Lionel Clavien
Papers
7
Total Citations
83
H-Index
5
About
Lionel Clavien is a leading researcher in mobile robotics, specializing in the kinematics and control of omnidirectional and non-holonomic platforms. His major contributions center on the precise estimation and application of the instantaneous centre of rotation (ICR) for redundantly actuated mobile robots, a concept critical for enabling safe, slip-free motion in complex environments. Clavien’s work on the AZIMUT-3 platform—a steerable-wheeled robot designed for safe human-robot interaction—demonstrates his focus on practical, interaction-aware systems. His most cited paper, “Instantaneous centre of rotation estimation of an omnidirectional mobile robot” (2010, 27 citations), provides foundational methods for coordinating multiple actuators to avoid internal forces and slippage. With over 80 total citations across his top works, Clavien has shaped how researchers approach motion planning for robots with steering constraints, including sidewards off-centred wheels. His research bridges theoretical kinematics with real-world force-controlled motion, making his contributions essential for students and engineers advancing mobile robot autonomy and human-robot collaboration.
Research Focus
Key Achievements
Top Papers
- 1
- 2Motion planning for an omnidirectional robot with steering constraints19 citations · 2010
- 3
- 4
- 5Elastic locomotion of a four steered mobile robot6 citations · 2008
- 6Force-controlled motion of a mobile platform4 citations · 2010
- 7