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KOESSLER Adrien

Courriel
adrien.koessler@univ-lorraine.fr
robot control
deformable object manipulation
collaborative robots
human-robot interaction

Assistant Professor

Enseignant-chercheur

I am interested in robot control for manipulation tasks and collaborative applications, with a specific focus on:

  • Robotic Deformable Object Manipulation (DOM)
  • Integration of physical models in controllers
  • Adaptive control and parameter estimation

Experiences

  • 2022-... - Assistant Professor at Université de Lorraine, ENIM, LCFC lab (Control team)
  • 2021-2022 - Postdoc fellow at Université de Lorraine, LCFC lab (Interreg Robotix-Academy)
  • 2019-2021 - Postdoc fellow at Université Clermont Auvergne, Institut Pascal, Factolab (Interreg Sudoe Commandia)
  • 2015-2018 - PhD candidate in robotics at Sigma Clermont, Institut Pascal
  • 2015 - Intern in robotics at Universitat Jaume I, RobInLab, Castellòn, Spain (Amazon Picking Competition)

Education

  • 2018 - PhD in robotics and control from Université Clermont Auvergne
  • 2014-2015 - MSc in robotics from Université Clermont Auvergne
  • 2012-2015 - MEng in mechanical engineering from Sigma Clermont
Ghaddar R, Koessler A, Courtecuisse H, Benoussaad M, Raharijaona T. Human Robot Collaborative Manipulation of a Deformable Object. 2024..
https://sagip2024.sciencesconf.org/
Filella N, Koessler A, Bouzgarrou B, Corrales Ramon J. 3D visual-based tension control in strip-like deformable objects using a catenary model. 2022;3210-3217.
Chanal H, Guyon J, Koessler A, Dechambre Q, Boudon B, Blaysat B et al. Geometrical defect identification of a SCARA robot from a vector modeling of kinematic joints invariants. Mechanism and Machine Theory. 2021;162:104339.
Koessler A, Filella N, Lequievre L, Bouzgarrou B, Corrales Ramon J. An efficient approach to closed-loop shape control of deformable objects using finite element models. 2021;1637-1643.
Koessler A, Goldsztejn A, Briot S, Bouton N. Dynamics-based Algorithm for Reliable Assembly Mode Tracking in Parallel Robots. IEEE Transactions on Robotics. 2020;36(3):937-950.
Koessler A, Bouton N, Briot S, Bouzgarrou B, Mezouar Y. Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots. 2018;584:222-229.
Koessler A, Goldsztejn A, Briot S, Bouton N. Certified Detection of Parallel Robot Assembly Mode under Type 2 Singularity Crossing Trajectories. 2017;2017 IEEE International Conference on Robotics and Automation (ICRA)