P. Dauchez

About

P. Dauchez is a distinguished robotics researcher whose work spans parallel robot design, multi-arm cooperation, force control, and mobile manipulation. His most influential contribution — a symmetric hybrid position/force control scheme for dual-robot coordination (2003, 313 citations) — fundamentally reframed how two robotic arms can jointly manipulate objects, moving beyond traditional master/slave paradigms toward truly symmetric cooperation. This work laid important theoretical groundwork for collaborative robotics and has become a cornerstone reference in the field. Dauchez also made early and lasting contributions to parallel robot architecture, co-authoring seminal papers on the HEXA and DELTA robots (1991, 85 and 60 citations respectively), high-speed, fully parallel structures that influenced decades of subsequent research in fast robotic systems. His interest in robustness led to innovative fuzzy sliding mode controllers capable of handling unknown payloads and Coulomb friction in parallel robots. Beyond manipulation, his earlier work on mobile robot navigation and path planning (1988) demonstrated a broad research vision. Across underwater hydraulic manipulators, flexible object handling, and virtual environment-based force control, Dauchez consistently addressed real-world robustness challenges, making his portfolio both theoretically rigorous and practically impactful.

Research Focus

Key Achievements

Top Papers

1. 1
   A symmetric hybrid position/force control scheme for the coordination of two robots

   313 citations · 2003
2. 2
   HEXA: a fast six-DOF fully-parallel robot

   85 citations · 1991
3. 3
   Fast parallel robots

   60 citations · 1991
4. 4
   Fuzzy sliding mode control of a fast parallel robot

   47 citations · 2002
5. 5
   A global approach for motion generation of non-holonomic mobile manipulators

   30 citations · 2002
6. 6
   Task modeling and force control for a two-arm robot

   25 citations · 2002
7. 7
   World representation and path planning for a mobile robot

   23 citations · 1988
8. 8
   A comparison between robust and adaptive hybrid position/force control schemes for hydraulic underwater manipulators

   20 citations · 1997
9. 9
   True cooperation of robots in multi-arms tasks

   14 citations · 2005
10. 10
    Robust force control strategy based on the virtual environment concept

    11 citations · 2007

Key Collaborators

Contact & Links