C. Gosselin

Publications
Influence

Singularity analysis of closed-loop kinematic chains

C. Gosselin, J. Angeles
Mathematics, Computer Science
IEEE Trans. Robotics Autom.
1 June 1990

The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. Expand

1,504
88

A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

C. Gosselin, J. Angeles
Engineering
1 September 1991

In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator,… Expand

Stiffness mapping for parallel manipulators

C. Gosselin
Mathematics, Computer Science
IEEE Trans. Robotics Autom.
1 June 1990

Mechanical systems containing closed-loop kinematic chains can exhibit special types of singularities that result in a loss of controllability of the element of interest . Expand

The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator

C. Gosselin, J. Angeles
Mathematics
1 March 1988

Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte

Underactuated Robotic Hands

L. Birglen, T. Laliberté, C. Gosselin
Computer Science, Engineering
Springer Tracts in Advanced Robotics
11 March 2008

Grasping and manipulation skills are at the core of the development of modern robotic systems. Expand

Determination of the Workspace of 6-DOF Parallel Manipulators

C. Gosselin
Mathematics
1 September 1990

Variable admittance control of a four-degree-of-freedom intelligent assist device

A. Campeau-Lecours, Boris Mayer St-Onge, C. Gosselin
Engineering, Computer Science
IEEE International Conference on Robotics and…
14 May 2012

This paper presents a variable admittance control approach to improve system intuitivity by inference of human intentions using velocity and acceleration. Expand

Large-scale 3D printing of ultra-high performance concrete – a new processing route for architects and builders

C. Gosselin, Romain Duballet, P. Roux, N. Gaudillière, J. Dirrenberger, P. Morel
Engineering
15 June 2016

In the present paper a new additive manufacturing processing route is introduced for ultra-high performance concrete. Interdisciplinary work involving materials science, computation, robotics,… Expand

On the development of the Agile Eye

C. Gosselin, É. St.-Pierre, J. Gagné
Engineering, Computer Science
IEEE Robotics Autom. Mag.
1 December 1996

The "Agile Eye" is a high-performance mechanism capable of orienting a camera within a workspace larger than that of a human eye and with velocities and accelerations larger than those of the human eye. Expand

Underactuation in robotic grasping hands

L. Birglen, C. Gosselin
Engineering
2002

This paper presents the development of selfadaptive and reconfigurable hands which are versatile and easy to control. These hands have three fingers and each of the fingers has three phalanges. The… Expand

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