Clément Gosselin

Clément Gosselin

Pavillon Adrien-Pouliot, local 1314D 
Université Laval 
Québec (Québec) G1V 0A6 
418 656-2131 # 3474 
418 656-7415

clement.gosselin@gmc.ulaval.ca

Ingénieur mécanique intéressé aux robots parallèles, aux mains robotiques, à la collaboration humain-robot, de même qu’à la modélisation et la commande de systèmes robotiques complexes.


Chercheur régulier du CIRRIS
Professeur, Département de génie mécanique, Université Laval

Formation universitaire

  • Baccalauréat en génie mécanique (Université de Sherbrooke, Québec, 1985)
  • Ph.D. en génie mécanique (robotique) (Université McGill, Québec, 1988) 
  • Post-doctorat a l'INRIA (Institut National de Recherche en Informatique et en Automatique) (Sophia-Antipolis, France, 1988-89) 

Intérêts de recherche

  • Cinématique et dynamique des mécanismes et manipulateurs parallèles
  • Mécanique de la préhension et conception de mains robotiques ; 
  • Mécanismes parallèles entraînés par câbles ; 
  • Coopération humain-robot ; 
  • Planification de trajectoires de manipulateurs ; 
  • Modélisation et commande de systèmes robotiques complexes.
Development of a Stroke Rehabilitation Triage Measure.

CORRIVEAU, H., BRAVO, G., TROTTIER, L., MALOUIN, F., CLÉMENT, L. RICHARDS, CL. (2014).
Canadian Stroke Congress, Vancouver, October 4-7. (presentation orale par CLR)
 

Articles dans des revues scientifiques (avec comités de pairs)

Gosselin, C., Laliberte, T., Mayer-St-Onge, B., Foucault, S., Lecours, A., Duchaine, V., … Menassa, R. (2013). A friendly beast of burden: A human-assistive robot for handling large payloads. IEEE Robotics & Automation Magazine, 20, 139–147. doi:10.1109/MRA.2013.2283651

Doyon, K., Gosselin, C., & Cardou, P. (2013). A vector expression of the constant-orientation ingularity locus of the Gough-Stewart platform. Journal of Mechanisms and Robotics, 5, 4pp.

Duchaine, V., Mayer St-Onge, B., Gao, D. and Gosselin, C., 2012, `Stable and intuitive control of an intelligent assist device', IEEE Transactions on Haptics, Vol. 5, No. 2, pp. 148{159

van der Wijk, V., Demeulenaere, B., Gosselin, C. and Herder, J.L., 2012, `Comparative analysis for low-mass and low-inertia dynamic balancing of mechanisms', ASME Journal of Mechanisms and Robotics, Vol. 4, No. 3, pp. 031008-1{031008-8

Liu, H., Gosselin, C. and Laliberté, T., 2012, `Conceptual design and static analysis of novel planar spring-loaded cable loop-driven parallel mechanisms', ASME Journal of Mechanisms and Robotics, Vol. 4, No. 2, pp. 021001-1{021001-11

Lauzier, N. and Gosselin, C., 2012, `Performance indices for collaborative serial robots with optimally adjusted series clutch actuators', ASME Journal of Mechanisms and Robotics, Vol. 4, No. 2, pp. 021002-1{021002-11.

Amine, S., Tale-Masouleh, M., Caro, S., Wenger, P. and Gosselin, C., 2012, `Singularity analysis of 3T2R parallel mechanisms using Grassmann-Cayley algebra and Grassmann geometry', Mechanism and Machine Theory, Vol. 52, No. 6, pp. 326{340.

Kragten, G., Baril, M., Gosselin, C. and Herder, J., 2011, `Stable precision grasps by underactuated grippers', IEEE Transactions on Robotics, Vol. 27, No. 6, pp. 1056{1066.

Collard, J.-F. and Gosselin, C., 2011, `Optimal synthesis of a planar reactionless three-degree-of-freedom parallel mechanism', ASME Journal of Mechanisms and Robotics, Vol. 3, No. 4, paper 041009 (9 pages).

Tale-Masouleh, M., Gosselin, C., Husty, M. and Walter, D.R., 2011, `Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures', Mechanism and Machine Theory, Vol. 46, No. 7, pp. 945{959. 

Unied robot control scheme for cooperative motion, autonomous motion and Contact reaction

Duchaine, V. and Gosselin, C., 2011, `Unied robot control scheme for cooperative motion, autonomous motion and Contact reaction', Journal of Robotics and Mechatronics, Vol. 23, No. 4, August, pp. 557{566.

Noël M, Cantin B, Lambert S, Gosselin CM, Bouyer LJ. An electrohydraulic actuated ankle foot orthosis to generate force fields and to test proprioceptive reflexes during human walking. IEEE Trans Neural Syst Rehabil Eng. 2008 Aug;16(4):390-9.

CIUSSS-CN Université Laval Alliance santé Québec