Papers
18
Total Citations
245
H-Index
9
About
A. Jubien is a robotics researcher whose work has made significant contributions to the dynamic identification and calibration of robotic manipulators, with a particular focus on industrial and lightweight robots. Operating primarily in the early-to-mid 2010s, Jubien developed and refined sophisticated methods for characterizing the dynamic parameters of complex robotic systems, most notably the Kuka LightWeight Robot (LWR), a platform widely adopted in research laboratories yet lacking a publicly available dynamic model. Jubien's comparative studies between identification techniques — including the CLOE and DIDIM methods — have provided the robotics community with valuable benchmarks for choosing appropriate modeling strategies (accumulating over 23 citations). Particularly impactful is the 2014 work on dynamic identification using motor torques and joint torque sensors, which has garnered 59 citations and remains a key reference in model-based robot control. Jubien also advanced joint stiffness identification for flexible manipulators, demonstrating that accurate parameter estimation can be achieved using only motor torque data, eliminating the need for complex sensor configurations. With contributions spanning force calibration, kinematics, and drive gain identification, Jubien's body of work continues to support researchers developing more precise, model-driven control strategies for modern robotic systems.
Research Focus
Key Achievements
Top Papers
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- 6Joint stiffness identification from only motor force/torque data14 citations · 2011
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