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A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Posts
Future Blog Post
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Blog Post number 4
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Blog Post number 3
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Blog Post number 2
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Blog Post number 1
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portfolio
Mechanical Design & Digital Engineering
Mechanical modelling and simulation with modern 3D engineering tools.
Mechatronics & Experimental Engineering
Mechatronics experimentation and end-to-end experimental workflows for robotic systems.
Perception & Learning (Future Integration)
Training in image processing and reinforcement learning for future integration into robotics.
publications
Detection and Management of Human-Cable Collision in Cable-Driven Parallel Robots
Published in IEEE Robotics and Automation Letters, 2024
This work is the first to propose and experimentally validate a human-cable collision management strategy based on cable sagging in Cable-Driven Parallel Robots. In addition, it formally states the problem of collision cable identification and introduces a mathematical solution to address it.
Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2024). "Detection and Management of Human-Cable Collision in Cable-Driven Parallel Robots." IEEE Robotics and Automation Letters. Vol. 9, No. 12, pp. 11698-11705. doi: 10.1109/LRA.2024.3487051.
Download Paper | Download Slides | Experiment Video
Enhancing Safety in Collaborative Cable-Driven Parallel Robots: Contact Distinction and Management for Carrying Tasks
Published in IEEE Transactions on Automation Science and Engineering, 2025
This paper proposes a cable tension–based metric for detecting contact events in Cable-Driven Parallel Robots (CDPRs), distinguishing different contact scenarios, and implementing tailored management strategies to enhance safety during carrying tasks.
Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2025). "Enhancing Safety in Collaborative Cable-Driven Parallel Robots: Contact Distinction and Management for Carrying Tasks." IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 22, pp. 18860-18874, 2025.
Download Paper | Experiment Video
Advancements in Human-Cable Collision Detection and Management in Cable-Driven Parallel Robots
Published in The Seventh International Conference on Cable-Driven Parallel Robots (CableCon 2025), Hong Kong, China, 2025
This paper presents an advanced method for detecting human-cable collisions in Cable-Driven Parallel Robots within 100 ms and reducing the collided cable tension within 1 s to ensure safety. The system also restores the tension 1 s after the collision ends, enabling responsive and safe human-robot interaction.
Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2025). "Advancements in Human-Cable Collision Detection and Management in Cable-Driven Parallel Robots." The Seventh International Conference on Cable-Driven Parallel Robots (CableCon 2025), Jul 2025, Hong Kong, China. ⟨hal-04912207v1⟩.
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A Comprehensive Framework for Safety and Collaborative Management of Physical Human–Robot Interaction in Cable-Driven Parallel Robots
Under Review
This manuscript proposes a unified, feasibility-aware framework for safe and effective physical human–robot interaction (pHRI) in cable-driven parallel robots (CDPRs). The approach jointly manages human–cable and human–moving-platform (MP) contacts by combining collided-cable stiffness reduction with MP-level elasto-plastic trajectory compliance, while a feasibility-aware safety manager monitors wrench-feasible conditions and prevents workspace failure under sensing and estimation uncertainties. Experiments on a large-scale CDPR demonstrate safe contact handling, continued task execution after collisions, and favourable collaborative behaviour, with an analysis of the associated energy implications.
Input-to-State Robustness Control for Human–Cable Interaction in Cable-Driven Parallel Robots
Under Review
This paper develops a collision-aware control strategy for cable-driven parallel robots (CDPRs) during human–cable interaction. We propose a rapidly exponentially input-to-state stable Control Lyapunov Function (RES–ISS–CLF) controller and augment it with a QP-based tension distribution layer that enforces unilateral cable constraints while applying a smooth, time-varying upper-bound reduction on the contacted cable. The method is evaluated in a cable-wrapping simulator with an arm-like obstacle and shows stable tracking and improved post-contact behaviour compared with PID and CLF–QP baselines.
Recommended citation: R. Keskin, H. Gao, C. Chevallereau, and S. Caro. “Input-to-State Robustness Control for Human–Cable Interaction in Cable-Driven Parallel Robots.” Submitted to the European Control Conference (ECC), 2026.
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talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Computer Aided Design (CATIA V5)
Graduate course, École Centrale de Nantes, 2025
I taught this undergraduate engineering module in French through lectures and hands-on tutorials using CATIA V5. The course covered fundamental CAD methods for mechanical design, including modelling, detailing, assemblies, and introductory simulation concepts.
Conception de mécanique (CAO/CAD) — 3DEXPERIENCE
Undergraduate course (L1), Nantes Université — IUT de Nantes (GMP), 2025
I delivered this L1 undergraduate engineering module in French as part of my ATER appointment at Nantes Université (IUT de Nantes, GMP). The course introduced computer-aided mechanical design (CAO/CAD) using 3DEXPERIENCE and established core skills in parametric modelling and engineering assemblies.
Chaîne numérique — 3DEXPERIENCE Digital Engineering Workflow
Graduate course (M1/M2), Nantes Université — IUT de Nantes (GMP), 2025
I delivered this graduate-level module in French for M1/M2 engineering students. The course focused on end-to-end digital engineering workflows in 3DEXPERIENCE, from modelling to simulation and validation, with applications to robotics and equipment design.