Philippe Lemoine

About

Philippe Lemoine is a leading researcher in robotics, specializing in dynamic modeling, identification, and control of robotic manipulators and parallel kinematic machines. His major contributions include developing methods to identify payload inertial parameters for industrial manipulators—a critical advancement for improving dynamic accuracy in robotic systems—and pioneering vision-based computed torque control for parallel kinematic machines, demonstrated on the Orthoglide robot. Lemoine’s work on cable-driven parallel robots (CDPRs) has advanced vibration reduction and feed-forward control using input-shaping filters, enhancing precision in complex robotic systems. His research is highly cited, with his 2007 paper on payload identification garnering 114 citations, and his open-source software package OpenSYMORO (45 citations) enabling symbolic robot modeling for the broader research community. Lemoine has also contributed to bio-inspired robotics, such as the eel-like robot project, and trajectory planning for the Orthoglide 5-axis. His achievements reflect a sustained impact on both theoretical and applied robotics, making his work essential for students and researchers in dynamic modeling, control, and parallel robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Identification of the payload inertial parameters of industrial manipulators

   114 citations · 2007
2. 2
   OpenSYMORO: An open-source software package for symbolic modelling of robots

   45 citations · 2014
3. 3
   Identification of the dynamic parameters of the Orthoglide

   42 citations · 2004
4. 4
   A vision-based computed torque control for parallel kinematic machines

   25 citations · 2008
5. 5
   Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

   24 citations · 2019
6. 6
   Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

   16 citations · 2020
7. 7
   The Eel-Like Robot

   13 citations · 2009
8. 8
   Generation of Point to Point Trajectories for Robotic Manipulators Under Electro-Mechanical Constraints

   11 citations · 2007
9. 9
   Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

   10 citations · 2015
10. 10
    Obstacle Avoidance in Panorama Esprit II Project

    10 citations · 1993

Key Collaborators

Contact & Links