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Redwan Dahmouche

Responsable de l'équipe ROMOCO

Département AS2M
équipe ROMOCO

UFC - UFR ST

Courriel :: redwan.dahmouche [at] femto-st.fr
Adresse :: AS2M (ENSMM)
26 rue de l'Epitaphe
25000 BESANCON

Redwan Dahmouche received the Electrical Engineering degree from USTHB, Algiers, Algeria, in 2005, the Master's degree in Robotics from UPMC, Sorbonne Universités, Paris, France, in 2006, and the Ph.D. degree in Robotics and Computer Vision from Université Clermont-Auvergne, France, in 2010. He worked as an invited researcher at University of Texas, USA in 2013 and at Université Laval, Canada from 2019 to 2020. Since 2012, he is an Associate Professor at the University of Bourgogne Franche-Comté (UBFC), Besançon, France, and a Researcher at the FEMTO-ST Institute. He is currently a head of the International Master’s Program in Robotics and Control at UBFC and the head of the Robotics, Modelling, and Control research team (RoMoCo) at FEMTO-ST. For the last decade, he has been working on different fields of robotics such as vision-based control, parallel robots, and cable-driven robots. His current research interests include medical robotics, micro/nanorobotics, and dexterous manipulation for which he received several prices and awards such as Golden Micron in 2018, Charles Defforey Team Price in the same year, Excellence in Research in 2019 and ANR JCJC Award in the same year. Besides his academic research activities, he is also involved in consultancy and technology transfer into industry, where he is the head of several projects and the co-author of several patents. One of the outstanding results that he obtained with his team is the invention and the development of MiGriBot, the fastest pick-and-place robot in the world, which can perform 12 cycles per second with a precision of 1µm.

MiGriBot: A miniature parallel robot with integrated gripping for high-throughput micromanipulation.

Science Robotics publication link:

https://www.science.org/stoken/author-tokens/ST-747/full

Publications de Redwan Dahmouche

Voir toutes les publications (28)2022 (2)2021 (5)2020 (2)2019 (2)2018 (4)2017 (2)2016 (6)2014 (1)2013 (1)2012 (3)

2022 (2)

article - A 4-DoF Parallel Robot With a Built-in Gripper for Waste Sorting
IEEE Robotics and automation letters (Volume 7, Issue (4), oct 2022, Pages :9834 - 9841)
Leveziel, Maxence | Laurent, Guillaume | Haouas, Wissem | Gauthier, Michaël | Dahmouche, Redwan
pdf | doi
article - MiGriBot: A miniature parallel robot with integrated gripping for high-throughput micromanipulation
Science Robotics (Volume 7, Issue (69), aug 2022, Pages :4292)
Leveziel, Maxence | Haouas, Wissem | Laurent, Guillaume | Gauthier, Michaël | Dahmouche, Redwan
pdf | doi

2021 (5)

inproceedings - Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot
IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2021) / Prague, Czech Republic (2021, Pages pages 4955 - 4960)
Gallardo, Oscar | Mauze, Benjamin | Dahmouche, Redwan | Duriez, Christian | Laurent, Guillaume
pdf | doi | bibtex@inproceedings{d5c7e09c-cd07-43a6-9c27-d6fd4d5d9e44, title = {Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot}, author = {Gallardo, Oscar and Mauze, Benjamin and Dahmouche, Redwan and Duriez, Christian and Laurent, Guillaume}, year = {2021}, address = {Prague, Czech Republic}, booktitle = {IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2021)}, month = {sep}, pages = {4955 - 4960}, url = {https://publiweb.femto-st.fr/tntnet/entries/18430/documents/author/data}, doi = {10.1109/IROS51168.2021.9636596.} }
inproceedings - Planning in-hand dexterous micro-manipulation using 3-D rotations decomposition
2021 International Conference on Automation Science and Engineering (CASE 2021) / Lyon, France (2021, Pages pages 1 - 7)
Kumar, Pardeep | Dahmouche, Redwan | Gauthier, Michaël
pdf | doi | bibtex@inproceedings{fd272773-4539-4363-84d1-074f43d491e7, title = {Planning in-hand dexterous micro-manipulation using 3-D rotations decomposition}, author = {Kumar, Pardeep and Dahmouche, Redwan and Gauthier, Micha\"el}, year = {2021}, address = {Lyon, France}, booktitle = {2021 International Conference on Automation Science and Engineering (CASE 2021)}, month = {aug}, pages = {1 - 7}, url = {https://publiweb.femto-st.fr/tntnet/entries/18179/documents/author/data}, doi = {10.1109/CASE49439.2021.9551662} }
article - Path Planning for 3-D In-Hand Manipulation of Micro-Objects Using Rotation Decomposition
Micromachines (Volume 12, Issue (8), aug 2021, Pages :986)
Kumar, Pardeep | Gauthier, Michaël | Dahmouche, Redwan
pdf | doi
article - Micrometer Positioning Accuracy With a Planar Parallel Continuum Robot
Frontiers in Robotics and AI (Volume 8, jul 2021, Pages :22)
Mauze, Benjamin | Laurent, Guillaume | Dahmouche, Redwan | Clevy, Cédric
pdf | doi
inproceedings - Triskèle-Bot: Study and Development of a Parallel Continuum Robot for Micropositioning Applications
2021 International Conference on Robotics and Automation (ICRA 2021) / Xi'an, China (2021)
Mauze, Benjamin | Laurent, Guillaume | Dahmouche, Redwan | Clevy, Cédric
bibtex@inproceedings{49170785-3acc-483a-85ed-aa1d218343d7, title = {Trisk\`ele-Bot: Study and Development of a Parallel Continuum Robot for Micropositioning Applications}, author = {Mauze, Benjamin and Laurent, Guillaume and Dahmouche, Redwan and Clevy, C\'edric}, year = {2021}, address = {Xi'an, China}, booktitle = {2021 International Conference on Robotics and Automation (ICRA 2021)}, month = {may} }

2020 (2)

inproceedings - Visual Measurements at Small Scales: Guidelines to Reduce Uncertainties down to a Few Nanometers
2020 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2020) / Toronto, Canada (2020, Pages pages 6)
Mauze, Benjamin | Dahmouche, Redwan | Clevy, Cédric | Sandoz, Patrick | Hennebelle, François | Laurent, Guillaume
pdf | doi | bibtex@inproceedings{142827ef-a150-43d0-92f8-990782b92e01, title = {Visual Measurements at Small Scales: Guidelines to Reduce Uncertainties down to a Few Nanometers}, author = {Mauze, Benjamin and Dahmouche, Redwan and Clevy, C\'edric and Sandoz, Patrick and Hennebelle, Fran\c{c}ois and Laurent, Guillaume}, year = {2020}, address = {Toronto, Canada}, booktitle = {2020 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2020)}, month = {jul}, pages = {6}, url = {https://publiweb.femto-st.fr/tntnet/entries/17072/documents/author/data}, doi = {10.1109/MARSS49294.2020.9307854} }
article - Nanometer Precision With a Planar Parallel Continuum Robot
IEEE Robotics and automation letters (Volume 5, Issue (3), apr 2020, Pages :3806 - 3813)
Mauze, Benjamin | Dahmouche, Redwan | Laurent, Guillaume | André, Antoine | Rougeot, Patrick | Sandoz, Patrick | Clevy, Cédric
pdf | doi

2019 (2)

inproceedings - Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation
RSJ International Conference on Intelligent Robots and Systems (IROS 2019) / Macau, China (2019, Pages pages 6763 - 6768)
Haouas, Wissem | Laurent, Guillaume | Thibaud, Sébastien | Dahmouche, Redwan
pdf | doi | bibtex@inproceedings{676c954f-e789-44da-8eb1-9b790c9d8129, title = {Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation}, author = {Haouas, Wissem and Laurent, Guillaume and Thibaud, S\'ebastien and Dahmouche, Redwan}, year = {2019}, address = {Macau, China}, booktitle = {RSJ International Conference on Intelligent Robots and Systems (IROS 2019)}, month = {nov}, pages = {6763 - 6768}, url = {https://publiweb.femto-st.fr/tntnet/entries/16672/documents/author/data}, doi = {10.1109/IROS40897.2019.8968570} }
inproceedings - Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation
IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2019) / Macau, China (2019, Pages pages 6963 - 6968)
Haouas, Wissem | Laurent, Guillaume | Thibaud, Sébastien | Dahmouche, Redwan
pdf | doi | bibtex@inproceedings{a6a3b6ee-087a-497c-bf62-e43635e73972, title = {Kinematics, Design and Experimental Validation of a Novel Parallel Robot for Two-Fingered Dexterous Manipulation}, author = {Haouas, Wissem and Laurent, Guillaume and Thibaud, S\'ebastien and Dahmouche, Redwan}, year = {2019}, address = {Macau, China}, booktitle = {IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2019)}, month = {nov}, pages = {6963 - 6968}, url = {https://publiweb.femto-st.fr/tntnet/entries/17820/documents/author/data}, doi = {10.1109/IROS40897.2019.8968570} }

2018 (4)

article - A New Seven Degrees-of-Freedom Parallel Robot With a Foldable Platform
Journal of Mechanisms and Robotics (Volume 10, Issue (4), dec 2018, Pages :1 - 15)
Haouas, Wissem | Dahmouche, Redwan | Piat, Nadine | Laurent, Guillaume
pdf
inproceedings - Enhancing in-hand dexterous micro-manipulation for real-time applications
14th International Conference on Automation Science and Engineering (CASE 2018) / Munich, Germany (2018, Pages pages 1 - 13)
Bafumba Liseli, Joël | Dahmouche, Redwan | Kumar, Pardeep | Seon, Jean-Antoine | Gauthier, Michaël
pdf | bibtex@inproceedings{61e2ed1b-8c01-4cc5-9133-cddc38f788eb, title = {Enhancing in-hand dexterous micro-manipulation for real-time applications}, author = {Bafumba Liseli, Jo\"el and Dahmouche, Redwan and Kumar, Pardeep and Seon, Jean-Antoine and Gauthier, Micha\"el}, year = {2018}, address = {Munich, Germany}, booktitle = {14th International Conference on Automation Science and Engineering (CASE 2018)}, month = {aug}, pages = {1 - 13}, url = {https://publiweb.femto-st.fr/tntnet/entries/15032/documents/author/data}, organization = {13th IEEE Conference on automation science and engineering (CASE)} }
inproceedings - Analysis of an Integrated 4-DoF Parallel Wrist for Dexterous Gripping
14th International Conference on Automation Science and Engineering (CASE 2018) / Munich, Germany (2018, Pages pages 1448 - 1453)
Haouas, Wissem | Dahmouche, Redwan | Laurent, Guillaume
pdf | doi | bibtex@inproceedings{52a56a0c-34b7-4b86-815b-b067ebe765f8, title = {Analysis of an Integrated 4-DoF Parallel Wrist for Dexterous Gripping}, author = {Haouas, Wissem and Dahmouche, Redwan and Laurent, Guillaume}, year = {2018}, address = {Munich, Germany}, booktitle = {14th International Conference on Automation Science and Engineering (CASE 2018)}, month = {aug}, pages = {1448 - 1453}, url = {https://publiweb.femto-st.fr/tntnet/entries/15174/documents/author/data}, doi = {10.1109/COASE.2018.8560701} }
article - Enhance in-Hand Dexterous Micro-Manipulation by Exploiting Adhesion Forces
IEEE Transactions on Robotics (Volume 34, Issue (1), feb 2018, Pages :113 - 125)
Seon, Jean-Antoine | Dahmouche, Redwan | Gauthier, Michaël
pdf

2017 (2)

article - New Integrated Silicon-PDMS Process for Compliant Micro-Mechanisms
Journal of Micromechanics and Microengineering (Volume 27, Issue (12), sep 2017, Pages :1 - 12)
Haouas, Wissem | Dahmouche, Redwan | Agnus, Joel | Piat, Nadine | Laurent, Guillaume
pdf | doi
article - On the Contribution of Adhesion and Friction in Planning Dexterous in-Hand Micromanipulation
Journal of Micro-Bio Robotics (Volume 12, Issue (1-4), jun 2017, Pages :33 - 44)
Seon, Jean-Antoine | Dahmouche, Redwan | Gauthier, Michaël
pdf

2016 (6)

inproceedings - 4-DoF Spherical Parallel Wrist with Embedded Grasping Capability for Minimally Invasive Surgery
IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2016) / Daejeon, Korea, Republic Of (2016, Pages pages 2363 - 2368)
Haouas, Wissem | Dahmouche, Redwan | Piat, Nadine | Laurent, Guillaume
pdf | doi | bibtex@inproceedings{37af1492-a23c-4681-8162-4b771a98f511, title = {4-DoF Spherical Parallel Wrist with Embedded Grasping Capability for Minimally Invasive Surgery}, author = {Haouas, Wissem and Dahmouche, Redwan and Piat, Nadine and Laurent, Guillaume}, year = {2016}, address = {Daejeon, Korea, Republic Of}, booktitle = {IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2016)}, month = {oct}, pages = {2363 - 2368}, url = {https://publiweb.femto-st.fr/tntnet/entries/13624/documents/author/data}, doi = {10.1109/IROS.2016.7759368}, organization = {IEEE/RSJ International conference on intelligent robot and systems ( IROS )}, publisher = {IEEE} }
misc - Structure robotique à six degrés de liberté permettant la préhension
Dépot électronique (oct 2016)
Dahmouche, Redwan | Haouas, Wissem
bibtex@misc{a02322a6-047f-4890-ad26-cf9b9952c091, title = {Structure robotique \`a six degr\'es de libert\'e permettant la pr\'ehension}, author = {Dahmouche, Redwan and Haouas, Wissem}, year = {2016}, month = {oct}, url = {https://publiweb.femto-st.fr/tntnet/entries/13569/documents/author/data} }
misc - POIGNET ROBOTIQUE PARALLELE A QUATRE DEGRES DE LIBERTE
Dépôt électronique (oct 2016)
Laurent, Guillaume | Dahmouche, Redwan | Haouas, Wissem | Piat, Nadine
bibtex@misc{57ed8c18-5dfb-4a1d-bf97-f15a8a84f88c, title = {POIGNET ROBOTIQUE PARALLELE A QUATRE DEGRES DE LIBERTE}, author = {Laurent, Guillaume and Dahmouche, Redwan and Haouas, Wissem and Piat, Nadine}, year = {2016}, month = {oct}, url = {https://publiweb.femto-st.fr/tntnet/entries/13570/documents/author/data} }
inproceedings - Planning trajectories for dexterous in-hand micro-manipulation using adhesion forces
MARSS 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2016) / Paris, France (2016, Pages pages 1 - 7)
Seon, Jean-Antoine | Dahmouche, Redwan | Gauthier, Michaël
pdf | doi | bibtex@inproceedings{747ce477-cf7e-410a-80a6-9c5fb6737e60, title = {Planning trajectories for dexterous in-hand micro-manipulation using adhesion forces}, author = {Seon, Jean-Antoine and Dahmouche, Redwan and Gauthier, Micha\"el}, year = {2016}, address = {Paris, France}, booktitle = {MARSS 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2016)}, month = {jul}, pages = {1 - 7}, url = {https://publiweb.femto-st.fr/tntnet/entries/13572/documents/author/data}, doi = {10.1109/MARSS.2016.7561719}, organization = {International conference on manipulation, automation and robotics at small scales ( MARSS)} }
inproceedings - Finger Trajectory Generation for Planar Dexterous Micro-Manipulation
IEEE International Conference on Robotics and Automation (ICRA 2016) / Stockolm, Sweden (2016, Pages pages 1 - 7)
Seon, Jean-Antoine | Dahmouche, Redwan | Brazey, Benoit | Gauthier, Michaël
pdf | doi | bibtex@inproceedings{bb6e1f75-1e03-4102-9840-edfce249b737, title = {Finger Trajectory Generation for Planar Dexterous Micro-Manipulation}, author = {Seon, Jean-Antoine and Dahmouche, Redwan and Brazey, Benoit and Gauthier, Micha\"el}, year = {2016}, address = {Stockolm, Sweden}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2016)}, month = {may}, pages = {1 - 7}, url = {https://publiweb.femto-st.fr/tntnet/entries/13571/documents/author/data}, doi = {10.1109/ICRA.2016.7487158}, organization = {international conference on robotics and automation ( ICRA )} }
article - Experimental validation of in-hand planar orientation and translation in microscale
Intelligent Service Robotics (Volume 9, Issue (2), apr 2016, Pages :101 - 112)
Brazey, Benoit | Dahmouche, Redwan | Seon, Jean-Antoine | Gauthier, Michaël
pdf | doi

2014 (1)

inproceedings - A vision-based generic dynamic model of PKMs and its experimental validation on the Quattro parallel robot.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'14. / Besançon - France (Publisher : IEEE, 2014, Pages pages 937-942)
Ozgür, Erol | Dahmouche, Redwan | Andreff, Nicolas | Martinet, Philippe
pdf | doi | bibtex@inproceedings{c4779a06-d713-438b-9193-03358cba52f7, title = {A vision-based generic dynamic model of PKMs and its experimental validation on the Quattro parallel robot.}, author = {Ozg\"ur, Erol and Dahmouche, Redwan and Andreff, Nicolas and Martinet, Philippe}, year = {2014}, address = {Besan\c{c}on - France}, booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'14.}, month = {jul}, pages = {937-942}, url = {https://publiweb.femto-st.fr/tntnet/entries/9873/documents/author/data}, doi = {10.1109/AIM.2014.6878200}, publisher = {IEEE} }

2013 (1)

inproceedings - High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13. / Tokyo, Japan (2013, Pages pages 426 - 429)
Ozgür, Erol | Andreff, Nicolas | Dahmouche, Redwan | Martinet, Philippe
pdf | doi | bibtex@inproceedings{763f17f2-996f-42ad-9e65-a26ce1539c5d, title = {High Speed Parallel Kinematic Manipulator State Estimation from Legs Observation}, author = {Ozg\"ur, Erol and Andreff, Nicolas and Dahmouche, Redwan and Martinet, Philippe}, year = {2013}, address = {Tokyo, Japan}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'13.}, month = {nov}, pages = {426 - 429}, url = {https://publiweb.femto-st.fr/tntnet/entries/7115/documents/editor/data}, doi = {10.1109/IROS.2013.6696386}, organization = {IEEE} }

2012 (3)

article - Dynamic visual servoing from sequential regions of interest acquisition
International Journal of Robotics Research (Volume 31, Issue (4), apr 2012, Pages :520 - 537)
Dahmouche, Redwan | Andreff, Nicolas | Mezouar, Youcef | Ait-Aider, Omar | Martinet, Philippe
pdf | doi
book - Asservissement visuel rapide : Estimation de mouvement 3D et commande hautes performances des robots manipulateurs par vision artificielle.
(Editor : Editions universitaires europeennes EUE, 2012, Pages 1-188)
Dahmouche, Redwan
bibtex@book{3e13bd77-1d02-4f86-a11d-0f17144203ea, title = {Asservissement visuel rapide : Estimation de mouvement 3D et commande hautes performances des robots manipulateurs par vision artificielle.}, author = {Dahmouche, Redwan}, year = {2012}, editor = {Editions universitaires europeennes EUE}, pages = {1-188} }
inproceedings - Vision-based modeling and control of Large-Dimension Cable-Driven Parallel Robots.
Conference on Intelligent Robots and Systems. / Vilamoura, Algarve, Portugal (Volume sur CD, 2012, Pages pages 1581-1586)
Dallej, Tej | Gouttefarde, Marc | Andreff, Nicolas | Dahmouche, Redwan | Martinet, Philippe
pdf | bibtex@inproceedings{dallej:hal-00768486, title = {Vision-based modeling and control of Large-Dimension Cable-Driven Parallel Robots.}, author = {Dallej, Tej and Gouttefarde, Marc and Andreff, Nicolas and Dahmouche, Redwan and Martinet, Philippe}, year = {2012}, address = {Vilamoura, Algarve, Portugal}, booktitle = {Conference on Intelligent Robots and Systems.}, editor = {IEEE}, pages = {1581-1586}, url = {https://publiweb.femto-st.fr/tntnet/entries/1504/documents/author/data}, volume = {sur CD} }