Papers
7
Total Citations
37
H-Index
3
About
Pierre Jarrault is a leading researcher in mobile robotics, specializing in the design and control of hybrid wheel-legged robots for rough-terrain navigation. His core research focuses on optimizing obstacle clearance and contact stability for articulated rovers, with a particular emphasis on ensuring robust locomotion in unpredictable environments. Jarrault’s major contributions include developing a minimax force distribution method and a friction-aware stability criterion, which allow robots to dynamically self-reconfigure to cross large obstacles while maintaining static equilibrium. His most cited work, "Robust obstacle crossing of a wheel-legged mobile robot using minimax force distribution and self-reconfiguration" (2011), has garnered 17 citations and established a foundational approach for balancing traction and load distribution across wheel-ground contacts. Through experimental evaluations on the HYLOS platform, he demonstrated how kinematic reconfigurability can overcome obstacles that would otherwise be impassable. His 2009 paper on analyzing and optimizing obstacle clearance for articulated rovers (4 citations) further advanced the field by coupling force distribution with global equilibrium constraints. Jarrault’s research is essential reading for engineers and roboticists developing high-mobility robots for search-and-rescue, planetary exploration, and agricultural applications.
Research Focus
Key Achievements
Top Papers
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- 3Analysis and optimization of obstacle clearance of articulated rovers4 citations · 2009
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