The institute
FEMTO's news

You are here

A book about flexible robotics co-written by Nicolas Chaillet

The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data.

Flexible Robotics: Applications to Multiscale Manipulations eng

Flexible Robotics: Applications to Multiscale Manipulations eng

Flexible Robotics: Applications to Multiscale Manipulations eng

  • Joint laboratories CNRS-Companies 2021

    FEMTO-ST and AUREA Technology honored at the LAB COM CNRS event in Paris on November 29 and 30

    Read more
  • Nanorobotics of the future: FEMTO-ST enters the 4th dimension

    For the first time, nanorobotic structures have been realized by folding in 3 dimensions a multilayer membrane and proposing their actuation by an electro-thermo mechanical principle.

    Read more
  • Chaos and rogue waves in a supercontinuum laser

    In collaboration with the Universities of Tampere, Aston and ICB laboratory, FEMTO-ST researchers have made significant headway in the ongoing effort to understand the ultrafast chaotic nature of lasers, elucidating for the first time their noise-like pulse operation.

    Read more
  • Julio Andrés Iglesias Martínez receives the Best Student Award at IEEE Ultrasonic Symposium

    His work consists in achieving three-dimensional phononic crystals at the micro-scale with record band-gap width.

    Read more
  • Lessons on textile history and fibre durability from a 4,000-year-old Egyptian flax yarn

    Published in the journal Nature Plants, work involving FEMTO-ST scientists is helping to propose ever more efficient and resistant materials based on flax fibers.

    Read more
  • Programmable matter: world record attempt

    A FEMTO-ST research team is trying to get the record for the largest number of autonomous light blocks assembled in a structure approved by the "Guiness World Record".

    Read more
  • Rodolphe Boudot receives the 2020 EFTF Young Scientist Award

    The IEEE EFTF-IFCS 2021 is a joint conference of the European Frequency and Time Forum and the IEEE International Frequency Control Symposium. The 2021 joint conference, originally planned for Paris in April, has been converted to a virtual conference from 7th to 17th July, 2021

    Read more
  • Giacomo Clementi, grand prize i-PhD

    For his work on Lithium Niobate (LiNbO3), which has led to the design of original and efficient devices for the recovery of vibratory energy by the piezoelectric effect, in particular for connected objects.

    Read more
  • Understanding energy transfers during photosynthesis

    Using three pigments manipulated by scanning tunneling microscopy, researchers from IPCMS and FEMTO-ST are studying energy transfers between molecules to gain a finer understanding of the photosynthesis mechanism in plants. This work is published in Nature Chemistry.

    Read more
  • International Day of Light on May 16th

    This year, the Student Chapter of FEMTO-ST organizes on this occasion a photo contest on the theme ′′ Light phenomena in everyday life ".

    Read more

Pages