Swaminath Venkateswaran obtained his Doctorate of Philosophy with honours in Mechanical Engineering from Ecole Centrale de Nantes, France in 2020. His PhD research was focused on the design of an inspection robot for industrial pipelines. During his PhD, he also worked as a lecturer in Mechanical Engineering at Ecole Centrale de Nantes, France. From September 2020 till early 2022, he worked as a Teaching & Research Associate (ATER) and as a research member at Grenoble Institute of Technology (Grenoble-INP), France. His research areas/expertise include Product design & analysis, Kinematics of mechanisms, Control of robots, Cobots for circular economy, Industry 4.0. Currently, Swaminath works as an Associate Professor (Enseignant-Chercheur) at the Leonard da Vinci engineering school (ESILV), Paris. His teaching activities are centred around the domain of Mechatronics and Industrial engineering for the Bachelors's & Master's levels. His research activities are affiliated with the group "Modeling" of the Da Vinci Research Center (DVRC).
swaminath.venkateswaran@devinci.fr
Swaminath Venkateswaran; Damien Charles Chablat
Mapping the Tilt & Torsion angles for a 3-SPS-U parallel mechanism Journal Article
In: Robotics, vol. 12, no. 2, pp. 50, 2023.
@article{venkateswaran_2256,
title = {Mapping the Tilt & Torsion angles for a 3-SPS-U parallel mechanism},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.mdpi.com/2218-6581/12/2/50},
year = {2023},
date = {2023-03-01},
journal = {Robotics},
volume = {12},
number = {2},
pages = {50},
abstract = {This article presents the analysis of a parallel mechanism of type 3-SPS-U. The usual singularity approach is carried out with respect to the Euler angles of the universal joint. However, this approach is computationally expensive especially when stacked structures are analyzed. Thus, the positioning of the mobile platform for the mechanism is analyzed using the theory of Tilt & Torsion (T&T). The singularity-free workspace and the tilt limits of the mechanism are disclosed through this method. These workspaces can then be mapped to the Euler angles of the universal joint and the relation between the T & T space and the Euler space is demonstrated and validated in this study. Initially, simulations are performed using the results of singularity analysis to have a comparison between the T&T space and the Euler space. Experimental validation is then carried out on the prototype of the mechanism to perform a circular trajectory, in line with the simulations. The outcome of this study will be helpful for the integration of the mechanism for a piping inspection robot and also for the analysis of stacked architectures.},
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Swaminath Venkateswaran; Damien Charles Chablat
Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot Journal Article
In: Computer Methods In Biomechanics And Biomedical Engineering, vol. 25, no. 1, pp. 300-302, 2022.
@article{venkateswaran_2384,
title = {Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.tandfonline.com/doi/abs/10.1080/10255842.2022.2116885},
year = {2022},
date = {2022-10-01},
journal = {Computer Methods In Biomechanics And Biomedical Engineering},
volume = {25},
number = {1},
pages = {300-302},
abstract = {Piping inspection robots play an essential role for industries as they can reduce the human effort and pose lesser risker to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preloading along the cables, which ensured the stability of the entire robot. However, under static conditions, there exists some forces on the robot,especially on the tensegrity mechanism when one end of the leg mechanisms is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of stiffness of thespring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},
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Swaminath Venkateswaran; Damien Charles Chablat; Pol Hamon
An optimal design of a flexible piping inspection robot Journal Article
In: Journal Of Mechanisms And Robotics-Transactions Of The Asme, vol. 13, no. 3, pp. 035002, 2021.
@article{venkateswaran_1788,
title = {An optimal design of a flexible piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Pol Hamon},
url = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/13/3/035002/1096922/An-Optimal-Design-of-a-Flexible-Piping-Inspection},
year = {2021},
date = {2021-06-01},
journal = {Journal Of Mechanisms And Robotics-Transactions Of The Asme},
volume = {13},
number = {3},
pages = {035002},
abstract = {This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, the existing motor units prove to be oversized for passing through pipe bends at 90 deg. Thus, three cascading optimization problems are presented in this article to determine the sizing of robot assembly that can overcome such pipe bends. The first problem deals with the identification of design parameters of the tensegrity mechanism based on static stability. Followed by that, in the second problem, the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms. The third problem deals with the determination of the size of the leg mechanism for the results of the two previous optimization problems. A digital model of the optimized robot assembly is then realized using cad software.},
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Damien Charles Chablat; Guillaume Michel; Philippe Bordure; Swaminath Venkateswaran; Ranjhan Jha
In: Mechanism And Machine Theory, vol. 157, no. 3, pp. 104224, 2021.
@article{chablat_1789,
title = {Workspace analysis in the design parameter space of a 2-dof spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery},
author = {Damien Charles Chablat and Guillaume Michel and Philippe Bordure and Swaminath Venkateswaran and Ranjhan Jha},
url = {https://www.sciencedirect.com/science/article/pii/S0094114X20304419},
year = {2021},
date = {2021-03-01},
journal = {Mechanism And Machine Theory},
volume = {157},
number = {3},
pages = {104224},
abstract = {During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.},
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Damien Charles Chablat; Erika Ottaviano; Swaminath Venkateswaran
Self-motion conditions for a 3-PPPS parallel robot with delta-shaped base Journal Article
In: Mechanism And Machine Theory, vol. 135, no. 5, pp. 109-114, 2019.
@article{chablat_1791,
title = {Self-motion conditions for a 3-PPPS parallel robot with delta-shaped base},
author = {Damien Charles Chablat and Erika Ottaviano and Swaminath Venkateswaran},
url = {https://www.sciencedirect.com/science/article/pii/S0094114X18320834},
year = {2019},
date = {2019-05-01},
journal = {Mechanism And Machine Theory},
volume = {135},
number = {5},
pages = {109-114},
abstract = {This paper presents the self-motion conditions of the 3-PPPS parallel robot with an equilateral mobile platform and an equilateral-shaped base. The study of the direct kinematic model shows that this robot admits self-motion of the Cardanic type as the 3-RPR planar parallel robot where the first revolute joint of each leg is actuated or the PamINSA parallel robot. This property explains why the direct kinematic model admits an infinite number of solutions in the center of the workspace but has never been studied until now. The condition of this singularity is described and the location of the self-motion in the workspace with respect to all the singularities is then presented. The quaternion parameters are used to represent the singularity surfaces and the self-motion conditions in the workspace.},
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Swaminath Venkateswaran; Damien Charles Chablat; Frédéric Boyer
Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot Journal Article
In: Robotics, vol. 8, no. 2, pp. 32, 2019.
@article{venkateswaran_1790,
title = {Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Frédéric Boyer},
url = {https://www.mdpi.com/2218-6581/8/2/32},
year = {2019},
date = {2019-04-01},
journal = {Robotics},
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abstract = {Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterpillar type piping inspection robot was developed at Laboratoire des Sciences du Numérique de Nantes (LS2N), France. Using DC motors and leg mechanisms, the robot accomplishes the locomotion of a caterpillar in six-steps. With the help of Coulomb's law of dry friction, a static force model was written and the contact forces between legs of robot and pipeline walls were determined. The actuator forces of the DC motors were then estimated under static phases for horizontal and vertical orientations of the pipeline. Experiments were then conducted on the prototype where the peak results of static force analysis for a given pipe diameter were set as threshold limits to attain static phases inside a test pipeline. The real-time actuator forces were estimated in experiments for similar orientations of the pipeline of static force models and they were found to be higher when compared to the numerical model.},
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Damien Charles Chablat; Swaminath Venkateswaran; Frédéric Boyer
Mechanical Design Optimization of a Piping Inspection Robot Journal Article
In: Procedia CIRP, vol. 70, no. 5, pp. 307-312, 2018.
@article{chablat_1793,
title = {Mechanical Design Optimization of a Piping Inspection Robot},
author = {Damien Charles Chablat and Swaminath Venkateswaran and Frédéric Boyer},
url = {https://www.sciencedirect.com/science/article/pii/S2212827118300799},
year = {2018},
date = {2018-05-01},
journal = {Procedia CIRP},
volume = {70},
number = {5},
pages = {307-312},
abstract = {The piping inspection for security or sealing checking is an important challenge when the internal diameter of the pipe is small with respect to its length. Some mechanisms using closed loops are able to generate contact forces and deployable structures. By using bio-inspired design, we present a mechanism which is able to move inside pipes by mimicking the motion of a caterpillar. The mechanism is composed of three sections, one for the motion and two with legs that are attached with the inner part of the pipe. A compliant mechanism is proposed to add mobility between the three sections of the robot in order to cross the singularity of the pipe. The results coming from a multi-objective optimization process is used to set the geometric and kinematic parameters of the mechanism taking into account the environmental and design constraints. A mechatronic system is proposed that uses industrial components namely DC motors, ball-screws and servo controllers which can be inserted in the pipe. For horizontal and vertical motions, the contact forces and the motor torques are computed to check the feasibility of the clamping. A prototype made at Laboratoire des Sciences du Numérique de Nantes (LS2N) is used to show the behavior of this concept for slow motions.},
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Rebecca ALLPORT; Nicolas Lebon; Swaminath Venkateswaran; Floriane Laverne
Benefits of intraoral cobotic scanning in the dental CAD/CAM chain Conference
2ème Journée de Recherche en Odontologie, Université Paris Cité Montrouge, France, 2024.
@conference{allport_3099,
title = {Benefits of intraoral cobotic scanning in the dental CAD/CAM chain},
author = {Rebecca ALLPORT and Nicolas Lebon and Swaminath Venkateswaran and Floriane Laverne},
url = {https://u-paris.fr/odontologie/journee-de-la-recherche/},
year = {2024},
date = {2024-07-01},
booktitle = {2ème Journée de Recherche en Odontologie},
address = {Montrouge, France},
organization = {Université Paris Cité},
abstract = {Dental CAD/CAM has been modernised in the last years thanks to digital intraoral scanners (IOS) and additive manufacturing machines, which are increasingly used in the dentistery. Stl files obtained with IOS are the first step for the digital manufacture of dental prostheses. Their quality, characterized with precision and accuracy are the key terms to guarantee efficiency in patient care. However, several parameters influence them, such as the environment (temperature, brightness, etc.), the practitioner (level of expertise, fatigue, handling the scanner, etc.), the patient (tongue, head, saliva, complex shapes, etc.) and the scanner (speed, rate, resolution, starting point, trajectory, tip, etc.).
In the medical sector, the use of robotics is getting more common to improve precision in surgery for example. In this project, a cobot i.e. a collaborative robot (UR5e from HMI-MBS), combined with the Care Stream CS3800 IOS, one of the most interesting scanners on the market are used to ensure repeatability of the experiments and to quantify the impact of the environmental factors. Then results are compared in a same protocol with files obtained manually by a practionner.
In the study, we assume that we are working on the restoration of a molar for an adult with standard dentition using a sphere (canonical form) whose material and diameter are similar in size to an adult molar. Given the complex shapes of the tooth and multiple parameters involved, initial assumptions are made. Indeed, we assume we are working in a dentist's surgery environment and using only the wireless side with its standard tip for the scanner.},
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Swaminath Venkateswaran
Un robot bio-inspiré pour l'inspection des canalisations Conference
Biomim'expo 2022, Paris, France, 2022.
@conference{venkateswaran_2279,
title = {Un robot bio-inspiré pour l'inspection des canalisations},
author = {Swaminath Venkateswaran},
url = {https://www.youtube.com/watch?v=vRXUEnpLvsk&t=776s},
year = {2022},
date = {2022-11-01},
booktitle = {Biomim'expo 2022},
address = {Paris, France},
abstract = {Les robots d'inspection de canalisations jouent un rôle important dans des industries telles que le nucléaire, la chimie et les eaux usées. Ils peuvent opérer avec précision dans un environnement irradié ou pollué, réduisant ainsi les risques pour les humains. Ce travail commence par l'étude du cas d'un robot d'inspection bio-inspiré rigide qui a été développé au LS2N, France pour AREVA. Des modèles statiques et dynamiques sont développés pour comprendre les forces de serrage et les couples des actionneurs du robot. Des validations expérimentales sont également effectuées sur le prototype pour interpréter les forces d'actionnement en temps réel. Pour améliorer sa mobilité, l'architecture du robot est rendue flexible par l'ajout d'un mécanisme de tenségrité. Deux types de mécanismes de tenségrité sont proposés et analysés avec des méthodes algébriques pour comprendre leurs limites d'inclinaison et pour connaître l'influence des paramètres de conception. Des expériences sont réalisées sur l'un des prototypes des mécanismes de tenségrité développés au LS2N avec deux types de trajectoire en positions horizontale et verticale. Ensuite, une optimisation est réalisée pour identifier les moteurs qui peuvent permettre du robot d'inspection de canalisation flexible de passer les coudes et les jonctions pour une plage donnée de diamètres de tuyaux. Une maquette numérique du robot flexible est réalisée dans un logiciel de CAO.},
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Swaminath Venkateswaran; Damien Charles Chablat; Ramakrishnan Ramachandran
Prototyping a piping inspection robot using a beaglebone black board Conference
24ème congrès français de mécanique, Brest, France, 2019.
@conference{venkateswaran_2694,
title = {Prototyping a piping inspection robot using a beaglebone black board},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Ramakrishnan Ramachandran},
url = {https://hal.science/hal-02190720/},
year = {2019},
date = {2019-08-01},
booktitle = {24ème congrès français de mécanique},
address = {Brest, France},
abstract = {Dans le cadre d'un projet avec AREVA, un robot d'inspection de canalisation de 50 à 94 mm de diamètre
a été développé. En utilisant des pattes, des moteurs à courant continu, des vis-écrous et des cartes
électroniques, le robot imite la locomotion d'une chenille. Deux algorithmes peuvent être utilisés pour
le contrôle de ce robot: le contrôle en position ou le contrôle en effort. Le premier est utilisé pour
l'estimation de la position d'un robot lorsque l'environnement est connu mais nécessite des codeurs
pour identifier la position des pattes. Dans le cas du contrôle en effort, l'algorithme permet au robot
de se déplacer dans un environnement inconnu. En utilisant une carte électronique BeagleBone (BB)
black, un algorithme de contrôle en effort est développé pour ce robot d'inspection. Comme le robot
travaille à l'intérieur de tuyaux de diamètres inconnus, les sorties PWM de la BB black sont utilisées
pour générer la tension nécessaire qui permettant le clampage du robot. En fixant ces seuils, la tension
et le courant dans les moteurs peuvent être évalués pour détecter la fin des mouvements de clampage ou
de repliement. Avec l'aide des ADC, la tension de sortie est affichée à l'utilisateur sur un ordinateur.
Pour le bon fonctionnement du robot, les paramètres du moteur tels que la vitesse maximale, le sens
de rotation et le courant nominal sont étalonnés au début des expériences. La tension de sortie et les
courants consommés sont générés et tracés pour un cycle de locomotion du robot dans un tuyau droit
de 74 mm de diamètre},
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Swaminath Venkateswaran; Damien Charles Chablat
Design of a flexible bio-inspired robot for inspection of pipelines Book Section
In: Andreas Mueller Shivesh Kumar, Frank Kirchner (Ed.): Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control, vol. 1st edition, pp. 20, Elsevier Science, 2024, United Kingdom, 2024, ISBN: 0323884822.
@incollection{venkateswaran_3058,
title = {Design of a flexible bio-inspired robot for inspection of pipelines},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
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url = {https://shop.elsevier.com/books/biologically-inspired-series-parallel-hybrid-robots/kumar/978-0-323-88482-2},
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address = {United Kingdom},
abstract = {This article presents the design of a flexible piping inspection robot for the inspection of industrial pipelines. By imitating the locomotion of a caterpillar, a rigid bio-inspired piping inspection robot was initially developed. For working through pipe bends and junctions, a tensegrity mechanism is introduced into this robot to have a flexible design. An experimental test bench is then developed to understand the working limits of the tensegrity mechanism. In order to work inside a certain diameter range of pipelines, an optimization approach is then followed to determine the size of motors and leg mechanisms for the robot assembly. The static modeling of the robot assembly is then proposed for horizontal orientation where the assembly resembles a series-parallel hybrid manipulator.},
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Damien Charles Chablat; Guillaume Michel; Philippe Bordure; Ranjan Jha; Swaminath Venkateswaran
Joint Space and Workspace Analysis of a 2-DOF Spherical Parallel Mechanism Book Section
In: Doina Pisla, Burkhard Corves; Vaida, Calin (Ed.): New Trends in Mechanism and Machine Science, vol. 89, pp. 181-188, Springer, Cham, Mechanisms & Machine Science, 2020, ISBN: 978-3-030-55061-5.
@incollection{chablat_2695,
title = {Joint Space and Workspace Analysis of a 2-DOF Spherical Parallel Mechanism},
author = {Damien Charles Chablat and Guillaume Michel and Philippe Bordure and Ranjan Jha and Swaminath Venkateswaran},
editor = {Doina Pisla, Burkhard Corves & Calin Vaida},
url = {https://link.springer.com/chapter/10.1007/978-3-030-55061-5_21},
issn = {978-3-030-55061-5},
year = {2020},
date = {2020-08-01},
booktitle = {New Trends in Mechanism and Machine Science},
volume = {89},
pages = {181-188},
publisher = {Springer, Cham},
address = {Mechanisms & Machine Science},
abstract = {This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace.},
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Swaminath Venkateswaran; Damien Charles Chablat
Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms Book Section
In: Lenar?i?, Jadran; Siciliano, Bruno (Ed.): Advances in Robot Kinematics 2020, vol. 15, pp. 226-233, Springer, Cham, Springer Nature Switzerland AG, 2020, ISBN: 978-3-030-50975-0.
@incollection{venkateswaran_2697,
title = {Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
editor = {Jadran Lenar?i? & Bruno Siciliano},
url = {https://link.springer.com/chapter/10.1007/978-3-030-50975-0_28},
issn = {978-3-030-50975-0},
year = {2020},
date = {2020-07-01},
booktitle = {Advances in Robot Kinematics 2020},
volume = {15},
pages = {226-233},
publisher = {Springer, Cham},
address = {Springer Nature Switzerland AG},
abstract = {This article analyzes the singularities and workspace of two tensegrity mechanisms that employ a passive universal joint and either three or four tension springs. These two architectures are correlated to 3-SPS-U and 4-SPS-U parallel mechanisms for determining their geometric equations. By fixing the limits of prismatic joints, the workspace for the mechanisms is generated and the parallel singularities are analyzed. Based on the singularity boundaries obtained from the workspace, the joint limits are modified to generate the maximal singularity free workspaces for both the architectures. A comparison is done based on the tilt limits obtained from the workspace of the mechanisms. The mechanism with the maximum tilt limits is implemented for a piping inspection robot to pass through pipe bends and junctions.},
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Swaminath Venkateswaran; Damien Charles Chablat
A new inspection robot for pipelines with bends and junctions Book Section
In: Uhl, Tadeusz (Ed.): Advances in Mechanism and Machine Science. IFToMM WC 2019, vol. 73, pp. 33-42, Springer, Cham, Mechanisms and Machine Science, 2019, ISBN: 978-3-030-20131-9.
@incollection{venkateswaran_2692,
title = {A new inspection robot for pipelines with bends and junctions},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
editor = {Tadeusz Uhl},
url = {https://link.springer.com/chapter/10.1007/978-3-030-20131-9_4},
issn = {978-3-030-20131-9},
year = {2019},
date = {2019-06-01},
booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2019},
volume = {73},
pages = {33-42},
publisher = {Springer, Cham},
address = {Mechanisms and Machine Science},
abstract = {The application of robots for the inspection of pipelines are of greater significance in industries such as nuclear, chemical and sewage. The major problem in the design of these robots lies in the selection of a suitable locomotion principle, selection of an articulation unit that facilitates the robot to pass through pipe bends and management of cables. In this context, the design of a new bio-inspired piping inspection robot that resembles an elephant trunk has been presented. With the help of leg mechanisms and actuators, a caterpillar locomotion is used within this trunk for establishing adaptive contact points with the walls of pipeline. For the passage through bends and junctions, several case studies of existing researches have been taken into account for the design of an articulation unit. Two solutions, (i) a passive tensegrity structure and (ii) an active tensegrity structure have been proposed for the robot to pass through pipe bends and junctions. A detailed design analysis of the passive solution that uses a universal joint has been presented in this article.},
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Damien Charles Chablat; Swaminath Venkateswaran
Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base Book Section
In: Burkhard Corves, Philippe Wenger; Hüsing, Mathias (Ed.): European Conference on Mechanism Science EuCoMeS 2018, vol. 59, pp. 317-324, Springer, Mechanisms and Machine Science, 2018, ISBN: 978-3-319-98020-1.
@incollection{chablat_2691,
title = {Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base},
author = {Damien Charles Chablat and Swaminath Venkateswaran},
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url = {https://link.springer.com/chapter/10.1007/978-3-319-98020-1_37},
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booktitle = {European Conference on Mechanism Science EuCoMeS 2018},
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abstract = {This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel singularities depend only on the orientation of the end-effector. The quaternion parameters are used to represent the singularity surfaces. The study of the direct kinematic model shows that this robot admits a self-motion of the Cardanic type. This explains why the direct kinematic model admits an infinite number of solutions in the center of the workspace at the ?home? position but has never been studied until now.},
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Damien Charles Chablat; Swaminath Venkateswaran; Frédéric Boyer
Dynamic Model of a Bio-Inspired Robot for Piping Inspection Book Section
In: Arakelian, Vigen; Wenger, Philippe (Ed.): ROMANSY 22 - Robot Design, Dynamics and Control, vol. 584, pp. 42-51, Springer, CISM International Centre for Mechanical Sciences, 2018, ISBN: 978-3-319-78963-7.
@incollection{chablat_2690,
title = {Dynamic Model of a Bio-Inspired Robot for Piping Inspection},
author = {Damien Charles Chablat and Swaminath Venkateswaran and Frédéric Boyer},
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url = {https://link.springer.com/chapter/10.1007/978-3-319-78963-7_7#citeas},
issn = {978-3-319-78963-7},
year = {2018},
date = {2018-05-01},
booktitle = {ROMANSY 22 - Robot Design, Dynamics and Control},
volume = {584},
pages = {42-51},
publisher = {Springer},
address = {CISM International Centre for Mechanical Sciences},
abstract = {Piping inspection robots are of great importance in industries such as nuclear, sewage and chemical where the internal diameters of the pipeline are significantly smaller. Mechanisms having closed loops can be used in such areas as they generate contact forces and deployable structures. With the help of a bio-inspired mechanism, a piping inspection robot is presented which mimics the motion of a caterpillar. The robot is composed of three modules: a central module for elongation and two other modules on the front and rear for clamping. A slot-slider mechanism is chosen for the legs of the robot. Using industrial components such as DC motors, servo-controllers, ball screws and fasteners, the entire robotic system was realized in CATIA software and a prototype was made at the Laboratoire des Sciences du Numérique de Nantes (LS2N). In this article, we present the forces induced on the motors under locomotion using a dynamic analysis. With the help of the recursive Newton-Euler algorithm, the torques generated on the motor under locomotion have been identified which ensures the stability of the system while moving inside pipes},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
Swaminath Venkateswaran; Jinan Charafeddine
A Human-Robot Interaction Platform for Operator Well-Being: A Case-Study Proceedings Article
In: ASME International Mechanical Engineering Congress and Exposition, American Society of Mechanical Engineers, Portland, Oregon, United States, 2025, ISBN: 978-0-7918-8859-9.
@inproceedings{venkateswaran_3329,
title = {A Human-Robot Interaction Platform for Operator Well-Being: A Case-Study},
author = {Swaminath Venkateswaran and Jinan Charafeddine},
url = {http://dx.doi.org/10.1115/IMECE2024-147259},
issn = {978-0-7918-8859-9},
year = {2025},
date = {2025-01-01},
booktitle = {ASME International Mechanical Engineering Congress and Exposition},
publisher = {American Society of Mechanical Engineers},
address = {Portland, Oregon, United States},
abstract = {This article presents a Human-Robot Interaction (HRI) platform for the assembly process of a condensate pump. An ergonomic analysis using the Rapid Upper Limb Assessment (RULA) is carried out using a simulation package to identify the fatigue levels in the upper-arm region during the assembly process of the pump. From the operator feedback and the RULA score, an HRI platform using a collaborative robot (cobot) is proposed for the assembly process. Based on complexity and dexterity, the screwdriving operation was assigned to the cobot. The RULA analysis was revisited for this platform and it showed an improvement in the ergonomic scores from 7 to 3. The magnitude of fatigue imposed on the upper-arm was then analyzed experimentally using Electromyography (EMG) sensors. By using the Support Vector Machine (SVM) technique, the fatigue levels were interpreted before and after the implementation of the HRI platform. The results suggest that the HRI platform helps to mitigate musculoskeletal problems in the future, thereby promoting a healthier and safer worker environment. By exploiting the capabilities of a cobot, a synergy between humans and automation technologies can be achieved, leading to a sustainable and ergonomic future in manufacturing.},
note = {PDF cannot be uploaded due to copyrights
November 17-21, 2024
IMECE 2024},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Jinan Charafeddine; Taha Houda; Swaminath Venkateswaran; Yasin Dhaher
Neuro-Motor Index for Upper Limb Exoskeleton Control: A Machine Learning Approach Proceedings Article
In: 2024 International Conference on Computer and Applications (ICCA), IEEE, Cairo, Egypte, 2024, ISBN: 979-8-3503-6757-7.
@inproceedings{charafeddine_3617,
title = {Neuro-Motor Index for Upper Limb Exoskeleton Control: A Machine Learning Approach},
author = {Jinan Charafeddine and Taha Houda and Swaminath Venkateswaran and Yasin Dhaher},
url = {http://dx.doi.org/10.1109/ICCA62237.2024.10928075},
issn = {979-8-3503-6757-7},
year = {2024},
date = {2024-12-01},
booktitle = {2024 International Conference on Computer and Applications (ICCA)},
publisher = {IEEE},
address = {Cairo, Egypte},
abstract = {This paper presents a hybrid machine learning model for controlling an upper limb exoskeleton to help children with cerebral palsy. The model integrates Support Vector Regression (SVR) and Long Short-Term Memory (LSTM) networks to predict joint angles based on electromyography (EMG) signals. An important innovation is the introduction of the Neuro-Motor Index (NMI), which combines the Co-Contraction Index (CCI) and kinematic joint data to improve the accuracy of movement prediction. The model was evaluated using cross-validation and showed significant improvements in mean absolute error (MAE), root mean square error (RMSE) and coefficient of determination R2 compared to single models. These results emphasize the potential of the model for improving exoskeleton-assisted rehabilitation. Future work will focus on clinical validation and real-time optimization.},
note = {17-19, December 2024.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Amar Makhloufi; Yanis Diallo; Bérénice Thomine; Louis Plantey; Athana Kumarakulasingam
A human-robot interaction platform in the context of remanufacturing: A case-study Proceedings Article
In: Springer Proceedings in Business and Economics, Porto, Portugal, 2024, ISBN: To be communicated after congress.
@inproceedings{venkateswaran_2961,
title = {A human-robot interaction platform in the context of remanufacturing: A case-study},
author = {Swaminath Venkateswaran and Amar Makhloufi and Yanis Diallo and Bérénice Thomine and Louis Plantey and Athana Kumarakulasingam},
url = {To be communicated after congress},
issn = {To be communicated after congress},
year = {2024},
date = {2024-07-01},
booktitle = {Springer Proceedings in Business and Economics},
address = {Porto, Portugal},
abstract = {One of the steps involved in remanufacturing is disassembly. This article presents a human-robot interaction (HRI) platform using a collaborative robot (cobot) for the disassembly of a condensate pump post-usage. The disassembly sequence for the pump is outlined and the tasks that could be automated are identified. A HRI platform using a UR5e universal robot is proposed as a solution to carry out the disassembly sequence. Based on the cobot architecture, the unscrewing operation is automated using the cobot and the rest of the tasks are carried out by the operator. This approach not only introduces an initial disassembly sequence of the pump using a cobot but also contributes to the automation of strenuous tasks.},
note = {08-11/07/2024},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Damien Charles Chablat; Denis Creusot
Design and analysis of a series-parallel hybrid 3-SPS-U mechanism Proceedings Article
In: Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, United States, 2023.
@inproceedings{venkateswaran_2304,
title = {Design and analysis of a series-parallel hybrid 3-SPS-U mechanism},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Denis Creusot},
url = {https://event.asme.org/IDETC-CIE},
year = {2023},
date = {2023-08-01},
booktitle = {Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
address = {Boston, United States},
abstract = {This article presents the design and analysis of a series-parallel hybrid tensegrity mechanism. The mechanism has two stages which consist of a fixed base, an intermediate mobile platform, and a mobile end-effector. Each stage is connected by three tension springs and a universal joint in the center. By correlating to a 3-SPS-U architecture, the geometrical equations for the mechanism are generated in the Euler space and the Tilt & Torsion space. To simplify the computations, the Tilt & Torsion space is employed for the analysis of the mechanism. A stability analysis is carried out initially to identify the design parameters of the mechanism in the static mode through an optimization approach. By employing algebraic methods, the singularity analysis is then carried out on the hybrid mechanism. The results of this analysis helped in identifying the feasible workspace and the maximum tilt limits of the architecture. A mapping equation that demonstrates the relation between the Tilt & Torsion angles and the Euler angles is then presented using the results of singularity analysis. A numerical simulation is then demonstrated to validate the results of the analysis. The mechanism under study is then proposed to be integrated into a piping inspection robot for passing through elbows and T-sections.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Perla Nohra; Helmi Ben Rejeb; Swaminath Venkateswaran
Impact of automation during innovative remanufacturing processes in circular economy Proceedings Article
In: 2022 IEEE 28th International Conference on Engineering, Technology and Innovation (ICE/ITMC) & 31st International Association For Management of Technology (IAMOT) Joint Conference, IEEE, Nancy, France, 2023, ISBN: 978-1-6654-8817-4.
@inproceedings{nohra_1814,
title = {Impact of automation during innovative remanufacturing processes in circular economy},
author = {Perla Nohra and Helmi Ben Rejeb and Swaminath Venkateswaran},
url = {https://ieeexplore.ieee.org/document/10033231},
issn = {978-1-6654-8817-4},
year = {2023},
date = {2023-02-01},
booktitle = {2022 IEEE 28th International Conference on Engineering, Technology and Innovation (ICE/ITMC) & 31st International Association For Management of Technology (IAMOT) Joint Conference},
publisher = {IEEE},
address = {Nancy, France},
abstract = {With the increasing demand of raw materials nowadays, and the decrease in supplies, the industrial sector is suffering, while the environment and the society are also indirectly affected. The goal to reach a sustainable development imposes several studies on the economic, environmental and community level. The aim of this paper is to provide an overview of the existing literature on automating remanufacturing, and its impacts on the three pillars of sustainability. The outcomes of this study will reveal the impacts of remanufacturing on sustainability and will conceptualize the impact of using automation and cobots, which are among the key concepts in industry 4.0. The investigation that covers each part of the remanufacturing process will help in formalizing an approach about the automation of such processes and improve the remanufacturing sector towards a more sustainable industry.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Damien Charles Chablat
Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot Proceedings Article
In: 47th Congress of the society of Biomechanics, Monastir, Tunisia, Monastir, Tunisia, 2022, ISBN: 1025-5842.
@inproceedings{venkateswaran_1843,
title = {Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.tandfonline.com/doi/epdf/10.1080/10255842.2022.2116885?needAccess=true&role=button},
issn = {1025-5842},
year = {2022},
date = {2022-10-01},
booktitle = {47th Congress of the society of Biomechanics, Monastir, Tunisia},
address = {Monastir, Tunisia},
abstract = {Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to
accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preload of the cables, which ensured the stability of the entire robot. However, under static conditions, there exist some forces on the robot,
especially on the tensegrity mechanism when one end of the leg mechanism is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of the stiffness of
the spring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Damien Charles Chablat
Trajectory Planning for a 3-SPS-U Tensegrity Mechanism Proceedings Article
In: ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Virtual, Online, 2021, ISBN: 978-0-7918-8545-1.
@inproceedings{venkateswaran_2698,
title = {Trajectory Planning for a 3-SPS-U Tensegrity Mechanism},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2021/V08BT08A004/1128230},
issn = {978-0-7918-8545-1},
year = {2021},
date = {2021-11-01},
booktitle = {ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
address = {Virtual, Online},
abstract = {This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Damien Charles Chablat; Pol Hamon
Design of a Piping Inspection Robot by Optimization Approach Proceedings Article
In: ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Virtual, Online, 2020, ISBN: 978-0-7918-8399-0.
@inproceedings{venkateswaran_2696,
title = {Design of a Piping Inspection Robot by Optimization Approach},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Pol Hamon},
url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2020/V010T10A018/1090128},
issn = {978-0-7918-8399-0},
year = {2020},
date = {2020-10-01},
booktitle = {ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
address = {Virtual, Online},
abstract = {This article presents an optimization approach for the design of an inspection robot that can move inside variable diameter pipelines having bends and junctions. The inspection robot uses a mechanical design that mimics the locomotion of a caterpillar. The existing prototype developed at LS2N, France is a rigid model that makes it feasible for working only inside straight pipelines. By the addition of a tensegrity mechanism between motor units, the robot is made reconfigurable. However, the motor units used in the prototype are oversized to pass through pipe bends or junctions. An optimization approach is employed to determine the dimensions of motors and their associated leg mechanisms that can overcome such bends. Two optimization problems are defined and solved in this article. The first problem deals with the determination of motor sizing without leg mechanisms. The second problem deals with the determination of sizing of the leg mechanism with respect to the dimensions of motor units obtained from the first problem. A 3D model of the optimized robot design is then realized using CAD software.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran; Damien Charles Chablat; Philippe Wenger
Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot Proceedings Article
In: ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, ASME, Anaheim, California, 2019, ISBN: 978-0-7918-5923-0.
@inproceedings{venkateswaran_2693,
title = {Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Philippe Wenger},
url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2019/V05AT07A026/1070020},
issn = {978-0-7918-5923-0},
year = {2019},
date = {2019-11-01},
booktitle = {ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
volume = {Volume 5A: 43rd Mechanisms and Robotics },
publisher = {ASME},
address = {Anaheim, California},
abstract = {Piping inspection robots are of greater interests in industries such as nuclear, chemical and sewage. The design of such robots is highly challenging owing to factors such as locomotion inside pipes with varying diameters, cable management, and complex pipe bends (or) junctions. A rigid bio-inspired caterpillar type piping inspection robot was developed at LS2N, France. By introducing tensegrity mechanisms and four-bar wheel mechanisms, the design of this robot is modified into a reconfigurable system. The tensegrity mechanism employs a passive universal joint with three tension springs and three cables for actuation. The positioning of the end effector with respect to the base of the mechanism plays an important role in determining the maximum tilt angle (or) bending limit of the system. By workspace analysis of three case studies, the best solution is chosen which generates the maximum tilt. A static force analysis is then performed on the mechanism to determine its stability under the influences of preload. By the modification of design parameters, stable configurations are determined followed by which cable actuation of mechanism is analyzed for estimating applied forces.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran
Vers une adoption massive des robots dans les PME/TPE? Miscellaneous
Be a boss, 2025.
@misc{venkateswaran_3595,
title = {Vers une adoption massive des robots dans les PME/TPE?},
author = {Swaminath Venkateswaran},
url = {https://www.beaboss.fr/Thematique/digital-innovation-1074/intelligence-artificielle-2023/Breves/adoption-massive-robots-pmetpe-467822.htm},
year = {2025},
date = {2025-02-01},
howpublished = {Be a boss},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Swaminath Venkateswaran
Les solutions de simulation: des machines interactives performantes Miscellaneous
Planète Robots, 2024.
@misc{venkateswaran_3121,
title = {Les solutions de simulation: des machines interactives performantes},
author = {Swaminath Venkateswaran},
url = {https://www.planeterobots.com/2024/07/11/sport-et-tech-planete-robots/},
year = {2024},
date = {2024-07-01},
pages = {59},
howpublished = {Planète Robots},
note = {Il s'agit d'une version livre, la version numérique n'existe pas},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Swaminath Venkateswaran
La robotique: Quel coût environnemental? Miscellaneous
What's up doc?, 2023.
@misc{venkateswaran_3123,
title = {La robotique: Quel coût environnemental?},
author = {Swaminath Venkateswaran},
url = {https://www.calameo.com/whatsupdoc-lemag/read/00584615460c70cc91cc6},
year = {2023},
date = {2023-12-01},
pages = {30-31},
howpublished = {What's up doc?},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Swaminath Venkateswaran
Conception d'un robot bio-inspiré pour l'inspection des canalisations PhD Thesis
Ecole Centrale de Nantes, 2020.
@phdthesis{venkateswaran_1794,
title = {Conception d'un robot bio-inspiré pour l'inspection des canalisations},
author = {Swaminath Venkateswaran},
url = {https://tel.archives-ouvertes.fr/tel-03164212/},
year = {2020},
date = {2020-11-01},
address = {1 rue de la noë, 44300 Nantes},
school = {Ecole Centrale de Nantes},
note = {PDF accessible in TEL/HAL website},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
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