Pierre Larochelle

About

Pierre Larochelle is a mechanical engineer and robotics researcher whose work spans kinematic mechanism design, computational geometry, and advanced additive manufacturing. He has made foundational contributions to the field of spatial kinematics, most notably developing novel collision detection algorithms for cylindrically shaped rigid bodies using line geometry and dual number algebra — work that has collectively garnered over 80 citations and remains a key reference for motion planning in three-dimensional environments. His research on approximate motion synthesis introduced parametric constraint manifold fitting techniques, offering elegant analytical approaches to designing open and closed kinematic chains for prescribed motions. In more recent years, Larochelle has pioneered multi-plane fused deposition modeling (FDM) using industrial robot arm platforms, exemplified by his MotoMaker system, which enables 3D printing across multiple orientations and lattice structures — a significant departure from conventional single-axis layering. This body of work, accumulating over 90 citations, has demonstrated measurable improvements in tensile strength and geometric complexity for printed parts. His contributions bridge classical mechanism theory and cutting-edge manufacturing technology, making him an influential figure for students and researchers working at the intersection of robotics, kinematics, and next-generation fabrication systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Collision Detection of Cylindrical Rigid Bodies Using Line Geometry

   43 citations · 2005
2. 2
   Collision detection of cylindrical rigid bodies for motion planning

   39 citations · 2006
3. 3
   Robot Arm Platform for Additive Manufacturing Using Multi-Plane Toolpaths

   35 citations · 2016
4. 4
   Multiplane fused deposition modeling: a study of tensile strength

   28 citations · 2019
5. 5
   MotoMaker: a robot FDM platform for multi-plane and 3D lattice structure printing

   27 citations · 2019
6. 6
   Approximate Motion Synthesis of Open and Closed Chains via Parametric Constraint Manifold Fitting: Preliminary Results

   18 citations · 2003
7. 7
   SVD and PD Based Projection Metrics on SE(n)

   15 citations · 2004
8. 8
   Approximate Motion Synthesis Via Parametric Constraint Manifold Fitting

   12 citations · 2000
9. 9
   Design and development of planar reconfigurable motion generators

   10 citations · 2015
10. 10
    An Algorithm for Generating 3D Lattice Structures Suitable for Printing on a Multi-Plane FDM Printing Platform

    8 citations · 2018

Key Collaborators

Contact & Links