G. Lebret

The University of Texas at Arlington, Nantes Université, École Centrale de Nantes, Centre National de la Recherche Scientifique

Papers

Total Citations

421

H-Index

About

G. Lebret is a leading figure in robotics, renowned for pioneering work in the dynamics and control of parallel manipulators and mobile robots. His most influential contribution is the foundational 1993 paper "Dynamic analysis and control of a stewart platform manipulator," which has garnered over 330 citations. This work established critical frameworks for understanding the force-to-weight ratio and positioning accuracy of Stewart platforms, bridging the gap between machine-tool stiffness and robotic dexterity. Lebret further advanced this field by analyzing singularities and dynamics in a subsequent highly-cited study. Expanding into mobile robotics, he developed innovative two-level control schemes for nonholonomic robots, enabling precise Cartesian-space navigation through high-level position control and low-level wheel velocity regulation. His research on dynamic identification and computed torque control for constrained mobile robots, alongside nonlinear modeling for underwater ROVs, demonstrates a sustained commitment to real-world robotic performance. Lebret’s work remains essential reading for engineers and researchers working on parallel kinematics, advanced manipulator control, and autonomous mobile systems.