Jean‐Claude Samin

About

Jean-Claude Samin is a pioneering researcher in robotics and multibody dynamics, whose work has profoundly shaped methods for identifying and modeling the dynamic properties of robot manipulators. Based at a leading European research institution, Samin built his reputation through rigorous contributions to robot identification — the science of determining the inertial and dynamic parameters that govern robot behavior. His landmark 1992 paper on barycentric parameter identification from external measurements, garnering 46 citations, established foundational techniques still referenced by roboticists today. Building on this, his work on minimal parametrization (1994) provided systematic rules for reducing robot dynamic models to their essential parameters, streamlining both simulation and control applications. Samin further advanced the field by demonstrating the practical advantages of combining internal and external measurement strategies with periodic excitation, work recognized by industry as a benchmark approach. His interests extended beyond serial manipulators to encompass omnidirectional mobile robotics — notably the ROLLMOBS platform — parallel mechanisms, and cam/follower modeling. He also contributed early computational tools through the ROBOTRAN software environment, enabling automated dynamic analysis. With over 160 cumulative citations, Samin's career reflects a sustained commitment to bridging theoretical rigor with real-world robotic applications.

Research Focus

Key Achievements

Top Papers

1. 1
   Identification of the barycentric parameters of robot manipulators from external measurements

   46 citations · 1992
2. 2
   Experimental Robot Identification: Advantages of Combining Internal and External Measurements and of Using Periodic Excitation

   25 citations · 2001
3. 3
   Minimal Parametrization of Robot Dynamic Models*

   18 citations · 1994
4. 4
   Experimental identification of robot dynamics for control

   18 citations · 2002
5. 5
   Piecewise Overactuation of Parallel Mechanisms Following Singular Trajectories: Modeling, Simulation and Control

   15 citations · 2004
6. 6
   A Multibody Loop Constraints Approach for Modelling Cam/Follower Devices

   13 citations · 2000
7. 7
   ROLLMOBS, a new omnimobile robot

   12 citations · 2002
8. 8
   On the identification of the barycentric parameters of robot manipulators from external measurements

   8 citations · 2002
9. 9
   AUTODYN & ROBOTRAN — Computer Programmes

   7 citations · 1990
10. 10
    Robot mobile à trois degrés de liberté

    6 citations · 1990

Key Collaborators

Contact & Links