Frederic Chapelle

Learn More
This paper presents a n original use of Evolutionary Algorithms in order t o approximate by a closed f o r m the inverse kinematic model (I K M) of analytical, non,-anal$ical and general (i.e. with a n arbitrary geome-t r y) manipulators. T h e objective is t o provide a f a s t and general solution t o the inverse kinematic problem when it is extensively(More)
— This paper presents the modeling of a new mini-invasive neurosurgical resection robot. This robot aims to help to remove brain tumors and is incorporated into a multi-robot neurosurgical system. We focus especially on the resection task. The robot is composed of three serial bending modules actuated by wires (cables) and uses an additional translation.(More)
  • 1