Pierre-Philippe Robet

Centre National de la Recherche Scientifique

Papers

Total Citations

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About

Pierre-Philippe Robet is a robotics researcher whose work centers on the control of robotic systems, with a particular emphasis on force control, impedance control, and bilateral teleoperation. His major contributions lie in the development of cascaded loop control architectures that address the practical challenges of real-world robotic applications. Notably, his most-cited paper, "Impedance Control Using a Cascaded Loop Force Control" (2018, 10 citations), introduces a classical frequency-based tuning method for force controllers that explicitly accounts for the flexibility of the force sensor connecting the end effector to the tool—a critical consideration for precise and safe physical interaction. Robet further extends this approach to bilateral teleoperation in his 2019 work, proposing a four-channel control scheme that enables efficient and stable operation across different modes. His earlier research also explored nonlinear feedback control and the simulation of voltage and current limitations in robot arms, demonstrating a sustained interest in bridging theoretical control design with hardware constraints. While his citation counts are modest, Robet’s work offers a practical, frequency-domain perspective on force and position control that is valuable for engineers developing robust, sensor-rich robotic systems.