Michel Doyon

About

Michel Doyon is a robotics researcher whose work spans robot control systems, space robotics, and advanced manipulation technologies. His most influential contribution lies in impedance control for position-controlled robot manipulators, with his 2002 paper on implementation and performance accumulating 53 citations — a foundational reference for researchers working on compliant robot interaction with environments. Doyon has made significant strides in harmonic drive control, publishing multiple studies between 2004 and 2006 on adaptive algorithms that address the persistent challenges of friction and flexspline dynamics inherent to these compact, high-ratio transmissions. These contributions collectively reflect his dedication to achieving precision control in mechanically complex actuator systems. A substantial portion of his research addresses space robotics verification, particularly Canada's responsibility for validating tasks involving the Special Purpose Dextrous Manipulator (Dextre) aboard the International Space Station. His work on hardware-in-the-loop simulation facilities — spanning emulation, validation, and dynamic testing in one-g environments — provided critical infrastructure for safely certifying space robot operations without access to microgravity conditions. His research on astronaut skill degradation further extends his impact into human factors for space operations, demonstrating a breadth of contribution that bridges control engineering and practical space mission readiness.

Research Focus

Key Achievements

Top Papers

1. 1
   On the implementation and performance of impedance control on position controlled robots

   53 citations · 2002
2. 2
   Adaptive Control of Harmonic Drives Based on Virtual Decomposition

   17 citations · 2006
3. 3
   Emulation of Space Robot Through Hardware-in-the-Loop Simulation

   17 citations · 2001
4. 4
   Adaptive Control of Harmonic Drives

   16 citations · 2006
5. 5
   Adaptive control of harmonic drives

   15 citations · 2004
6. 6
   VALIDATION PROCESS OF THE STVF HARDWARE-IN-THE-LOOP SIMULATION FACILITY

   13 citations · 2005
7. 7
   Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation

   8 citations · 2002
8. 8
   The SPDM Task Verification Facility: On the Dynamic Emulation in One-g Environment using Hardware-in-the-Loop Simulation

   5 citations · 2003
9. 9
   An Experiment on Skill Degradation and Recovery for Safe MSS Operations

   2 citations · 2006
10. 10
    Control System Prototyping of the STVF Manipulator Test-Bed

    2 citations · 1998

Key Collaborators

Contact & Links