Robotics Laboratory

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Phone
(514) 340-4711 ext. 2234

Email
lionel.birglen@polymtl.ca

Office
C-543, Pavillon Principal

Publications

IMPORTANT
this list is not maintained anymore since beginning 2016, an up-to-date version can be found at http://www.polymtl.ca/recherche/rc/en/professeurs/details.php?NoProf=341&showtab=PUB

Livre

  1. Mécatronique, by Lionel Birglen, Dunod, 2016.
     
  2. Underactuated Robotic Hands, by Lionel Birglen, Thierry Laliberté, ang Clément Gosselin, Springer Special Tracts in Advanced Robotics, April 2008.
    Errata
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PATENTs

  1. Self-Adaptive Mechanical Finger and Method, by Lionel Birglen, US patent 8,720,964 B2, filed 2009, granted 2014.

Preprints of the following papers can be found linked at the end of selected citations and are available to the general public to ensure the scholarly and timely dissemination of science. Note that the final versions of the published papers may slightly differ. Please reference the final printed versions only.

Referred Journal Papers

  1. Analysis and Optimization of a New Differentially Driven Cable Parallel Robot, by Hamed Khakpour, Lionel Birglen, and Souheil Tahan, ASME Journal of Mechanisms and Robotics, 2015, vol 7, no 3, doi:10.1115/1.4028931. (.pdf)
  2. Uniform scanning path generation for abrasive waterjet polishing of free-form surfaces modeled by triangulated meshes, by Hamed Khakpour, Lionel Birglen, and Souheil Tahan, The International Journal of Advanced Manufacturing Technology, 2015, vol 77, no 5-8, pp 1167-1176, doi:10.1007/s00170-014-6504-1 (.pdf)
  3. Design of Advanced Automatic Inspection System for Aircraft Parts Based on Fluorescent Penetrant Inspection Analysis, by Jiannan Zheng, Wen-Fang Xie, Martin. Viens, Lionel Birglen, Iraj Mantegh, Insight, vol. 57, no. 1, pp 18-34, 2015, doi: 10.1784/insi.2014.57.1.18 (.pdf)
  4. Analysis and Optimization of One-Degree of Freedom Robotic Legs, by Lionel Birglen and Carlos Ruella, ASME Journal of Mechanisms and Robotics, 2014, vol. 6, no. 4, doi:10.1115/1.4027234. (.pdf)
  5. Synthesis of Differentially-Driven Cable Parallel Manipulators, by Hamed Khakpour, Lionel Birglen and Antoine Tahan, IEEE Transactions On Robotics, vol. 30, no. 3, pp. 619-630, June 2014, doi: 10.1109/TRO.2013.2295891 (.pdf)
  6. Coverage path planning for eddy current inspection on complex aeronautical parts, by Pierre Olivieri, Lionel Birglen, Xavier Maldague, Iraj Mantegh, Robotics and Computer-Integrated Manufacturing, Volume 30, Issue 3, June 2014, pp 305-314. (.pdf)
  7. A compliant self-adaptive gripper with proprioceptive haptic feedback, by Bruno Belzile and Lionel Birglen, Autonomous Robots, pp. 1-13, August 2013. (.pdf)
  8. Assisted Design of linkage-Driven Adaptive Soft Fingers, by Louis-Alain Larouche and Lionel Birglen, Industrial Robot, Volume 40, No. 4, pp. 337-346, 2013. (.pdf)
  9. Numerical Analysis of the Grasp Configuration of a Planar 3-DOF linkage-Driven Underactuated Finger, by Hamed Khakpour and Lionel Birglen, ASME Journal of Computational and Nonlinear Dynamics, 2012, vol 8, no 2, doi:10.1115/1.4007359. (.pdf)
  10. The Kinematic Preshaping of Triggered Self-adaptive linkage-driven Robotic Fingers, by Lionel Birglen, Mechanical Sciences, No. 2, pp. 41-49, 2011, doi:10.5194/ms-2-41-2011. (link)
  11. From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms, by Lionel Birglen, Mechanical Sciences, No. 1, pp. 5-12, 2010, doi:10.5194/ms-1-5-2010. (link)
  12. A New Approach to the Dynamic Parameter Identication of Robotic Manipulators, by Zhongkai Qin, Luc Baron, and Lionel Birglen, Robotica, pp. 539-547, Vol. 28, No. 4, July 2010. (.pdf)
  13. Simulation of Robotic Friction Stir Welding of Aerospace Components, by Antoine Bres, Bruno Monsarrat, Laurent Dubourg, Lionel Birglen, Claude Perron, Mohamad Jahazi, and Luc Baron, International Journal of Industrial Robots, pp. 36-50, Vol. 37, No. 1, January 2010. (.pdf)
  14. Design of an Underactuated Compliant Gripper for Surgery using Nitinol, by Mario Doria and Lionel Birglen, ASME Journal of Medical Devices, Vol. 3, no. 1, March 2009. (.pdf)
  15. Robust Design of Inertial Measurement Units Based on Accelerometers, by Zhongkai Qin, Luc Baron, and Lionel Birglen, ASME Journal of Dynamics, Measurement and Control, Vol. 131, No. 2, March 2009. (.pdf)
  16. Type Synthesis of linkage-Driven Self-Adaptive Fingers, by Lionel Birglen, ASME Journal of Mechanisms and Robotics, Vol. 1, no. 2, May 2009. (.pdf)
  17. Force Analysis of Connected Differential Mechanisms: Application to Grasping, by Lionel Birglen and Clément Gosselin, International Journal of Robotics Research, pp. 1033-1046, vol. 25, no. 10, October 2006. (.pdf)
  18. Grasp-State Plane Analysis of Two-Phalanx Underactuated Fingers, by Lionel Birglen and Clément Gosselin, International Journal of Mechanism and Machine Theory, pp. 807-822, Vol. 41, no. 7, July 2006. (.pdf)
  19. Geometric Design of Three-Phalanx Underactuated Finger, by Lionel Birglen and Clément Gosselin, ASME Journal of Mechanical Design, pp. 356-364, Vol. 128, No. 2, March 2006. (.pdf)
  20. Kinetostatic Analysis of Underactuated Fingers, by Lionel Birglen and Clément Gosselin, IEEE Transactions on Robotics and Automation, pp. 211-221, Vol. 20, No. 2, april 2004. (.pdf)
  21. Underactuation in Robotic Grasping Hands, by Thierry Laliberté, Lionel Birglen, and Clément Gosselin, Japanese Journal of Machine Intelligence and Robotic Control, Special Issue on Underactuated Robots, pp. 77-87, Vol. 4, No. 3, September 2002. (.pdf)
  22. SHaDe, A New 3-DOF Haptic Device, by Lionel Birglen, Clément Gosselin, Nicolas Pouliot, Bruno Monsarrat, and Thierry Laliberté, IEEE Transactions on Robotics and Automation, pp. 166-175, Vol. 18, No. 2, April 2002. (.pdf)

Referred International ConfErences

  1. Enhancing Versatility and Safety of Industrial Grippers with Adaptive Robotic Fingers, by Lionel Birglen, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, October 2015
  2. Instantaneous-Stiffness Plane Analysis of Underactuated Fingers, by Bruno Belzile, and Lionel Birglen, ASME 2015 International Design Engineering Technical Conferences, Boston, MA, USA, August 2015. (.pdf)
  3. Analysis and Design of a Remote Center Compliance Universal Joint, by Pierre-Olivier Dubois, and Lionel Birglen, ASME 2015 International Design Engineering Technical Conferences, Boston, MA, USA, August 2015. (.pdf)
  4. Underactuated Finger Closing Motion Control Using Dual Drive Actuation, by Jean-Michel Boucher, and Lionel Birglen, ASME 2015 International Design Engineering Technical Conferences, Boston, MA, USA, August 2015. (.pdf)
  5. Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism, by Dmitri Fedorov, and Lionel Birglen, ASME 2015 International Design Engineering Technical Conferences, Boston, MA, USA, August 2015. (.pdf)
  6. Topology optimization of a flap track support for additive manufacturing, by Jean-Philippe Carmona, Lionel Birglen, Julink Chaussée, Jack Dervault, Martin Deshaies, Etienne Boileau, Sylvain Turenne, Canadian Aeronautics and Space Institute AERO Conference, Montreal, Canada, May 2015.
  7. Optimization of a Robotic Fabric Cutting Process for Carbon Fiber Reinforced Plastic (CFRP) Manufacturing, by Pierre-Olivier Dubois, Jonathan Levesque, and Lionel Birglen, Canadian Aeronautics and Space Institute AERO Conference, Montreal, Canada, May 2015.
  8. Introduction of a Robotic System for Aerospace Manufacturing: the Case for Non-Destructive Inspection and Beyond, by Lionel Birglen, Benoit Leblanc, Xavier Maldague, Iraj Mantegh, Sylvain Roberge, Martin Viens, Wen-Fang Xie, Canadian Aeronautics and Space Institute AERO Conference, Montreal, Canada, May 2015.
  9. Workspace augmentation of spatial 3-DOF cable parallel robots using differential actuation, by Hamed Khakpour and Lionel Birglen, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 3880-3885, 14-18 Sept. 2014, doi: 10.1109/IROS.2014.6943107. (.pdf)
  10. Experimental Study on Abrasive Waterjet Polishing of Hydraulic Turbine Blades by Hamed Khakpour, Lionel Birglen, Antoine Tahan, and Francois Paquet, IOP Conf. Ser.: Earth and Environmental Science, vol 22, 2014, doi:10.1088/1755-1315/22/5/052016 (.pdf)
  11. Stiffness Analysis of Double Tendon Underactuated Fingers, by Bruno Belzile, and Lionel Birglen, IEEE International Conference on Robotics and Automation, Hong-Kong, China, May 2014. (.pdf)
  12. Intelligent Eddy Current Crack Detection System Design Based on Neuro-Fuzzy Logic, by Baoguang Xu, Wen-Fang Xie, Martine Viens, Essan Mohseni E, Lionel Birglen, and Iraj Mantegh, International Workshop on Smart Materials and Structures, Calgary, AB, Canada, October 2013. (.pdf)
  13. Traversability analysis of a novel one-DOF robotic leg, by Lionel Birglen and Carlos Ruella, ASME International Design Engineering Technical Conferences, Portland, OR, USA, August 2013. (.pdf)
  14. Path Planning for Eddy Current Inspection Around Probable Defects, by Pierre Olivieri and Lionel Birglen, paper #217, CASI AERO'13, May 1st 2013. (.pdf)
  15. Design of Advanced Automatic Inspection System for Turbine Blade FPI Analysis, by Jiannan Zheng, Wen-Fang Xie, Martin. Viens, Lionel Birglen, Iraj Mantegh, 39th Annual Review of Progress in Quantitative Nondestructive Evaluation, Baltimore, Maryland, July 2012. (.pdf)
  16. Design and first experiments with a new underactuated Finger, by Louis-Alain Larouche, and Lionel Birglen, ASME/IFToMM International Workshop on Underactuated Grasping, Montreal, QC, Canada, August 2010. (.pdf)
  17. Flapping Wings to Underactuated Fingers and Beyond: a Broad Look to Self-Adaptive Mechanisms, by Lionel Birglen, ASME/IFToMM International Workshop on Underactuated Grasping, Montreal, QC, Canada, August 2010. (.pdf)
  18. The Kinematic Preshaping of Triggered Self-Adaptive linkage-Driven Robotic Fingers, by Lionel Birglen, ASME/IFToMM International Workshop on Underactuated Grasping, Montreal, QC, Canada, August 2010. (.pdf)
  19. Self-Adaptive Compliant Grippers Capable of Pinch Preshaping, by Lionel Birglen and Francois Herbecq, ASME International Design Engineering Technical Conferences, San-Diego, CA, USA, September 2009. (.pdf)
  20. Joint Friction Identification for Robots Using TSK Fuzzy System Based on Subtractive Clustering, by Zhongkai Qin, Qun Ren, Luc Baron, Marek Balazinski and Lionel Birglen, North American Fuzzy Information Processing Society Conference, San Diego, CA, USA, 19-22 May 2008. (.pdf)
  21. Identification of Dynamic Rigid-Body of Robotic Manipulators Using Type-2 Fuzzy logic Filter, by Qun Ren, Zhongkai Qin, Luc Baron, Lionel Birglen and Marek Balazinski, North American Fuzzy Information Processing Society Conference, San Diego, CA, USA, June 2007. (.pdf)
  22. Optimally Unstable Underactuated Gripper: Synthesis and Application, by Lionel Birglen and Clément Gosselin, ASME International Design Engineering Technical Conferences, Philadelphia, PA, USA, September 2006. (.pdf)
  23. An Introduction to the Analysis of linkage-Driven Compliant Underactuated Fingers, by Lionel Birglen, ASME International Design Engineering Technical Conferences, Philadelphia, PA, USA, September 2006. (.pdf)
  24. Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors, by Lionel Birglen and Clément Gosselin, IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2331-2336, April 2005. (.pdf)
  25. Optimal Design of 2-Phalanx Underactuated Fingers, by Lionel Birglen and Clément Gosselin, International Conference on Intelligent Manipulation and Grasping, Genoa, Italy, pp. 110-116, July 2004. (.pdf)
  26. On the Force Capability of Underactuated Fingers, by Lionel Birglen and Clément Gosselin, IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 1139-1145, September 2003. (.pdf)

Misc.

  1. Les pros du proto, Imagine, Vol. 3, n. 3, pp. 22-24, spring 2011.
  2. State-of-the-art in Underactuated Grasping, by L. Birglen, G. A. Kragten, and J. L. Herder, Guest Editorial, Mechanical Sciences, No. 1, pp. 3-3, 2010.
  3. Coup de main, Vecteur, page 3, Vol. 8, No. 3, April 2009.
  4. Design of an Underactuated Compliant Gripper for Surgery using Nitinol, by Mario Doria and Lionel Birglen, CEIMEXCAN 2008, Mexican Consulate of Montreal, Canada, 24-26 October 2008.
  5. Haptic Devices Based on Parallel Mechanisms - State of the Art, by Lionel Birglen, first article in the "applications" section of ParalleMIC, available online. (link)