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

  • Strong involvement of FEMTO-ST in the H2020 project "PhotonHub Europe"

    The objective of this project is to help European SMEs to increase their competitiveness through photonics with a online guidance, which will offer the support of 54 leading competence centers in Europe, including FEMTO-ST, which is also the scientific coordinator at the national level.

    Read more
  • First demonstration of self-confined nonlinear waves in plasmonic structures

    By providing the very first experimental evidence of the existence of this phenomenon, FEMTO-ST researchers and their partners hope to be able to generate this nonlinear effect using low intensity laser sources, in order to use it for nanophotonics applications.

    Read more
  • Mengjia Wang receives the « Chinese government award 2020 »

    As a PhD student of the Optics Department of FEMTO-ST , Mengjia Wang has been recognized by the Chinese Government for his outstanding work in the field of nanophotonics and plasmonics.

    Read more
  • Laurent LARGER named Fellow 2021 of OSA

    Full professor of Physics/Optics at the University of Franche-Comté and researcher at FEMTO-ST institute, Laurent Larger is rewarded for his pioneering work on nonlinear dynamics in optoelectronics and on the development of new architectures for photonic artificial intelligence.

    Read more
  • CNRS "Proof by Image" competition

     Discover the selection of the 20 images selected by the CNRS, one of which is presented by FEMTO-ST, and vote for the "audience award" photo.

    Read more
  • Imaging quantum interference of entangled photon pairs of extremely high dimensionality

    Researchers from the Optics Department have developed an imaging device allowing the spatial and temporal resolution of the phenomenon of quantum interference between pairs of entangled photons of extremely high dimensionality.

    Read more
  • Fei GAO Receives IEEE J.D. Irwin Early Career Award

    As a member of the SHARPAC team and Deputy Director of FEMTO-ST, Fei Gao has been recognized by the IEEE IES Society for his outstanding work in improving the reliability of hydrogen electric powertrains.

    Read more
  • Daniel HISSEL, winner of the CNRS 2020 Innovation Medal

    Full professor at the University of Franche-Comté, researcher at FEMTO-ST Institute and co-founder of a start-up on efficient hydrogen fuel cells, Daniel HISSEL is one of the four national winners of the CNRS 2020 Innovation Medal.

    Read more
  • A new source of infrared light thanks to fibre optic cascades

    Scientists from  FEMTO-ST Institute and McGill University (Montreal, Canada) have designed and developed in collaboration with three French companies a light source covering the entire mid-infrared wavelength range: from 2 to 10 µm.

    Read more
  • Topological crystals to guide waves on the water surface

    Topological crystals have the property of being conductive on their surface, but insulating in their volume which allows very efficient wave guidance by engineering the structure of these materials, generally arranged in a hexagonal symmetry, inspired by the graphene.

    Read more

Pages