • Benjamin Fasquelle, Matthieu Furet, Christine Chevallereau, Philippe Wenger. Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck. Advances in Mechanism and Machine ScienceProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, pp.2087-2097, 2019, 978-3-030-20130-2. ⟨10.1007/978-3-030-20131-9_207⟩. ⟨hal-02353763⟩
  • Philippe Wenger. Cuspidal Robots. Springer. Singular Configurations of Mechanisms and Manipulators, pp.67 - 99, 2019, CISM International Centre for Mechanical Sciences, ⟨10.1007/978-3-030-05219-5_3⟩. ⟨hal-03375029⟩
  • Thomas Stigger, Abhilash Nayak, Stéphane Caro, Philippe Wenger, Martin Pfurner, et al.. Algebraic Analysis of a 3-RUU Parallel Manipulator. In: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham, pp.141-149, 2019, ⟨10.1007/978-3-319-93188-3_17⟩. ⟨hal-02405202⟩
  • Philippe Bruno Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984430⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator. Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩. ⟨hal-02353780⟩
  • Abhilash Nayak, Stéphane Caro, Philippe Wenger. Operation modes and workspace of a 4-rRUU Parallel Manipulator. In: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp.649-657, 2019, ⟨10.1007/978-3-030-20131-9_65⟩. ⟨hal-02404455⟩
  • Michel Coste, Philippe Wenger, Damien Chablat. Hidden cusps. Jadran Lenarcic; Jean-Pierre Merlet. Advances in Robot Kinematics 2016, 4, Springer, pp.129-138, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_14⟩. ⟨hal-01309185⟩
  • Abhilash Nayak, Latifah Nurahmi, Philippe Wenger, Stéphane Caro. Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free Circle. New Trends in Mechanism and Machine Science Theory and Industrial Applications, 43, pp.121-130, 2017, Mechanisms and Machine Science, ⟨10.1007/978-3-319-44156-6_13⟩. ⟨hal-01758006⟩
  • Philippe Wenger, Damien Chablat. Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism. Computational Kinematics. Mechanisms and Machine Science, 50, Springer, Cham, 2017, 978-3-319-60866-2. ⟨10.1007/978-3-319-60867-9_48⟩. ⟨hal-01525686⟩
  • Stéphane Caro, Damien Chablat, Philippe Wenger, Xianwen Kong. Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes. New Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩. ⟨hal-01592330⟩
  • Michel Coste, Damien Chablat, Philippe Wenger. Nonsingular change of assembly mode without any cusp. Jadran Lenarcic; Oussama Khatib. Advances in Robot Kinematics, Springer, pp.105-112, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_12⟩. ⟨hal-00959842⟩
  • Damien Chablat, Guillaume Moroz, Vigen Arakelian, Sébastien Briot, Philippe Wenger. Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace. Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0. ⟨hal-00687005⟩
  • Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger. Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation. Romansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩. ⟨hal-00687694⟩
  • Michel Coste, Damien Chablat, Philippe Wenger. Perturbation of symmetric 3-RPR manipulators and asymptotic singularities. F. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩. ⟨hal-00674039⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger, Roman Gomolitsky. Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations. Jee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008. ⟨hal-00428919⟩
  • Stéphane Caro, Damien Chablat, Philippe Wenger, Jorge Angeles. The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators. Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩. ⟨hal-00463599⟩
  • Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematic calibration of orthoglide-type mechanisms. Alexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France. ⟨hal-00186773⟩

Patents2 documents

  • Ahmed Ketfi-Cherif, Damien Chablat, Philippe Wenger, Malek Ghanes. Système et procédé de branchement d’un organe de connexion à un organe de connexion complémentaire porté par un véhicule automobile. France, N° de brevet: 1852014. 2018. ⟨hal-01862805⟩
  • Damien Chablat, Philippe Wenger. Dispositif de déplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide. France, Patent n° : FR2850599. 2003, pp.27. ⟨hal-00186783⟩

Preprints, Working Papers, ...2 documents