Philippe Wenger
29
Documents
Identifiants chercheurs
- philippe-wenger
- IdRef : 035621621
- 0000-0002-6608-4484
Présentation
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.
Publications
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Effect of antagonistic cable actuation on the stiffness of symmetric four-bar mechanismsCableCon 2023: Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.332-343, ⟨10.1007/978-3-031-32322-5_27⟩
Communication dans un congrès
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Comparison of Explicit and Implicit Numerical Integrations for a Tendon-Driven Robot6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.234-245, ⟨10.1007/978-3-031-32322-5_19⟩
Communication dans un congrès
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Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM WC 2023), Nov 2023, Tokyo, Japan. pp.332-341, ⟨10.1007/978-3-031-45770-8_33⟩
Communication dans un congrès
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Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.121-133, ⟨10.1007/978-3-031-32322-5_10⟩
Communication dans un congrès
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Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators25 ème Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès
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Control in the operational space of a redundant and under-actuated tensegrity robot25ème Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès
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Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategiesAdvances in Robot Kinematics 2022, Jun 2022, Bilbao, Spain
Communication dans un congrès
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A bio-inspired 3-DOF light-weight manipulator with tensegrity X-jointsICRA'2020, May 2020, Paris, France
Communication dans un congrès
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Combining precision and power to maximize performance: a case study of the woodpecker's neck44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France
Communication dans un congrès
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Prototype of a tensegrity manipulator to mimic bird necks24ème Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès
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Modelling, design and control of a bird neck using tensegrity mechanismsICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada
Communication dans un congrès
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Optimal design of tensegrity mechanisms used in a bird neck modelEuropean Conference on Mechanism Science (EUCOMES'2018), Sep 2018, Aachen, Germany. pp.365-375, ⟨10.1007/978-3-319-98020-1_43⟩
Communication dans un congrès
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Preliminary survey of backdrivable linear actuators for humanoid robots22nd 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⟩
Communication dans un congrès
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Dynamic analysis and control of an antagonistically actuated tensegrity mechanism22nd 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⟩
Communication dans un congrès
hal-01989963v1
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A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic MachineIFToMM Asian Mechanism and Machine Science 2018, Dec 2018, Bengaluru, India
Communication dans un congrès
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New trends in medical and service roboticsSpringer, 2016, 978-3-319-30674-2
Ouvrages
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Un robot en tenségrité inspiré du cou de l'oiseauTechniques de l'Ingénieur, 2023, Automatique-Robotique
Chapitre d'ouvrage
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A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic MachineSpringer. Lecture Notes in Mechanical Engineering, 2021, 978-981-15-4476-7
Chapitre d'ouvrage
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Dynamic modeling and control of a tensegrity manipulator mimicking a bird neckAdvances 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⟩
Chapitre d'ouvrage
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Preliminary survey of backdrivable linear actuators for humanoid robotsROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019
Chapitre d'ouvrage
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Static analysis of an under-actuated bio-inspired robotLaboratoire des sciences du numérique de Nantes (LS2N). 2024
Rapport
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