Marc Gouttefarde

About

Marc Gouttefarde is a leading robotics researcher whose work has profoundly shaped the field of cable-driven parallel robots (CDPRs). Based at LIRMM in France, his research spans workspace analysis, tension distribution, motion control, and real-world deployment of cable-based robotic systems. His 2010 paper on interval-analysis-based determination of the wrench-feasible workspace — now cited over 240 times — established rigorous mathematical foundations for understanding where CDPRs can reliably operate under external loads. His subsequent work on tension distribution algorithms (177 citations) and geometry selection (120 citations) provided essential design and operational tools for redundantly actuated systems, directly influencing how engineers configure these robots for industrial applications. Gouttefarde has consistently bridged theory and practice. His control contributions range from adaptive and dual-space controllers to model predictive control strategies that elegantly integrate cable tension management within the control loop itself. Notably, he led the development of a CDPR for curtain wall module installation (79 citations), demonstrating that these systems can rival conventional construction methods in precision and efficiency. His investigations into cable mass effects for large-workspace robots further reflect his attention to real-world physical nuances often overlooked in theoretical models. Collectively, his body of work — accumulating nearly 1,200 citations across key contributions — has cemented CDPRs as a viable and sophisticated class of robotic manipulators.

Research Focus

Key Achievements

Top Papers

1. 1
   Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots

   240 citations · 2010
2. 2
   A Versatile Tension Distribution Algorithm for <inline-formula> <tex-math>$n$</tex-math> </inline-formula> -DOF Parallel Robots Driven by <inline-formula> <tex-math>$n+2$</tex-math> </inline-formula> Cables

   177 citations · 2015
3. 3
   Discrete reconfiguration planning for Cable-Driven Parallel Robots

   153 citations · 2016
4. 4
   Geometry Selection of a Redundantly Actuated Cable-Suspended Parallel Robot

   120 citations · 2015
5. 5
   Control of a large redundantly actuated cable-suspended parallel robot

   108 citations · 2013
6. 6
   Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

   81 citations · 2018
7. 7
   Cable-driven parallel robot for curtain wall module installation

   79 citations · 2022
8. 8
   Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

   78 citations · 2009
9. 9
   A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

   77 citations · 2022
10. 10
    Dual-space adaptive control of redundantly actuated cable-driven parallel robots

    69 citations · 2013

Key Collaborators

Contact & Links