PHILIP LONG

Journal Papers

• Constrained Manipulability for Humanoid Robots Using Velocity Polytopes, International Journal of Humanoid Robotics, 17(1), pp.1950037-1. P. Long, and T. Padir, (Feb 1, 2020). pdf_link


• Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots, ASME. Journal of Mechanisms and Robotics. T. Rasheed , P. Long, and S.Caro, (November 6, 2019). doi:https://doi.org/10.1115/1.4045423


• An industrial security system for human-robot coexistence, Industrial Robot: An International Journal ( Emerald Literati award 2019 'Highly Commended Paper'), P. Long, C. Chevallereau, D. Chablat and A. Girin,10.1108/IR-09-2017-0165 pdf_link


• Dynamic modeling of parallel robots with flexible platforms, Mechanism and Machine Theory 81, 21-35, P. Long, W. Khalil, and P. Martinet pdf_link


• Kinematic and dynamic analysis of lower-mobility cooperative arms, Robotica 33 (09), 1813-1834, P. Long, W. Khalil and S. Caro pdf_link

Conference Papers (Peer reviewed)

• Tuning-Free Contact-Implicit Trajectory Optimization , Proceedings of the 2019 IEEE-RAS International Conference on Robotics and Automation (ICRA), Jun , 2019 - Aug , 2020, A. Onol, R Corcodel, P. Long, and T. Padir
  pdf_link (Acceptance rate 44%)


• Path Planning of a Mobile Cable-Driven Parallel Robot in a Constrained Environment , International Conference on Cable-Driven Parallel Robots (CABLECON 2019), T. Rasheed, P. Long, D. Marquez-Gamez and S. Caro
  


• Optimization-Based Human-in-the-Loop Manipulation Using Joint Space Polytopes , Proceedings of the 2019 IEEE-RAS International Conference on Robotics and Automation (ICRA), May 20, 2019 - May 24, 2019, P. Long, T. Kelestemur, A. Onol, and T. Padir
  pdf_link (Acceptance rate 44%)


• Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification , Proceedings of the 2019 IEEE-RAS International Conference on Robotics and Automation (ICRA), May 20, 2019 - May 24, 2019, A. Onol, P. Long, and T. Padir
  pdf_link (Acceptance rate 44%)


• Evaluating Robot Manipulability in Constrained Environments by Velocity Polytope Reduction , Proceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots ( Outstanding Paper award), November 6, 2018 - November 9, 2018, P. Long, and T. Padir
  pdf_link


• A Risk Informed Task Planning Framework for Humanoid Robots in Hazardous Environments , Proceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots , November 6, 2018 - November 9, P. Long, M. Wonsick and T. Padir
  pdf_link


• A Comparative Analysis of Contact Models in Trajectory Optimization for Manipulation , Proceedings of the 2018 IEEE-RAS International Conference on Intelligent Robots and Systems (IROS), October 1, 2018 - October 5, 2018, A. Onol, P. Long, and T. Padir
  pdf_link (Acceptance rate 46%)


• Available Wrench Set for Planar Mobile Cable-Driven Parallel Robots , Proceedings of the 2018 IEEE-RAS International Conference on Robotics and Automation (ICRA), May 21, 2018 - May 25, 2018, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
  pdf_link (Acceptance rate 40%)


• Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots., Proceedings of the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2018), August 2018, Montreal,, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
  pdf_link


• Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots, Proceedings of the 16th International Symposium on Advances in Robot Kinematics (ARK), July 1, 2018 - July 5, 2018, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
  pdf_link


• Multi-Robot Scheduling and Path-Planning for Non-Overlapping Operator Attention, Proceedings of the 2018 IEEE-RAS 2nd International Conference on Robotic Computing (IRC), Jan 31, 2018 - Feb 2, 2018, S. Zanlongo, F. Abodo, P. Long, T. Padir and L. Bobadilla
  


• Integrating Risk in Humanoid Robot Control for Applications in the Nuclear Industry , Proceedings of the 2018 Waste Management Symposium (WM2018), Mar 19, 2018 - Mar 23, 2018, P. Long, X. long, A.Onol and T. Padir
  


• Using Contact to Increase Robot Performance for Glovebox D&D Tasks, Proceedings of the 2018 Waste Management Symposium ( WM2018 Superior Paper award), Mar 19, 2018 - Mar 23, 2018, A. Onol, P. Long, and T. Padir
  


• Compositional Autonomy for Humanoid Robots with Risk-Aware Decision-Making, Proceedings of the 2017 IEEE-RAS 17th International Conference on Humanoid Robots (Humanoids), Nov 15, 2017 - Nov 17, 2017, X. Long, P. Long, and T. Padir
  pdf_link (Acceptance rate 54%)


• Tension Distribution Algorithm for Planar Mobile Cable-Driven Parallel Robots, Proceedings of the Third International Conference on Cable-Driven Parallel Robots, Aug 2, 2017 - Aug 4, 2017, T. Rasheed, P. Long, D. Marquez-Gamez, and S. Caro
  Book Chapter


• Dynamic modeling of cooperative robots holding flexible objects, Proceedings of the 2015 International Conference on Advanced Robotics (ICAR) , P. Long, W. Khalil, and P. Martinet
  pdf_link (Acceptance rate 59%)


• Robotic cutting of soft materials using force control & image moments, Proceedings of the 2014 13th International Control Automation Robotics & Vision (ICARCV), P. Long, W. Khalil, and P. Martinet pdf_link


• Force/vision control for robotic cutting of soft materials, Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), P. Long, W. Khalil, and P. Martinet pdf_link (Acceptance rate 46%)


• Modeling & control of a meat-cutting robotic cell, Proceedings of the 2013 16th International Conference on Advanced Robotics (ICAR) ( Finalist best paper ), P. Long, W. Khalil, and P. Martinet pdf_link


• Control of a Lower Mobility Dual Arm System, 2012 10th IFAC Symposium on Robot Control (SYROCO), P. Long, W. Khalil, and S. Caro,


• Kinematic analysis of lower mobility cooperative arms by screw theory, Proceedings of the 2012 9th International Conference on Informatics in Control Automation and Robotics (ICINCO), P. Long, S Caro, and W. Khalil pdf_link

Workshop Papers (Peer reviewed)

• A Comparative and Experimental Analysis of Contact-Implicit Trajectory Optimization for Pushing Manipulation, Towards Robots that Exhibit Manipulation Intelligence, 1 – 5 October 2018, A. Önol, P. Long, and T. Padırbr>


• An Experimental Validation of Contact-Implicit Trajectory Optimization for Pushing Manipulation, Workshop on Experimental Robotic Grasping and Manipulation -- Benchmarks, Datasets, and Competitions , 1 – 5 October 2018, A. Önol, T. Keleştemur, P. Long, and T. Padır
  


• Robotic Meat Cutting, ICT-PAMM Workshop, Kumamoto, Japan, November 9-10th, 2013, P. Long, A. Moughlbay, W. Khalil, and P. Martinet
  


• Robotic Deformable Object Cutting: From Simulation to Experimental Validation, European Workshop on Deformable Object Manipulation (EWDOM) Lyon, France, March 20th, 2014, P. Long, W. Khalil, and P. Martinet
  


• Control of Redundancy in complex systems : from theoretical concepts to applications, International Workshop on Wireless Communications and User centered Services in Pervasive Environments Hanoi, Vietnam, 19-20 September, 2013, A. Moughlbay, P. Long, and P. Martinet
  

Book Chapters

• "FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics." In Advances in Robotics Research: From Lab to Market, pp. 141-163. Springer, Cham, 2020., Pedemonte, N., Rasheed, T., Marquez-Gamez, D., Long, P., Hocquard, É., Babin, F., Fouché, C., Caverot, G., Girin, A. and Caro, S.

Thesis

• Contributions to the Modeling and Control of Cooperative Manipulators, PhD. Thesis, IRCCyN, Ecole Centrale de Nantes, 2014 pdf_link

Patents

• Apparatus for supporting a disk drive, disk drive test apparatus and method of testing a disk drive, US Patent 8,860,408, AS. Kay, P. Long
  
  
• Method and device for controlling a robot during co-activity [Patent Pending 2016], PCT/EP2016/079055, A. Girin, C. Chevellereau, P. Long
  


• Method and device detection of an intrusion in the environment of a robot [Patent Pending 2015], FR3060182A1, D. Marquez-Gamez, P.Long


• Reconfigurable Cable Driven Parallel Robot and methods to executre this reconfiguration [Patent Pending FR 3024956 (A1), EP 2982483 (A2) 2017], P. Long, S. Caro, D. Marquez-Gamez, L. Gagliardini, M. Gouttefarde, A. Girin
  

Invited Talks

• "Just like robotics you have a great future", École centrale de Nantes, January 2016
  
  
• "International Student recruitment seminar", Study abroad, March 2016
  
  
• Techday - "Collaborative Robots", SYMOP (French association for manufacturing technologies), September 2016
  
  
• "Quand mon collégue sera un robot (When my colleague is a robot)", Interview, Le Croix - Economie et entreprises , October 2016
  
  
• "Modeling of closed chain systems and sensor based control of robot manipulators", Robotics Seminar- Northeastern University, April 2017
  
  
• "Robot Control for Industrial Applications & Beyond....", UMASS, Boston, September 2017
  
  
• "Increasing the range of robot applications", UNH, Durham, September 2018