Cédric Baradat

Learn More
— Cable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables are considered to be massless and inextensible. But for large working volume applications, their mass cannot be neglected. Based on a well-known model which describes the profile of a cable under the action of its own weight, the inverse and forward(More)
— Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and(More)
— In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. A Tripod and a Quadruped with the same kind of legs are studied. The robots' kinematic models are built for achieving the machining and walking scenarios. The simulations show that:(More)
— This paper presents the locomotion approach of a novel quadruped robot which is able to carry various effectors for achieving manufacturing tasks in large workspaces. Equipped with lockers on some of the passive joints and clamping devices at the end of its limbs, this quadruped uses eight actuators for achieving manufacturing tasks as well as locomotion(More)