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Autonomie décisionnelleCommande référencée-capteursEco-conception et conception bio-inspirée

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Drones volants et marinsInteractions avec l’environnement / l’humainPerception et IARobotique continue

Sébastien Briot

HDR

Chercheur.euse – Directeur / directrice de recherche

Equipe :

Employeur : Centre National de la Recherche Scientifique

Expertises :

Eco-conception et conception bio-inspirée : conception robotique en bio-matériaux, robotique sobre, efficacité énergétiqueRobotique continue : robotique parallèle, singularité et stabilité, conception

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Publications déposées sur HAL

Nombre de publications retournées : 197

Revues internationales avec comité de lecture

[1] V. Arakelian, S. Briot, V. Glazunov. , in Journal of Machinery, Manufacture and Reliability, vol. 1, pp. 62-63,

[2] S. Briot, I. Bonev. Are Parallel Robots More Accurate than Serial Robots?, in CSME Transactions, vol. 31, no. 4, pp. 445-456,

[3] V. Glazunov, S. Briot, V. Arakelian, M. Gruntovitch, M. Nguyen. Design of a New Class of Parallel-Cross Mechanisms, in Journal of Machinery, Manufacture and Reliability, vol. 37, no. 2, pp. 100-110,

[4] S. Briot, I. Bonev. Accuracy Analysis of 3-DOF Planar Parallel Robots, in Mechanism and Machine Theory, vol. 43, no. 4, pp. 445-458,

[5] V. Glazunov, S. Briot, V. Arakelian. New Class of Parallel-Cross Structure Mechanisms. Classification and Investigations, in Handbook, Engineering Journal, pp. 35-40,

[6] V. Glazunov, S. Briot, V. Arakelian. New Class of Parallel-Cross Structure Mechanisms. Comparation Analysis. Continue, in Handbook, Engineering Journal, vol. 5, pp. 16-20,

[7] S. Briot, I. Bonev, D. Chablat, P. Wenger, V. Arakelian. Self-Motions of General 3-RPR Planar Parallel Robots, in The International Journal of Robotics Research, vol. 27, no. 7, pp. pp. 855-866, DOI

[8] C. Baradat, V. Arakelian, S. Briot, S. Guegan. Design and Prototyping of a New Balancing Mechanism for Spatial Parallel Manipulators, in Journal of Mechanical Design, vol. 130, no. 7,

[9] V. Arakelian, S. Briot, V. Glazunov. Increase of Singularity-Free Zones in the Workspace of Parallel Manipulators Using Mechanisms of Variable Structure, in Mechanism and Machine Theory, vol. 43, no. 9, pp. 1129-1140,

[10] S. Briot, V. Arakelian. Optimal Force Generation of Parallel Manipulators for Passing through the Singular Positions, in The International Journal of Robotics Research, vol. 27, no. 8, pp. 967-983,

[11] S. Briot, V. Arakelian, S. Guegan. Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator with High-Load Carrying Capacity, in Transaction of the ASME, Journal of Mechanical Design, vol. 130, no. 12, pp. Vol. 130, No. 12,

[12] S. Briot, I. Bonev, C. Gosselin, V. Arakelian. Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs, in Journal of Multi-body Dynamics, vol. 223, no. 1, pp. 43-52,

[13] S. Briot, V. Arakelian, S. Guegan. PAMINSA: a New Family of Decoupled Parallel Manipulators, in Mechanism and Machine Theory, vol. 44, no. 2, pp. Vol. 44, No. 2,

[14] S. Briot, I. Bonev. Pantopteron: a New Fully-Decoupled 3-DOF Translational Parallel Robot for Pick-and-Place Applications, in Journal of Mechanisms and Robotics, vol. 1, no. 2,

[15] V. Arakelian, S. Briot. Simultaneous Inertia Force/Moment Balancing and Torque Compensation of Slider-Crank Mechanisms, in Mechanics Research Communications, vol. 37, no. 2, pp. 265-269, DOI

[16] J. Blaise, I. Bonev, B. Montsarrat, S. Briot, M. Lambert, C. Perron. Kinematic Characterisation of Hexapods for Industry, in Industrial Robot: An International Journal, vol. 37, no. 1, pp. 79-88,

[17] S. Briot, I. Bonev. Accuracy Analysis of 3T1R Fully-Parallel Robots, in Mechanism and Machine Theory, vol. 45, no. 5, pp. 695-706,

[18] S. Briot, I. Bonev. Pantopteron-4: a New 3T1R Decoupled Parallel Manipulator for Pick-and-Place Applications, in Mechanism and Machine Theory, vol. 45, no. 5, pp. 707-721,

[19] S. Briot, V. Arakelian. On the Dynamic Properties of Rigid-Link Flexible-Joint Parallel Manipulators in the Presence of Type 2 Singularities, in Journal of Mechanisms and Robotics,

[20] S. Briot, V. Arakelian. On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities, in Journal of Mechanisms and Robotics, vol. 3, no. 3,

[21] V. Glazunov, V. Arakelian, S. Briot, G. Rashoyan. Speed and force criteria for the proximity to singularities of parallel structure manipulators, in Journal of Machinery Manufacture and Reliability, vol. 41, pp. 194-199, DOI

[22] S. Briot, V. Arakelian, J. Le Baron. Shaking Force Minimization of High-Speed Robots via Centre of Mass Acceleration Control, in Mechanism and Machine Theory, vol. 57, pp. 1-12,

[23] S. Briot, V. Arakelian. Complete Shaking Force and Shaking Moment Balancing of In-line Four-bar Linkages by adding a Class-two RRR or RRP Assur Group, in Mechanism and Machine Theory, vol. 57, pp. 13-26,

[24] S. Briot, V. Glazunov, V. Arakelian. Investigation on the Effort Transmission in Planar Parallel Manipulators, in Journal of Mechanisms and Robotics, vol. 5, no. 1,

[25] C. Germain, S. Caro, S. Briot, P. Wenger. Singularity-free Design of the Translational Parallel Manipulator IRSBot-2, in Mechanism and Machine Theory, vol. 64, pp. 262-285, DOI

[26] S. Briot, W. Khalil. Recursive and Symbolic Calculation of the Elastodynamic Model of Flexible Parallel Robots, in The International Journal of Robotics Research, vol. 33, no. 3, pp. 469-483,

[27] M. Gautier, S. Briot. Global Identification of Joint Drive Gains and Dynamic Parameters of Robots, in Journal of Dynamic Systems, Measurement, and Control, vol. 136, no. 5,

[28] S. Briot, M. Gautier. Global Identification of Joint Drive Gains and Dynamic Parameters of Parallel Robots, in Multibody System Dynamics, vol. 33, no. 1,

[29] C. Germain, S. Briot, S. Caro, P. Wenger. Natural Frequency Computation of Parallel Robots, in Journal of Computational and Nonlinear Dynamics, vol. 10, no. 2, DOI

[30] G. Pagis, N. Bouton, S. Briot, P. Martinet. Enlarging Parallel Robot Workspace through Type-2 Singularity Crossing, in Control Engineering Practice, vol. 39, pp. 1-11,

[31] S. Briot, S. Krut, M. Gautier. Dynamic Parameter Identification of Over-actuated Parallel Robots, in Journal of Dynamic Systems, Measurement, and Control, vol. 137, no. 11, pp. 111002, DOI

[32] S. Briot, P. Martinet, V. Rosenzveig. The Hidden Robot: an Efficient Concept Contributing to the Analysis of the Controllability of Parallel Robots in Advanced Visual Servoing Techniques, in IEEE Transactions on Robotics, vol. 31, no. 6, pp. 1337-1352,

[33] S. Briot, G. Pagis, N. Bouton, P. Martinet. Degeneracy Conditions of the Dynamic Model of Parallel Robots, in Multibody System Dynamics, vol. 37, no. 4, pp. 371-412, DOI

[34] S. Liu, B. Chen, S. Caro, S. Briot, L. Harewood, C. Chen. A cable linkage with remote centre of motion, in Mechanism and Machine Theory, vol. 105, pp. 583-605, DOI

[35] S. Briot, V. Rosenzveig, P. Martinet, E. Ozgür, N. Bouton. Minimal Representation for the Control of Parallel Robots via Leg Observation Considering a Hidden Robot Model, in Mechanism and Machine Theory, vol. 106,

[36] S. Briot, S. Caro, C. Germain. Démarche pour la Conception d'un Manipulateur Parallèle Rapide et Précis, in Journal of Mechanisms and Robotics, vol. 9, no. 6, pp. 061012, DOI

[37] S. Briot, F. Chaumette, P. Martinet. Revisiting the determination of the singularity cases in the visual servoing of image points through the concept of hidden robot, in IEEE Transactions on Robotics, vol. 33, no. 2, DOI

[38] S. Briot, P. Martinet, F. Chaumette. Determining the Singularities for the Observation of Three Image Lines, in IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 412-419, DOI

[39] D. Six, S. Briot, A. Chriette, P. Martinet. A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots during Singularity Crossing, in Journal of Mechanisms and Robotics, vol. 9, no. 5, DOI

[40] D. Six, S. Briot, A. Chriette, P. Martinet. The Kinematics, Dynamics and Control of a Flying Parallel Robot with Three Quadrotors, in IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 559-566, DOI

[41] S. Briot, A. Goldsztejn. Topology Optimization of Industrial Robots: Application to a Five-bar Mechanism, in Mechanism and Machine Theory, vol. 120, pp. 30-56, DOI

[42] S. Briot, P. Robuffo Giordano. Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses, in Journal of Mechanisms and Robotics, vol. 11, no. 3, pp. 031006-1–031006-10, DOI

[43] D. Six, S. Briot, J. Erskine, A. Chriette. Identification of the Propeller Coefficients and Dynamic Parameters of a Hovering Quadrotor from Flight Data, in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1063-1070, DOI

[44] A. Koessler, A. Goldsztejn, S. Briot, N. Bouton. Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots, in IEEE Transactions on Robotics, vol. 36, no. 3, pp. 937-950, DOI

[45] S. Briot, L. Kaci, C. Boudaud, D. Llevat-Pamiès, P. Lafoux, P. Martinet. Design of an Accurate and Stiff Wooden Industrial Robot: First Steps towards Robot Eco-sustainable Mechanical Design, in Journal of Mechanisms and Robotics, vol. 12, no. 5, pp. 051015-1 — 051015-14, DOI

[46] B. Pascual-Escudero, A. Nayak, S. Briot, O. Kermorgant, P. Martinet, M. Safey El Din, F. Chaumette. Complete Singularity Analysis for the Perspective-Four-Point Problem, in International Journal of Computer Vision, vol. 129, no. 4, pp. 1217–1237, DOI

[47] E. Idá, S. Briot, M. Carricato. Natural Oscillations of Underactuated Cable-Driven Parallel Robots, in IEEE Access, vol. 9, pp. 71660-71672, DOI

[48] D. Six, S. Briot, A. Chriette, P. Martinet. Dynamic Modelling and Control of Flying Parallel Robots, in Control Engineering Practice, vol. 117, pp. 1-13, DOI

[49] E. Idá, S. Briot, M. Carricato. Identification of the Inertial Parameters of Underactuated Cable-Driven Parallel Robots, in Mechanism and Machine Theory, vol. 167, DOI

[50] F. Zaccaria, E. Idá, S. Briot, M. Carricato. Workspace Computation of Planar Continuum Parallel Robots, in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2700-2707, DOI

[51] S. Briot, A. Goldsztejn. Singularity Conditions for Continuum Parallel Robots, in IEEE Transactions on Robotics, vol. 38, no. 1, pp. 507-525, DOI

[52] J. García Fontán, A. Nayak, S. Briot, M. Safey El Din. Singularity Analysis for the Perspective-Four and Five-Line Problems, in International Journal of Computer Vision, vol. 130, pp. 909-932, DOI

[53] R. Balderas Hill, S. Briot, A. Chriette, P. Martinet. Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by using Variable Stiffness Springs, in Journal of Mechanisms and Robotics, vol. 14, pp. 051004-1–051004-10, DOI

[54] J. Ayala Hernandez, S. Briot, J. Cervantes-Sanchez. Structural Topology Optimization of Reactionless Four-bar Linkages, in Journal of Mechanical Design, vol. 144, pp. 111701-1 — 111701-14, DOI

[55] M. Zhu, S. Briot, A. Chriette. Sensor-based design of a Delta parallel robot, in Mechatronics, vol. 87, DOI

[56] F. Boyer, A. Gotelli, P. Tempel, V. Lebastard, F. Renda, S. Briot. Implicit time integration simulation of robots with rigid bodies and Cosserat rods based on a Newton-Euler recursive algorithm, in IEEE Transactions on Robotics, DOI

[57] S. Briot, F. Boyer. A Geometrically-Exact Assumed Strain Modes Approach for the Geometrico- and Kinemato-static Modellings of Continuum Parallel Robots, in IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1527-1543, DOI

[58] G. Jeanneau, V. Begoc, S. Briot. Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot, in Journal of Mechanisms and Robotics, vol. 15, no. 3, pp. 031004-1 — 031004-15, DOI

[59] S. Briot, J. Merlet. Direct Kinematic Singularities and Stability Analysis of Sagging Cable-driven Parallel Robots, in IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2240-2254,

[60] F. Zaccaria, E. Idá, S. Briot. Design and Experimental Equilibrium Stability Assessment of a RFRFR Continuum Parallel Robot, in Mechatronics, vol. 95, pp. 103064-1–103064-14,

[61] V. Le Mesle, V. Bégoc, S. Briot. Modeling and Design of a five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications, in Journal of Mechanical Design, vol. 145, no. 12, pp. 123302-1–123302-11,

[62] F. Zaccaria, E. Idà, S. Briot. Directional Critical Load Index: a Distance-to-Instability Metric for Continuum Robots, in IEEE Transactions on Robotics,

[63] J. Czapalay Erskine, S. Briot, I. Fantoni, A. Chriette. Singularity Analysis of Rigid Directed Bearing Graphs for Quadrotor Formations, in IEEE Transactions on Robotics, vol. 40, no. 1, pp. 139-157,

[64] F. Zaccaria, E. Idá, S. Briot. A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots, in Journal of Mechanisms and Robotics, vol. 16, no. 4, pp. 041010-1–041010-15,

[65] G. Jeanneau, V. Bégoc, S. Briot. A Reduced Mass-Spring-Mass Model of Compliant Robots Dedicated to the Evaluation of Impact Forces, in Journal of Mechanisms and Robotics, vol. 16, no. 4, pp. 041012-1–041012-11,

[66] A. Colotti, J. García Fontán, A. Goldsztejn, S. Briot, F. Chaumette, O. Kermorgant, M. Safey El Din. Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing, in IEEE Transactions on Robotics, vol. 40, pp. 3406-3424, DOI

[67] S. Briot. Distance-to-Instability and Distance-to-Singularity Metrics for Continuum Robots, in Journal of Mechanisms and Robotics, vol. 18, no. 6, DOI

Conférences internationales avec comité de lecture et actes

[68] C. Baradat, V. Arakelian, S. Briot. Torque minimization of the Delta parallel robot, in 20th Canadian Congress of Applied Mechanics: CANCAM 2005, Montréal, Canada,

[69] V. Arakelian, S. Briot. A New Decoupled Parallel Manipulator with Four Degrees of Freedom, in 20th Canadian Congress of Applied Mechanics: CANCAM 2005, Montréal, Canada,

[70] V. Arakelian, S. Guegan, S. Briot. Static and Dynamic Analysis of the PAMINSA, in IDETC/CIE, ASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Long Beach, CA, états-Unis, DOI

[71] V. Arakelian, S. Briot, S. Guegan, J. Le Flecher. Design and Prototyping of New 4, 5 and 6 Degrees of Freedom Parallel Manipulators Based on the Copying Properties of the Pantograph Linkage, in 36th International Symposium on Robotics, Tokyo, Japon,

[72] V. Arakelian, S. Briot, V. Glazunov. Elaboration of Parallel Structure Robot Based on Pantographs, in 17th International Internet Conference of Young Scientists and Students on Modern Problems of Machinery, Russie,

[73] V. Arakelian, S. Briot, V. Glazunov. Kinematic Decoupling of Parallel Manipulators, in Conference of Young Scientists on Artificial Intellect, Russie,

[74] V. Arakelian, S. Briot. Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.), in ROMANSY 2006, Varsovie, Pologne,

[75] V. Arakelian, S. Briot, C. Baradat, V. Glazunov. Kinematic and Dynamic Decoupling Methods of Parallel Manipulators, in International Conference on Mechanism Theory and Mechanics of Machines, Russie,

[76] S. Briot, V. Arakelian, V. Glazunov. Analysis and Synthesis of Parallel-Variable Structure Manipulators, in 18th International Conference on Modern Problems of Mechanical Design, Russie,

[77] V. Arakelian, S. Briot, V. Glazunov. Improvement of Functional Performance of Spatial Parallel Manipulators Using Mechanisms of Variable Structure, in 12th IFToMM World Congress, Besançon, France,

[78] S. Briot, V. Arakelian. , in 12th IFToMM World Congress, Besançon, France,

[79] S. Lessard, P. Bigras, I. Bonev, S. Briot, V. Arakelian. Optimum Static Balancing of a Parallel Robot for Medical 3D-Ultrasound Imaging, in 12th IFToMM World Congress, Besançon, France,

[80] S. Briot, C. Baradat, S. Guegan, V. Arakelian. Contribution to the Improvement of the Medical Device SurgiScope, in 2007 ASME International Design Engineering Technical Conferences (DETC 2007), Las Vegas, NV, états-Unis, DOI

[81] S. Briot, S. Guegan, E. Courteille, V. Arakelian. On the Design of PAMINSA: A New Class of Parallel Manipulators with High-Load Carrying Capacities, in 2007 ASME International Design Engineering Technical Conferences (DETC 2007), Las Vegas, états-Unis,

[82] S. Briot, V. Arakelian, V. Glazunov. A new class of parallel-cross structures handling mechanisms, in International Conference on Dynamic Problems and Strength of Mechanisms, Russie,

[83] S. Briot, M. Gruntovitch, V. Glazunov, V. Arakelian. Synthesis and analysis of parallel-cross structure manipulators, in 19th International Internet Conference of Young Scientists and Students on Modern Problems of Machinery, Russie,

[84] S. Briot, V. Arakelian. Optimum control of parallel manipulators in the presence of singular positions manipulators, in 19th International Internet Conference of Young Scientists and Students on Modern Problems of Machinery, Russie,

[85] S. Briot, V. Arakelian. On the Dynamic Properties and Optimum Control of Parallel Manipulators in the Presence of Singularity, in 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, états-Unis,

[86] S. Briot, I. Bonev. A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors, in Advances in Robot Kinematics, 11th International Symposium, Batz-sur-Mer, France,

[87] V. Arakelian, S. Briot. Dynamic Balancing of the SCARA robot, in 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy 2008), Tokyo, Japon,

[88] S. Briot, V. Arakelian, V. Glazunov. Design and analysis of the properties of the Delta inverse robot, in 10th International Conference on the Theory of Machines and Mechanisms (TMM 2008), Liberec, République tchèque,

[89] S. Briot, V. Arakelian. On the Kinematic, Kinetostatic and Dynamic Properties of Parallel Manipulators in the Presence of Singularity, in 10th International Conference on the Theory of Machines and Mechanisms (TMM 2008), Liberec, République tchèque,

[90] I. Bonev, S. Briot, P. Wenger, D. Chablat. Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots, in 2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France,

[91] S. Briot, I. Bonev. Singularity Analysis of Zero-Torsion Parallel Mechanisms, in IEEE/RJS International Conference on Intelligent Robots and Systems, Nice, France,

[92] V. Arakelian, V. Glazunov, S. Briot, M. Nguyen. A New Class of Parallel Cross Mechanisms, in Computational Kinematics 2009 Conference, Duisburg, Allemagne,

[93] S. Briot, V. Arakelian. Complete Shaking Force and Shaking Moment Balancing of the Position-Orientation Decoupled PAMINSA Manipulator, in IEEE/ ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Singapour, Singapour,

[94] S. Briot, A. Pashkevich, D. Chablat. On the optimal design of parallel robots taking into account their deformations and natural frequencies, in ASME Design Engineering Technical Conferences, San Diego, états-Unis,

[95] S. Briot, I. Bonev. Self Motions of the Pantopteron, in ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, San Diego, CA, états-Unis, DOI

[96] A. Pashkevich, A. Klimchik, S. Briot, D. Chablat. Performance evaluation of parallel manipulators for milling application, in 20th CIRP Design Conference, Nantes, France, DOI

[97] S. Briot, A. Pashkevich, D. Chablat. Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications, in the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, états-Unis,

[98] S. Briot, V. Arakelian, N. Sauvestre, J. Le Baron. Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning, in 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2010), Udine, Italie, DOI

[99] S. Briot, A. Pashkevich, D. Chablat. Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications, in ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, Montréal, Canada, DOI

[100] S. Briot, V. Arakelian. On The Dynamic Properties of Flexible Parallel Manipulators in the Presence of Payload and Type 2 Singularities, in ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, Montréal, Canada, DOI

[101] S. Briot, A. Pashkevich, D. Chablat. Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies, in 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexique,

[102] S. Briot, V. Glazunov, V. Arakelian. On the Design Conditions of Planar Parallel Manipulators in Near-Singular Configurations, in 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexique,

[103] V. Arakelian, S. Briot, S. Jatsun, A. Jatsun. A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability, in 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexique,

[104] C. Germain, S. Briot, V. Glazunov, S. Caro, P. Wenger. IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations, in ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Washington, états-Unis, DOI

[105] M. Gautier, S. Briot. Chapitre d'équation 1 Section 1, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, France,

[106] M. Gautier, S. Briot. New Method for Global Identification of the Joint Drive Gains of Robots using a Known Inertial Payload, in 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), Orlando, états-Unis,

[107] M. Gautier, S. Briot. Global Identification of Drive Gains Parameters of Robots Using a Known Payload, in International Conference on Robotics and Automation (ICRA 2012), St. Paul, MN, états-Unis, DOI

[108] S. Briot, M. Gautier. Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots – Part 1: Theory, in 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2012), Paris, France,

[109] S. Briot, M. Gautier. Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots – Part 2: Case Study, in 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2012), Paris, France,

[110] C. Germain, S. Briot, S. Caro, P. Wenger. Constraint Singularity-Free Design of the IRSBot-2, in Advances in Robot Kinematics, Innsbruck, Autriche,

[111] C. Barnard, S. Briot, S. Caro. Trajectory Generation for High Speed Pick-and-Place Robots, in ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Nantes, France, DOI

[112] D. Bondarenko, A. Pashkevich, S. Briot, M. Ritou, B. Furet. Elasto-Dynamic Model of Robotic Milling Process Considering Interaction between Tool and Workpiece, in ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Nantes, France, DOI

[113] D. Nguyen, S. Briot, P. Wenger. Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators, in ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Nantes, France, DOI

[114] S. Sargsyan, V. Arakelian, S. Briot. Robotic Rehabilitation Devices of Human Extremities: Design Concepts and Functional Particularities, in ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Nantes, France, DOI

[115] M. Gautier, S. Briot. Global Identification of Robot Drive Gains Parameters Using a Known Payload and Weighted Total Least Square Techniques, in 16th IFAC Symposium on System Identification (SYSID 2012), Bruxelles, Belgique,

[116] A. Klimchik, D. Bondarenko, A. Pashkevich, S. Briot, B. Furet. Compensation of Tool Deflection in Robotic-Based Milling, in 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), Rome, Italie,

[117] S. Briot, V. Arakelian, J. Le Baron. Shaking Force Minimization of High-Speed Robots via Optimal Control, in 11th International Conference on the Theory of Machines and Mechanisms (TMM 2012), France,

[118] M. Gautier, S. Briot. Dynamic Parameter Identification of a 6 DOF Industrial Robot using Power Model, in the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Allemagne,

[119] S. Briot, P. Martinet. Minimal Representation for the Control of Gough-Stewart Platforms via Leg Observation Considering a Hidden Robot Model, in the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Allemagne,

[120] S. Briot, W. Khalil. Recursive Symbolic Calculation of the Dynamic Model of Flexible Parallel Robots, in the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Allemagne,

[121] M. Gautier, S. Briot, G. Venture. Identification of Consistent Standard Dynamic Parameters of Industrial Robots, in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013), Wollongong, Australie,

[122] S. Briot, M. Gautier, S. Krut. Dynamic Parameter Identification of Actuation Redundant Parallel Robots: Application to the DualV, in AIM: Advanced Intelligent Mechatronics, Wollongong, Australie, DOI

[123] C. Germain, S. Caro, S. Briot, P. Wenger. Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory, in ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, Oregon, états-Unis, DOI

[124] G. Pagis, S. Briot, N. Bouton, P. Martinet. Optimal Motion Generation for Exiting a Parallel Manipulator from a Type 2 Singularity, in ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Portland, OR, états-Unis, DOI

[125] V. Arakelian, S. Briot, J. Le Baron. Shaking Force Minimisation of Slider-Crank Mechanism via Optimal Motion Control, in 5th International Conference on Trends in Agricultural Engineering (TAE 2013), République tchèque,

[126] S. Briot, M. Gautier, S. Krut. Dynamic Parameter Identification of Actuation Redundant Parallel Robots using their Power Identification Model: Application to the DualV, in IROS: Intelligent RObots and Systems, Tokyo, Japon, DOI

[127] V. Rosenzveig, S. Briot, P. Martinet. Minimal Representation for the Control of the Adept Quattro with Rigid Platform via Leg Observation Considering a Hidden Robot Model, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo Big Sight, Japon,

[128] G. Pagis, N. Bouton, S. Briot, P. Martinet. Design of a Controller for Enlarging Parallel Robots Workspace through Type 2 Singularity Crossing, in 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, Chine, DOI

[129] V. Rosenzveig, S. Briot, P. Martinet, E. Ozgür, N. Bouton. Method for Simplifying the Analysis of Leg-Based Visual Servoing of Parallel Robots, in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, Chine,

[130] S. Briot, W. Khalil. Recursive and Symbolic Calculation of the Stiffness and Mass Matrices of Parallel Robots, in 20-th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (RoManSy 2014), Moscou, Russie,

[131] S. Briot, V. Rosenzveig, P. Martinet. The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design, in Advances in Robot Kinematics, Ljubljana, Slovénie,

[132] S. Briot, M. Gautier, A. Jubien. In situ calibration of joint torque sensors of the KUKA LightWeight robot using only internal controller data, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 470-475, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, DOI

[133] A. Vignolo, S. Briot, M. Philippe, C. Chen. Comparative Analysis of two Types of Leg-observation-based Visual Servoing Approaches for the Control of the Five-bar Mechanism, in 2014 Australasian Conference on Robotics and Automation (ACRA 2014), Melbourne, Australie,

[134] A. Vignolo, S. Briot, P. Martinet, C. Chen. End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs, in 2015 International Conference on Advanced Robotics (ICAR 2015), Istanbul, Turquie,

[135] S. Briot, V. Arakelian. A New Energy-free Gravity-compensation Adaptive System for Balancing of 4-DOF Robot Manipulators with Variable Payloads, in The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress), Taipei, Taïwan,

[136] V. Arakelian, S. Briot. A new energy-free gravity-compensation system for balancing the variable payload of 4-DOF robot manipulators, in The 14th World Congress in Mechanism and Machine Science, Taipei, Taïwan,

[137] P. Martinet, S. Briot. Keynote on Advanced control of parallel robots and its extension to other research fields (Part I), in ICRA 2016 Workshop: Application of the theoretical background in Parallel Robotics to other research areas, Stockholm, Suisse,

[138] S. Briot, N. Bouton, P. Bigras. Controlling Parallel Robots during Singular Assembly Mode Changing, in 4th Joint International Conference on Multibody System Dynamics (IMSD2016), Montréal, Canada,

[139] S. Liu, B. Chen, S. Caro, S. Briot, C. Chen. Dual-Triangular Remote Centre of Motion Mechanism With Cable Transmission, in 4th Joint International Conference on Multibody System Dynamics (IMSD2016), Montréal, Canada,

[140] D. Six, S. Briot, A. Chriette, P. Martinet. A Controller for Avoiding Dynamic Model Degeneracy of Parallel Robots during Type 2 Singularity Crossing, in 6th European Conference on Mechanism Science (EuCoMeS2016), Nantes, France, DOI

[141] L. Kaci, S. Briot, C. Boudaud, P. Martinet. Control-based Design of a Five-bar Mechanism, in 6th European Conference on Mechanism Science (EuCoMeS2016), Nantes, France,

[142] L. Kaci, C. Boudaud, S. Briot, P. Martinet. Elastostatic Modelling of a Wooden Parallel Robot, in 7th IFToMM International Workshop on Computational Kinematics (CK2017), Poitiers, France, DOI

[143] S. Briot, A. Goldsztejn. Topology Optimization of a Reactionless Four-bar Linkage, in 7th IFToMM International Workshop on Computational Kinematics (CK2017), Poitiers, France, DOI

[144] A. Koessler, A. Goldsztejn, S. Briot, N. Bouton. Certified Detection of Parallel Robot Assembly Mode under Type 2 Singularity Crossing Trajectories, in 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapour, Singapour, DOI

[145] R. Balderas Hill, D. Six, A. Chriette, S. Briot, P. Martinet. Crossing Type 2 Singularities of Parallel Robots without Pre-planned Trajectory with a Virtual-constraint-based Controller, in 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapour, Singapour, DOI

[146] S. Briot, F. Chaumette, P. Martinet. Revisiting the determination of the singularity cases in the visual servoing of image points through the concept of hidden robot, in ICRA 2017 – IEEE International Conference on Robotics and Automation, Singapour, Singapour, DOI

[147] S. Briot, P. Martinet, F. Chaumette. Determining the Singularities for the Observation of Three Image Lines, in 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapour, Singapour, DOI

[148] D. Six, A. Chriette, S. Briot, P. Martinet. Dynamic Modeling and Trajectory Tracking Controller of a Novel Flying Parallel Robot, in 20th IFAC World Congress, Toulouse, France, DOI

[149] D. Six, S. Briot, A. Chriette, P. Martinet. The Kinematics, Dynamics and Control of a Flying Parallel Robot with Three Quadrotors, in 2018 IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australie, DOI

[150] L. Kaci, S. Briot, C. Boudaud, P. Martinet. Design of a Wooden Five-bar Mechanism, in 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), Rennes, France, DOI

[151] R. Balderas Hill, S. Briot, A. Chriette, P. Martinet. Minimizing Input Torques of a High-Speed Five-Bar Mechanism by using Variable Stiffness Springs, in 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), Rennes, France, DOI

[152] A. Koessler, N. Bouton, S. Briot, B. Bouzgarrou, Y. Mezouar. Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots, in ROMANSY 22 – Robot Design, Dynamics and Control, Rennes, France, DOI

[153] M. Saint-Sevin, V. Begoc, S. Briot, A. Chriette, I. Fantoni. Design and Optimization of a Multi-drone Robot for Grasping and Manipulation of Large-size Objects, in 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), Rennes, France, DOI

[154] L. Kaci, S. Briot, C. Boudaud, P. Martinet. RobEcolo: Optimal Design of a Wooden Five-bar Mechanism, in ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Québec, Canada, DOI

[155] R. Balderas Hill, S. Briot, A. Chriette, P. Martinet. Increasing energy efficiency of high-speed parallel robots by using variable stiffness springs and optimal motion generation, in ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), Québec, Canada, DOI

[156] R. Balderas Hill, S. Briot, A. Chriette, P. Martinet. Exploiting Natural Dynamics in order to Increase the Feasible Static-Wrench Workspace of Robots, in The 15th IFToMM World Congress, Cracovie, Pologne, DOI

[157] D. Six, S. Briot, J. Erskine, A. Chriette. Identification of the Propeller Coefficients and Dynamic Parameters of a Hovering Quadrotor from Flight Data, in IEEE 2020 International Conference on Robotics and Automation (ICRA 2020), Paris, France, DOI

[158] G. Jeanneau, V. Begoc, S. Briot, A. Goldsztejn. R-Min: a Fast Collaborative Underactuated Parallel Robot for Pick-and-Place Operations, in IEEE 2020 International Conference on Robotics and Automation (ICRA 2020), Paris, France, DOI

[159] A. Nayak, S. Briot. Singularities in the Image-based Visual Servoing of Five Points, in Advances in Robot Kinematics (ARK 2020), Ljubljana, Slovénie, DOI

[160] E. Idá, S. Briot, M. Carricato. Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables, in Advances in Robot Kinematics (ARK 2020), Ljubljana, Slovénie, DOI

[161] G. Jeanneau, V. Begoc, S. Briot. Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction, in 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE 2020), St. Louis, états-Unis, DOI

[162] A. Colotti, A. Cenedese, S. Briot, I. Fantoni, A. Goldsztejn. Stability Analysis and Reconfiguration Strategy for Multi-agent D-formation Control, in 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sapporo, Japon, DOI

[163] F. Zaccaria, S. Briot, M. Chikhaoui, E. Idá, M. Carricato. An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots, in 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sapporo, Japon, DOI

[164] M. Zhu, A. Chriette, S. Briot. Control-based Design of a DELTA robot, in 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sapporo, Japon, DOI

[165] R. Balderas Hill, S. Briot, A. Chriette, P. Martinet. Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural Dynamics, in RoManSy 2020 – 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Sapporo /Virtual, Japon, DOI

[166] F. Zaccaria, E. Idá, S. Briot, M. Carricato. Workspace Computation of Planar Continuum Parallel Robots, in 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, états-Unis,

[167] S. Briot, A. Goldsztejn. Singularity Conditions for Continuum Parallel Robots, in 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, états-Unis,

[168] A. Gotelli, F. Zaccaria, O. Kermorgant, S. Briot. A Gazebo Simulator for Continuum Parallel Robots, in 18th International Symposium on Advances in Robot Kinematics (ARK 2022), Bilbao, Espagne,

[169] F. Zaccaria, E. Idá, S. Briot. Singularity Conditions of Concentric Tube Robots, in 16th IFToMM World Congress, Yokohama, Japon,

[170] M. Ducchi, F. Zaccaria, S. Briot, E. Idá. Total Least Squares in-field Identification for MEMS-based Triaxial Accelerometers, in 16th IFToMM World Congress, Yokohama, Japon,

[171] C. Gao, Q. Peyron, S. Briot. Design Exploration of Planar Continuum Parallel Robots with Constrained Platform Orientation, in 34th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2025), Belgrade, Serbie,

[172] C. Gao, Q. Peyron, S. Briot. Design Exploration of Planar Continuum Parallel Robots with Constrained Platform Orientation, in RAAD 2025 – International Conference on Robotics in Alpe-Adria Danube Region, Belgrade, Serbie, DOI

[173] A. Trabelsi, A. Yigit, J. Sandoval, S. Briot. Intuitive Physical Interaction in Macro-Mini Robotic Assistance via a Continuum Parallel Robot, in 20th International Symposium on ADVANCES IN ROBOT KINEMATICS (ARK2026), Barcelone, Espagne,

[174] L. Maldonado Saavedra, Q. Peyron, S. Briot, C. Duriez. Sensitivity Analysis of a RFRFR Continuum Parallel Robot, in ARK 2026 – 20th International Symposium on ADVANCES IN ROBOT KINEMATICS, Barcelone, Espagne,

[175] P. Wang, V. Bégoc, S. Briot. Geometrico-Static Modelling of a FRE Finger, in 20th International Symposium on ADVANCES IN ROBOT KINEMATICS (ARK2026), Barcelone (Espagne), Espagne,

Conférences nationales avec comité de lecture et actes

[176] S. Briot, P. Maurine, S. Guegan, V. Arakelian. Le PAMINSA : Un Nouveau Manipulateur d'Architecture Parallèle aux Mouvements Découplés, in 17ème Congrès Français de Mécanique, Troyes, France,

[177] C. Germain, S. Briot, S. Caro, P. Wenger. IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide, in 20ème Congrès Français de Mécanique, Besançon, France,

[178] G. Pagis, S. Briot, N. Bouton, P. Martinet. Génération de trajectoires optimales de sortie de position singulière pour les mécanismes parallèles, in 21ème Congrès Français de Mécanique, Bordeaux, France,

Brevets

[179] V. Arakelian, P. Maurine, S. Briot, E. Pion. Robot Parallèle Comprenant des Moyens de Mise en Mouvement Décomposés en Deux Sous-Ensembles,

[180] S. Briot, S. Caro, C. Germain. Robot à Deux Degrés de Liberté Présentant Deux Chaînes Cinématiques dont la Raideur en Flexion est Maximisée,

[181] S. Briot, V. Arakelian. Load balancing device for an articulated arm, related apparatus and load manipulation method,

Ouvrages – Chapitres d'ouvrages et directions d'ouvrages

[182] D. Chablat, G. Moroz, V. Arakelian, S. Briot, P. Wenger. Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace,

[183] S. Briot, V. Arakelian, D. Chablat, P. Wenger. Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation, DOI

[184] A. Klimchik, D. Bondarenko, A. Pashkevich, S. Briot, B. Furet. Compliance error compensation in robotic-based milling,

[185] V. Arakelian, S. Briot. Balancing of Linkages and Robot Manipulators,

[186] O. Company, S. Briot. Les Robots Parallèles,

[187] S. Briot, W. Khalil. Dynamics of Parallel Robots,

[188] S. Briot, V. Arakelian. Design of reactionless linkages and robots equipped with balancing Assur groups, DOI

[189] S. Briot. Éco-conception en Robotique,

[190] S. Briot, W. Khalil. Dynamics of Parallel Robots,

[191] S. Briot. Robots parallèles continus, DOI

[192] S. Briot. Ecodesign in Robotics, DOI

Theses et HDR

[193] S. Briot. Analyse et Optimisation d'une Nouvelle Famille de Manipulateurs Parallèles aux Mouvements Découplés,

[194] S. Briot. Contributions à la maîtrise de la dynamique des robots parallèles,

Autres publications

[195] C. Boudaud, S. Briot, L. Kaci, P. Martinet. RobEcolo Conception de Robots industriels à base de matériaux à faible impact Ecologique LIMBHA IRCCyN, in 5èmes Journées scientifiques du GDR Sciences du Bois, Bordeaux, France,

[196] S. Briot, P. Martinet, F. Chaumette. Technical Report associated with the Paper: "Determining the Singularities for the Observation of Three Image Lines,

[197] L. Kaci, C. Boudaud, S. Briot, P. Martinet. Design of an Industrial Wooden Robot, in 6èmes Journées scientifiques du GDR Sciences du Bois, Nantes, France,

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