Pierre Besset

Laboratoire d’Informatique et Systèmes, ParisTech, Lancaster University

Papers

Total Citations

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About

Pierre Besset is a robotics researcher whose work focuses on trajectory generation, calibration, and control of robotic manipulators, with applications ranging from collaborative robots to nuclear decommissioning. His most significant contribution lies in developing computationally efficient methods for generating smooth, jerk-constrained trajectories using Finite Impulse Response (FIR) filters. His 2017 paper on "FIR filter-based online jerk-constrained trajectory generation" (40 citations) presents a novel approach that transforms low-cost acceleration-limited profiles into jerk-limited ones, enabling safer and more precise robot motion. Besset has also advanced robot calibration techniques, as shown in his 2016 work on geometric calibration and joint compliance compensation for collaborative robots (18 citations), which improves accuracy by accounting for both geometric parameters and applied torques. His research extends to inverse kinematics for redundant manipulators used in nuclear decommissioning (8 citations), where he developed a generic framework for dual-manipulator mobile robotic systems. With a focus on practical, real-time solutions, Besset’s work bridges the gap between theoretical control methods and industrial applications, making him a notable contributor to the field of robot motion planning and calibration.