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Xavier Garant - IEEE Xplore Author Profile
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Xavier Garant

Publications
3
Citations
13
Publications by Year
20212024
Co-Authors:
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Xavier Garant

Affiliation

Department of Mechanical Engineering
Université Laval
Québec, QC, Canada

Publication Topics

Biography

Xavier Garant received the B.Eng. and M.Sc. degrees in mechanical engineering in 2017 and 2019, respectively, from Université Laval, Québec, QC, Canada, where he is currently working toward the Ph.D. degree in mechanical engineering with the Laboratoire de robotique, Department of Mechanical Engineering.,His research revolves around robotics and dynamics, with a special interest in the modeling, design and control of complex robotic systems.(Based on document published on 2 November 2020).
Publications
3
Citations
13
Publications by Year
20212024
Co-Authors:
Author's Published Works

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Whole-Body Intuitive Physical Human-Robot Interaction With Flexible Robots Using Non-Collocated Proprioceptive Sensing

Xavier Garant;Clément Gosselin

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 3 | Journal Article |
This letter presents a method enabling intuitive physical human-robot interaction (pHRI) with flexible robots using an end-point sensing device. The device is a passive serial chain of encoders and lightweight links, mounted in parallel with the manipulator. By measuring the deflection of the end-effector relative to the base, the whole body of the manipulator becomes a potential interaction inter...Show More

Whole-Body Intuitive Physical Human-Robot Interaction With Flexible Robots Using Non-Collocated Proprioceptive Sensing

Xavier Garant;Clément Gosselin

Year: 2024 | Volume: 9, Issue: 3 | Journal Article |

Noncollocated Proprioceptive Sensing for Lightweight Flexible Robotic Manipulators

Xavier Garant;Clément Gosselin

IEEE/ASME Transactions on Mechatronics
Year: 2023 | Volume: 28, Issue: 6 | Journal Article |
Cited by: Papers (1)
This article presents the design of a noncollocated feedback system for flexible serial manipulators. The device is a passive serial chain of encoders and lightweight links, mounted in parallel with the manipulator. This measuring arm effectively decouples the manipulator's proprioception from its actuators by providing information on the actual end effector pose, accounting for both joint and lin...Show More

Noncollocated Proprioceptive Sensing for Lightweight Flexible Robotic Manipulators

Xavier Garant;Clément Gosselin

Year: 2023 | Volume: 28, Issue: 6 | Journal Article |

Design and Experimental Validation of Reorientation Manoeuvres for a Free Falling Robot Inspired From the Cat Righting Reflex

Xavier Garant;Clément Gosselin

IEEE Transactions on Robotics
Year: 2021 | Volume: 37, Issue: 2 | Journal Article |
Cited by: Papers (12)
This article presents two distinct manoeuvres allowing an articulated robot in free fall to change its orientation using closed paths in the joint space. It is shown through dynamics simulations that the magnitude of the net rotation is dependent upon the amplitude of the angular displacement of the joints. With realistic joint limitations, the robot, which includes rotary actuators only, can perf...Show More

Design and Experimental Validation of Reorientation Manoeuvres for a Free Falling Robot Inspired From the Cat Righting Reflex

Xavier Garant;Clément Gosselin

Year: 2021 | Volume: 37, Issue: 2 | Journal Article |

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