Papers
3
Total Citations
20
H-Index
2
About
Imane Khayour is a robotics researcher whose work pushes the boundaries of cable-driven parallel robots (CDPRs) by tackling a fundamental challenge: vibrations in flexible systems. Her research centers on active damping, disturbance rejection, and hybrid actuation strategies for these lightweight, large-workspace robots. Khayour’s major contribution is pioneering the use of unconventional, unidirectional force generators—specifically cold-gas thrusters and air propellers—to actively suppress oscillations in elastic CDPRs. In her most-cited work (12 citations), she experimentally validated the feasibility of custom-built supersonic air thrusters for active damping on a planar robot, operating at industry-standard pressures. Her follow-up study (7 citations) advanced this concept by combining high-bandwidth propellers with slower cable winches for redundant actuation, significantly improving both trajectory tracking and disturbance rejection. Khayour also explored model predictive control allocation for on-off thrusters, demonstrating optimal vibration control. Her work is notable for bridging theoretical control frameworks with practical, hardware-validated solutions, offering a path toward more precise and dynamic cable-driven systems for applications ranging from industrial manipulation to large-scale automation.
Research Focus
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Top Papers
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