Répertoire du corps professoral
Clément Gosselin
Professeur titulaire
(418) 656-2131, poste 403474
Clement.Gosselin@gmc.ulaval.ca
Pavillon Adrien-Pouliot
1065, avenue de la Médecine
Local 1314D
Robot manipulateur et dispositif de préhension à force contrôlée adaptés à la chaîne de valeur du porc
Programme: Pôle de recherche et d’innovation – Volet 2 - Programmation de recherche non traditionnelle
Organisme(s) subventionnaire(s): Fonds de recherche du Québec - Nature et technologies
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 mai 2024
au31 mars 2025
Projet MAIN : Myo-Prothèse à apprentissage interactif et neuro-renforcement
Programme: Stratégia
Organisme(s) subventionnaire(s): Fonds de recherche du Québec - Nature et technologies
Type de financement: Subvention
Établissement tête: Université Laval
Du 28 mars 2024
au31 mars 2027
Systèmes robotiques pour l'assemblage de structures légères de grande dimension
Programme: Subventions Alliance
Organisme(s) subventionnaire(s): Flying Whales, Conseil de recherches en sciences naturelles et génie Canada
Type de financement: Subvention
Établissement tête: Université Laval
Du 10 juillet 2023
au31 mars 2026
Intelligent Cyber Value Chain Network (CEOS)
Programme: Fonds d'innovation (FI)
Organisme(s) subventionnaire(s): Université Concordia, Ministère de l'éducation et de l'enseignement supérieur, École polytechnique de Montréal, Fondation Canadienne pour l'innovation (La)
Type de financement: Subvention
Établissement tête: ETS - École de technologie supérieure
Du 1 juin 2022
au31 mars 2025
Pôle de recherche et d'innovation pour accélérer la transition vers des systèmes alimentaires durables et résilients
Programme: APPEL à Pôle de recherche et d’innovation du FRQNT – Secteur Bioalimentaire
Organisme(s) subventionnaire(s): Fonds de recherche du Québec - Nature et technologies
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 avril 2022
au31 mars 2025
Collaborative robots: novel architectures and interaction paradigms
Programme: Subventions à la découverte SD (individuelles et d'équipe)
Organisme(s) subventionnaire(s): Secrétariat Inter-Conseils (Canada) (CRSH, CRSNG, IRSC), Conseil de recherches en sciences naturelles et génie Canada
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 avril 2020
au31 mars 2025
Systèmes cyberphysiques et intelligence machine matérialisée
Programme: Regroupements stratégiques NT
Organisme(s) subventionnaire(s): Université Laval - Fonds internes, École de technologie supérieure, Fonds de recherche du Québec - Nature et technologies
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 avril 2019
au31 mars 2026
Observatoire international sur les impacts sociétaux de l'intelligence artificielle et du numérique
Programme: Appel à propositions : création d’un Observatoire international sur les impacts sociétaux de l’intelligence artificielle et du numérique
Organisme(s) subventionnaire(s): Fonds de recherche du Québec - Société et culture, Université Laval - Fonds internes
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 avril 2018
au31 mars 2025
CoRoM-Enabling Technologies for Collaborative Robotics in Manufacturing
Programme: Programme de formation orientée vers la nouveauté, la collaboration et l'expérience en recherche (FONCER)
Organisme(s) subventionnaire(s): Université Laval - Fonds internes, Conseil de recherches en sciences naturelles et génie Canada, École de technologie supérieure
Type de financement: Subvention
Établissement tête: Université de Sherbrooke
Du 1 septembre 2017
au31 août 2024
Financements des 2 dernières années
Plateforme collaborative humain-robot pour le parachèvement de composantes métalliques complexes
Programme: Autres programmes
Organisme(s) subventionnaire(s): Conseil national de recherches du Canada
Type de financement: Subvention
Établissement tête: Université Laval
Du 31 mars 2021
au31 mars 2024
Perception-guided robust and reproducible robotic grasping and manipulation
Programme: 8ème Appel à Projets de l’ERA-NET CHIST-ERA
Organisme(s) subventionnaire(s): Engineering and Physical Sciences Research Council, Ministry of Education, Universities and Research (Italie), Fonds de recherche du Québec - Nature et technologies
Type de financement: Subvention
Établissement tête: Université Laval
Du 1 décembre 2018
au31 mars 2023
Encadrements terminés dans les 5 dernières années
Publications des 5 dernières années
Kinematic Analysis of a New 3-DOF Parallel Wrist-Gripper Assembly with a Large Singularity-Free Workspace Actuators, 2023/11. Ramin Ghaedrahmati, Clement Gosselin. DOI 10.3390/act12110421
Synthesis and Prototyping of a 6-dof Parallel Robot for the Automatic Performance of Assembly Tasks Journal of Advanced Computational Intelligence and Intelligent Informatics, 2022. Landuré, J., Gosselin, C., Laliberté, T., Abdallah, M.E.. DOI 10.20965/jaciii.2022.p0125
Static Model-Based Grasping Force Control of Parallel Grasping Robots With Partial Cartesian Force Measurement IEEE/ASME Transactions on Mechatronics, 2022. Wen, K., Gosselin, C.. DOI 10.1109/TMECH.2021.3077448
State-of-the-art on theories and applications of cable-driven parallel robots Frontiers of Mechanical Engineering, 2022. Zhang, Z., Shao, Z., You, Z., Tang, X., Zi, B., Yang, G., Gosselin, C., Caro, S.. DOI 10.1007/s11465-022-0693-3
Singularity analysis of a kinematically redundant (6+2)-DOF parallel mechanism for zero-torsion configurations Mechanism and Machine Theory, 2022. Lacombe, J., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2021.104682
Singularity analysis of a kinematically redundant (6+2)-DOF parallel mechanism for general configurations Mechanism and Machine Theory, 2022. Lacombe, J., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2022.105015
On the Stability of Macro-Mini Robotic Systems for Physical Human-Robot Interaction CISM International Centre for Mechanical Sciences, Courses and Lectures, 2022. Gosselin, C.. DOI 10.1007/978-3-031-06409-8_1
Low-Impedance Displacement Sensors for Intuitive Physical Human-Robot Interaction: Motion Guidance, Design, and Prototyping IEEE Transactions on Robotics, 2022. Laliberte, T., Gosselin, C.. DOI 10.1109/TRO.2021.3121610
Kinematic analysis of a new 2-DOF parallel wrist with a large singularity-free rotational workspace Mechanism and Machine Theory, 2022. Ghaedrahmati, R., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2022.104942
Kinematic Calibration of Cable-Driven Parallel Robots Considering the Pulley Kinematics Mechanism and Machine Theory, 2022. Zhang, Z., Xie, G., Shao, Z., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2021.104648
Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities Journal of Mechanisms and Robotics, 2022. Audet, J.M., Gosselin, C.. DOI 10.1115/1.4051132
How to reduce the impedance for pHRI: Admittance control or underactuation? Mechatronics, 2022. Abdallah, M., Chen, A., Campeau-Lecours, A., Gosselin, C.. DOI 10.1016/j.mechatronics.2022.102768
Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture Journal of Mechanisms and Robotics, 2022. Schreiber, L.-T., Gosselin, C.. DOI 10.1115/1.4052805
Beyond-the-static-workspace point-to-point trajectory planning of a 6-DoF cable-suspended mechanism using oscillating SLERP Mechanism and Machine Theory, 2022. Dion-Gauvin, P., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2022.104894
Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms Journal of Mechanisms and Robotics, 2021. Dai, J.S., Jin, Y., Gosselin, C.. DOI 10.1115/1.4051206
Rotational low-impedance physical human-robot interaction using underactuated redundancy Journal of Mechanisms and Robotics, 2021. Audet, J.M., Gosselin, C.. DOI 10.1115/1.4048258
On the Optimal Design of Underactuated Fingers Using Rolling Contact Joints IEEE Robotics and Automation Letters, 2021. Boisclair, J.-M., Laliberte, T., Gosselin, C.. DOI 10.1109/LRA.2021.3068976
Multiple cylinder extraction from organized point clouds Sensors, 2021. Moradi, S., Laurendeau, D., Gosselin, C.. DOI 10.3390/s21227630
Motion control algorithms based on the dynamic modelling of kinematically redundant hybrid parallel robots Mechatronics, 2021. Nguyen, T.-S., Harton, D., Campeau-Lecours, A., Gosselin, C.. DOI 10.1016/j.mechatronics.2021.102555
Modeling and development of passively adaptive assistive tools for the assembly of press-fit components Journal of Mechanical Design, Transactions of the ASME, 2021. Landuré, J., Laliberte, T., Gosselin, C., Abdallah, M.E.. DOI 10.1115/1.4050106
Mechanisms for Robotic Grasping and Manipulation Annual Review of Control, Robotics, and Autonomous Systems, 2021. Babin, V., Gosselin, C.. DOI 10.1146/annurev-control-061520-010405
Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human-Robot Interaction Journal of Mechanisms and Robotics, 2021. Boucher, G., Laliberté, T., Gosselin, C.. DOI 10.1115/1.4049191
Exploiting redundancies for workspace enlargement and joint trajectory optimization of a kinematically redundant hybrid parallel robot Journal of Mechanisms and Robotics, 2021. Wen, K., Gosselin, C.. DOI 10.1115/1.4050681
Design and experimental validation of reorientation manoeuvres for a free falling robot inspired from the cat righting reflex IEEE Transactions on Robotics, 2021. Garant, X., Gosselin, C.. DOI 10.1109/TRO.2020.3031241
Analysis and synthesis of assistive tools for insertion tasks Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, 2021. Landuré, J., Gosselin, C., Laliberté, T., Abdallah, M.. DOI 10.1177/09544054211019655
A novel family of umbrella-shaped deployable mechanisms constructed by multi-layer and multi-loop spatial linkage units Mechanism and Machine Theory, 2021. Cheng, P., Ding, H., Cao, W.-A., Gosselin, C., Geng, M.. DOI 10.1016/j.mechmachtheory.2020.104169
A Bisection Algorithm for Time-Optimal Trajectory Planning along Fully Specified Paths IEEE Transactions on Robotics, 2021. Barnett, E., Gosselin, C.. DOI 10.1109/TRO.2020.3010632
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human-Robot Interaction IEEE Transactions on Robotics, 2021. Wen, K., Nguyen, T.S., Harton, D., Laliberte, T., Gosselin, C.. DOI 10.1109/TRO.2020.3043723
Transferability in an 8-DoF parallel robot with a configurable platform IEEE International Conference on Intelligent Robots and Systems, 2020. Dahmouche, R., Wen, K., Gosselin, C.. DOI 10.1109/IROS45743.2020.9341108
Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions beyond the Static Workspace Proceedings - IEEE International Conference on Robotics and Automation, 2020. Xiang, S., Gao, H., Liu, Z., Gosselin, C.. DOI 10.1109/ICRA40945.2020.9196803
Kinematic and dynamic analysis of a novel parallel kinematic Schönflies motion generator Mechanism and Machine Theory, 2020. Arian, A., Isaksson, M., Gosselin, C.. DOI 10.1016/j.mechmachtheory.2019.103629
Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots Journal of Mechanisms and Robotics, 2020. Wen, K., Gosselin, C.M.. DOI 10.1115/1.4047176
Dynamic decoupling analysis and experiment based on a class of modified Gough-Stewart parallel manipulators with line orthogonality Mechanism and Machine Theory, 2020. Tong, Z., Gosselin, C., Jiang, H.. DOI 10.1016/j.mechmachtheory.2019.103636
Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search Journal of Mechanisms and Robotics, 2020. Xiang, S., Gao, H., Liu, Z., Gosselin, C.. DOI 10.1115/1.4045848
Design, analysis and preliminary validation of a 3-DOF rotational inertia generator IEEE International Conference on Intelligent Robots and Systems, 2020. Tremblay-Bugeaud, J.-F., Laliberte, T., Gosselin, C.. DOI 10.1109/IROS45743.2020.9341276
Adding Haptic Feedback to Virtual Environments with a Cable-Driven Robot Improves Upper Limb Spatio-Temporal Parameters during a Manual Handling Task IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2020. Faure, C., Fortin-Cote, A., Robitaille, N., Cardou, P., Gosselin, C., Laurendeau, D., Mercier, C., Bouyer, L., McFadyen, B.J.. DOI 10.1109/TNSRE.2020.3021200
A frequency-dependent impedance controller for an active-macro/passive-mini robotic system IEEE International Conference on Intelligent Robots and Systems, 2020. Badeau, N., Gosselin, C.. DOI 10.1109/IROS45743.2020.9341693
A flexible and modular Body-machine interface for individuals living with severe disabilities arXiv, 2020. Fall, C.L., Côté-Allard, U., Mascret, Q., Campeau-Lecours, A., Boukadoum, M., Gosselin, C., Gosselin, B..
Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms Robotics and Computer-Integrated Manufacturing, 2019. Babin, V., St-Onge, D., Gosselin, C.. DOI 10.1016/j.rcim.2018.06.002
Schönflies Motion PARAllel Robot (SPARA): A Kinematically Redundant Parallel Robot with Unlimited Rotation Capabilities IEEE/ASME Transactions on Mechatronics, 2019. Schreiber, L.-T., Gosselin, C.. DOI 10.1109/TMECH.2019.2929646
Pattern recognition based on HD-sEMG spatial features extraction for an efficient proportional control of a robotic arm Biomedical Signal Processing and Control, 2019. Nougarou, F., Campeau-Lecours, A., Massicotte, D., Boukadoum, M., Gosselin, C., Gosselin, B.. DOI 10.1016/j.bspc.2019.04.027
Modelling, trajectory optimisation and prototyping of sequentially actuated manipulators Robotica, 2019. Harton, D., Laliberté, T., Gosselin, C.. DOI 10.1017/S0263574718001017
Model-based grasping of unknown objects from a random pile Robotics, 2019. Sauvet, B., Lévesque, F., Park, S., Cardou, P., Gosselin, C.. DOI 10.3390/robotics8030079
Kinematically redundant (6+3)-dof hybrid parallel robot with large orientational workspace and remotely operated gripper Proceedings - IEEE International Conference on Robotics and Automation, 2019. Wen, K., Harton, D., Laliberte, T., Gosselin, C.. DOI 10.1109/ICRA.2019.8793772
Kinematic analysis of a 4-DOF parallel mechanism with large translational and orientational workspace Proceedings - IEEE International Conference on Robotics and Automation, 2019. Kamada, S., Laliberté, T., Gosselin, C.. DOI 10.1109/ICRA.2019.8793962
Intuitive Adaptive Orientation Control for Enhanced Human-Robot Interaction IEEE Transactions on Robotics, 2019. Campeau-Lecours, A., Cote-Allard, U., Vu, D.-S., Routhier, F., Gosselin, B., Gosselin, C.. DOI 10.1109/TRO.2018.2885464
Guest Editorial: Special Section: Selected Papers from the 42nd Mechanisms and Robotics Conference at IDETC 2018 Journal of Mechanisms and Robotics, 2019. Gosselin, C., Larochelle, P.M., Müller, A.. DOI 10.1115/1.4042958
Exploiting the kinematic redundancy of a (6 + 3) degrees-of-freedom parallel mechanism Journal of Mechanisms and Robotics, 2019. Schreiber, L.-T., Gosselin, C.. DOI 10.1115/1.4042346
Experimental validation of a three-degree-of-freedom cable-suspended parallel robot for spatial translation with constant orientation Journal of Mechanisms and Robotics, 2019. Vu, D.-S., Barnett, E., Gosselin, C.. DOI 10.1115/1.4042345
Effect of Actuation Errors on a Purely-Translational Spatial Cable-Driven Parallel Robot 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019, 2019. Mottola, G., Gosselin, C., Carricato, M.. DOI 10.1109/CYBER46603.2019.9066627
Dynamically feasible motions of a class of purely-translational cable-suspended parallel robots Mechanism and Machine Theory, 2019. Mottola, G., Gosselin, C., Carricato, M.. DOI 10.1016/j.mechmachtheory.2018.10.017
Dynamic Trajectory Planning and Geometric Analysis of a Two-Degree-of-Freedom Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop Journal of Mechanisms and Robotics, 2019. Longval, J.M., Gosselin, C.. DOI 10.1115/1.4042486
Deep Learning for Electromyographic Hand Gesture Signal Classification Using Transfer Learning IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2019. Côté-Allard, U., Fall, C.L., Drouin, A., Campeau-Lecours, A., Gosselin, C., Glette, K., Laviolette, F., Gosselin, B.. DOI 10.1109/TNSRE.2019.2896269
A parallel low-impedance sensing approach for highly responsive physical human-robot interaction Proceedings - IEEE International Conference on Robotics and Automation, 2019. Boucher, G., Laliberte, T., Gosselin, C.. DOI 10.1109/ICRA.2019.8793849
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