J.-Y. Fourquet

About

J.-Y. Fourquet is a robotics researcher whose career has been defined by foundational contributions to the modeling, control, and motion planning of wheeled mobile manipulators (WMMs) and nonholonomic robotic systems. His most influential work centers on extending classical robotic concepts — particularly manipulability — to the complex hybrid systems that arise when robotic arms are mounted on nonholonomic mobile platforms. His 2003 paper on manipulability of wheeled mobile manipulators (147 citations) and its 2002 precursor (86 citations) established systematic frameworks that remain reference points in the field, revealing how nonholonomic constraints fundamentally alter a system's dexterity and reachable workspace. Fourquet further contributed a unified modeling framework for reactive control of WMMs (2007, 62 citations), providing tools applicable across a broad class of real-world systems. His work on time-optimal motion control — for both mobile robots and manipulators — demonstrates a sustained interest in bridging kinematics and dynamics for practical trajectory generation. An earlier contribution on computing reachable positions for car-like vehicles (1994) reflects his long-standing engagement with nonholonomic motion planning. Collectively, his research has meaningfully shaped how engineers and researchers approach the design and control of complex mobile robotic systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

   147 citations · 2003
2. 2
   Manipulability analysis for mobile manipulators

   86 citations · 2002
3. 3
   Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches

   62 citations · 2007
4. 4
   Minimum time motion of a mobile robot with two independent, acceleration-driven wheels

   54 citations · 2002
5. 5
   Nonholonomic Mobile Manipulators: Kinematics, Velocities and Redundancies

   52 citations · 2003
6. 6
   Set of reachable positions for a car

   35 citations · 1994
7. 7
   Kinematic modelling of wheeled mobile manipulators

   14 citations · 2004
8. 8
   Time-optimal motions of robot manipulators including dynamics

   13 citations · 1992
9. 9
   Time-optimal motions for a torque controlled wheeled mobile robot along specified paths

   10 citations · 2002
10. 10
    On Coordinated Tasks for Nonholonomic Mobile Manipulators

    9 citations · 1997

Key Collaborators

Contact & Links