Girard, Alexandre

Professeur, Faculté de génie
FAC. GÉNIE Mécanique

Coordonnées

Courriel


819-821-8000, poste 62146

Diplômes

(2017) Fast and Strong Lightweight Robots based on Variable Gear Ratio Actuators and Control Algorithms Leveraging the Natural Dynamics. Doctorate (Doctor of Philosophy). Massachusetts Institute of Technology.

(2013) Contrôle par vecteurs d’influence pour les robots à actionneurs cellulaires binaires. Master's Thesis (Master of Applied Science). Université de Sherbrooke.

(2010) Bachelor's (Bachelor's Degree). Université de Sherbrooke.

Titres de compétence

(2019) Ingénieur. Ordre des Ingénieurs du Québec.

Expérience académique

(2017) Professeur Adjoint / Assistant Professor. Université de Sherbrooke.

(2017) Teaching Assistant. Massachusetts Institute of Technology.

(2013) Lecturer / Chargé de cours. Université de Sherbrooke.

Présentation

Sujets de recherche

Robotics and Automation.

Disciplines de recherche

Aeronautical Engineering, Electrical Engineering and Electronic Engineering, Mechanical Engineering.

Mots-clés

Robotics, Control engineering, Dynamics, Machine learning.

Intérêts de recherche

I am aiming at universalizing the usage of robots in fields that will benefit society by making them agile, smart and versatile. I am especially interested in the art of controlling how things move, from mechanical design up to control laws and algorithms: robots, mechanisms, actuators, sensors, vehicles, etc.

Langues parlées et écrites

Anglais, Français

Prix et distinctions

  • (2015) Alexander Graham Bell Canada Graduate Scholarship (CGS D). Natural Sciences and Engineering Research Council of Canada (NSERC). (Prize / Award).
  • (2011) Alexander Graham Bell Canada Graduate Scholarship (CGS M). Natural Sciences and Engineering Research Council of Canada (NSERC). (Prize / Award).
  • 2nd Place at the de Florez Design Competition. Massachusetts Institute of Technology. (Prize / Award).
  • Admission fellowship (declined). Harvard University. (Prize / Award).
  • Graduate scholarship (2nd cycle). Fonds de recherche du Québec - Nature et technologies (FRQNT). (Prize / Award).
  • Graduate scholarship (3rd cycle). Fonds de recherche du Québec - Nature et technologies (FRQNT). (Prize / Award).
  • Leonardo da Vinci Medal. Université de Sherbrooke. (Distinction).
  • Mechanical Engineering Exploration Fellowship. Massachusetts Institute of Technology. (Prize / Award).

Financement

Grant. (Awarded). Principal Investigator. Lifting robot assistants and smart-room infrastructure for collaborative patient handling and rehabilitation. Arjo Canada. Alliance. 230378 $ (2021-2026).

Grant. (Under Review). Co-investigator. Smart, Connected and Perceptive (SCoPe) Off-Road Vehicles. PROMPT-Québec. Leddartech. Alliance. 1132986 $ (2021-2025).

Grant. (Awarded). Co-investigator. High Performance and Autonomous UAV for Interactions with Energized High Voltage Transmission Lines. Natural Sciences and Engineering Research Council of Canada (NSERC). Drone Volt Canada. Alliance. 117300 $ (2020-2023).

Grant. (Awarded). Principal Investigator. Agile and dexterous motion control robotic laboratory. Canada Foundation for Innovation (CFI). John R. Evans Leaders Fund. 162970 $ (2018-2023).

Grant. (Awarded). Principal Investigator. Physics-based learning for smarter motion controllers. Natural Sciences and Engineering Research Council of Canada (NSERC). Discovery Grant. 135000 $ (2018-2023).

Grant. (Awarded). Co-investigator. Conception et réalisation d'un robot désherbeur pour agriculture maraîchère. Fonds de recherche du Québec - Nature et technologies (FRQNT). Impulsion. 78740 $ (2021-2022).

Grant. (Awarded). Collaborator. NSERC Canadian Robotics Network - Distal Fellow. Natural Sciences and Engineering Research Council of Canada (NSERC). Distal Fellow of the NCRN. (2019-2022).

Grant. (Awarded). Principal Investigator. Control of MR actuators for the automotive industry. Mathematics of Information Technology and Complex Systems (MITACS). Accélération. 45000 $ (2020-2022).

Grant. (Awarded). Principal Investigator. Variable transmission actuators for wearable robots. Fonds de recherche du Québec - Nature et technologies (FRQNT). Relève Professorale. 111425 $ (2020-2022).

Grant. (Awarded). Co-investigator. Detection of human presence integrated into a manipulator robot. Mathematics of Information Technology and Complex Systems (MITACS). Kinova. Acceleration. 7500 $ (2021-2022).

Grant. (Awarded). Co-investigator. Development of a 6 degrees-of-freedom collaborative robot based on magnetorheological actuators. Government of Quebec. Programme de soutien à la valorisation et au transfert (PSVT). 178925 $ (2021-2022).

Grant. (Completed). Principal Investigator. Magnetorheological Fluid Actuators for various industries (part 2). MITACS. Mitacs Accelerate. 120000 $ (2019-2021).

Grant. (Completed). Principal Investigator. Digital and open-source toolbox for robotics. University of Sherbrooke. Fonds d'innovation pédagogique. 29700 $ (2018-2021).

Contract. (Awarded). Principal Investigator. Design, Fabrication, and Testing of a Force-controllable actuator. Arjo Canada. 107025 $ (2020-2021).

Grant. (Completed). Principal Investigator. Magnetorheological actuators for active suspensions. Mathematics of Information Technology and Complex Systems (MITACS). Accelerate. 80000 $ (2020).

Grant. (Completed). Principal Investigator. Improvement of a motorized assistance system for patient lift. Mathematics of Information Technology and Complex Systems (MITACS). Accelerate. 15000 $ (2020).

Grant. (Completed). Principal Investigator. Fonds de démarrage / Start-up funds. Fonds Institutionnel de Recherche de l'Université de Sherbrooke. Start-up funds. 70000 $ (2017-2020).

Contract. (Completed). Principal Investigator. Dynamic unloading actuator: preliminary analysis and comparison of possible concepts. Arjo Canada. 2700 $ (2020).

Grant. (Completed). Co-investigator. Magnetorheological Fluid Actuators for various industries. Mitacs. Acceleration. 106666 $ (2018-2020).

Contract. (Completed). Co-investigator. Design of an electromechanical automatic tool changer for a manipulator robot. Kinova. Research contract. 25000 $ (2019).

Grant. (Completed). Principal Investigator. Improvement of a motorized assistance system for patient lift. Arjo Canada. Engage Plus. 12500 $ (2019).

Grant. (Completed). Co-investigator. Wearable Collaborative Robotic Tool. Government of Quebec. Programme de soutien à la valorisation et au transfert (PSVT). 187431 $ (2018-2019).

Grant. (Completed). Co-investigator. Multi-Function Mobile Manipulator Robot Platform. Natural Sciences and Engineering Research Council of Canada (NSERC). Research Tools and Instruments. 150000 $ (2019).

Grant. (Completed). Principal Investigator. Motorized assistance system for patient lifts. Natural Sciences and Engineering Research Council of Canada (NSERC). Engage. 25000 $ (2018-2019).

Grant. (Completed). Principal Investigator. Discovery Launch Supplements. Natural Sciences and Engineering Research Council of Canada (NSERC). Discovery Launch Supplements. 12500 $ (2018).

Publications

Articles de revue

  • Donatien Callon, Mathieu Nadeau, Alexandre Girard. (2021). Controller design and experimental evaluation of a motorised assistance for a patient transfer floor lift. IEEE Transactions on Human-Machine Systems, (Submitted).
  • Denis, Jeff; Plante, Jean-Sebastien; Girard, Alexandre. (2021). Low-level force-control of MR-hydrostatic actuators. IEEE Robotics and Automation Letters (RAL), (Published).
  • Charles Khazoom, Pierre Caillouette, Alexandre Girard, Jean-Sebastien Plante. (2020). A Supernumerary Robotic Leg Powered by Magnetorheological Actuators to Assist Human Locomotion. IEEE Robotics and Automation Letters (RA-L), (Published).
  • Charles Khazoom, Catherine Véronneau, Jean-Philippe Lucking Bigué, Jordane Grenier, Alexandre Girard, and Jean-Sébastien Plante. (2019). Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping and Landing. IEEE Robotics and Automation Letters, 4(3), 3083 - 3090. (Published).
  • Catherine Véronneau, Jeff Denis, Louis-Philippe Lebel, Marc Denninger, Vincent Blanchard, Alexandre Girard, Jean-Sébastien Plante. (2019). Multifunctional 3-DOF Wearable SupernumeraryRobotic Arm Based on Magnetorheological Clutches. IEEE Robotics and Automation Letters, 5(2), 2546-2553. (Published).
  • A. Girard and H. H. Asada. (2017). Leveraging Natural Load Dynamics with Variable Gear-Ratio Actuators. IEEE Robotics and Automation Letters, 2(2), 741-748. (Published).
  • A. Girard, J. P. L. Bigué, B. M. O’Brien, T. A. Gisby, I. A. Anderson and J. S. Plante. (2015). Soft Two-Degree-of-Freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior. IEEE/ASME Transactions on Mechatronics, 20(1), 105-114. (Published).
  • A. Girard and J. S. Plante. (2014). Influence Vectors Control for Robots Using Cellular-Like Binary Actuators. IEEE Transactions on Robotics, 30(3), 642-651. (Published).
  • G. Miron, A. Girard, J.-S. Plante, and M. Lepage. (2012). Design and Manufacturing of Embedded Air-Muscles for a Magnetic Resonance Imaging Compatible Prostate Cancer Binary Manipulator. ASME Journal of Mechanical Design, 135(1), 011003-011003-10. (Published).

Articles de conférence

  • Jeff Denis, Alex Lecavalier, Jean-Sébastien Plante and Alexandre Girard. (2022). Multimodal Hydrostatic Actuators for Wearable Robots: A PreliminaryAssessment of Mass-Saving and Energy-Efficiency Opportunities. IEEE International Conference on Robotics and Automation (ICRA). (Submitted).
  • Louis-Philippe Lebel, Jean-Alexis Verreault, Jean-Philippe Lucking Bigué, Jean-Sebastien Plante, Alexandre Girard. (2021). Performance Study of Low Inertia Magnetorheological Actuators for Kinesthetic Haptic Devices. IEEE World Haptics Conference 2021. (Published).
  • C. Véronneau, J. Denis, L.-P. Lebel, M. Denninger, J.-S. Plante, A. Girard. (2019). A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators. IEEE International Conference on Robotics and Automation. (Published).
  • Louis-Philippe Lebel, Bruno-Pier Busque, Guifre? Julio, Marc Denninger, Alexandre Girard and Jean- Se?bastien Plante. (2019). A cable-driven robotic arm powered by magnetorheological clutches for upper-limbs physical interaction in virtual reality environment. IEEE ICRA 2019 - Workshop : Physical human-robot interaction: a design focus. (Published).
  • Charles Khazoom, Catherine Veronneau, Jean-Philippe Lucking Bigué, Jordane Grenier, Alexandre Girard, Jean-Sebastien Plante. (2019). Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping and Landing. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Published).
  • J Denis, C Véronneau, LP Lebel, M Denninger, JS Plante, A Girard. (2019). On the design of lightweight compliant wearable arms. IEEE ICRA 2019 - Workshop : Physical human-robot interaction: a design focus. (Published).
  • A. Girard and H. H. Asada. (2017). Leveraging Natural Load Dynamics with Variable Gear-Ratio Actuators. Presentation track of the IEEE Robotics and Automation Letters Journal, (Published).
  • Alexandre Girard. (2016). A New Approach to Address the Limitations of Traditional Robotic Actuators: Multiple Gear Ratios. MIT ROBOCON 2016. (Published).
  • H. H. Asada, F. Wu, A. Girard and M. Mayalu. (2016). A data-driven approach to precise linearization of nonlinear dynamical systems in augmented latent space. 2016 American Control Conference (ACC), 1838-1844. (Published).
  • A. Girard and H. H. Asada. (2016). A practical optimal control approach for two-speed actuators. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), 4572-4577. (Published).
  • A. Girard and H. H. Asada,. (2015). A two-speed actuator for robotics with fast seamless gear shifting. Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4704-4711. (Published).
  • Alexandre Girard. (2015). Gear Shifting for Robots. 2015 Northeast Robotics Colloquium. (Published).
  • A. Girard and J. S. Plante. (2013). Applied control of binary robots based on influence vectors. Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 523-529. (Published).
  • S. Proulx, G. Miron, A. Girard, and J.-S. Plante. (2010). Experimental Validation of an Elastically Averaged Binary Manipulator for MRI-Guided Prostate Cancer Interventions. Proceedings of the ASME International Design Engineering Technical Conferences, 409-418. (Published).

Propriétés intellectuelles

Patents

  • Plante, J-S., Miron, G., Proulx, S., Girard, A., Chouinard, P. and Lucking Bigué, J-P. (2015). Device for orienting an object according to a given spatial orientation. US9068576B2. United States. (Granted/Issued).
  • Jörgen JÖNSSON; Mathieu NADEAU; Alexandre GIRARD; Philippe-Olivier PROVOST; Donatien CALLON DE MONET DE LAMARCK. A PATIENT TRANSFER DEVICE. P149900230SE2. Switzerland. (Pending).
  • Girard, A., Plante, J.-S. Control of Binary Actuators in a Robot. WO 2014179864. Canada. (Withdrawn).
  • A. Girard and H. H. Asada. Multiple Drive Variable Transmission Ratio System with Selective Actuator Engagement. United States. (Pending).

Autres contributions

Cours enseignés

  • Algèbre linéaire pour la robotique. GRO211. (2021-03-09 à 2021-03-19). (1CR).
  • Modélisation géométrique d'un robot industriel. GRO203. (2021-03-09 à 2021-03-19). (1CR).
  • Actionneurs pour les robots collaboratifs. (2021-01-12 à 2021-04-23). CoRoM.
  • Commande des bras robotiques collaboratifs. (2021-01-12 à 2021-04-23). CoRoM.
  • Projet Majeur de conception II. PMC760. (2021-01-12 à 2021-04-23). (6CR).
  • Cinématique différentielle des robots manipulateurs. GRO640. (2020-05-19 à 2020-05-29). (2CR).
  • Commande des systèmes robotique. GMC705. (2020-05-05 à 2020-07-31). Niveau : Graduate. (3CR).
  • Algèbre linéaire pour la robotique. GRO211. (2020-02-25 à 2020-03-06). (1CR).
  • Modélisation géométrique d'un robot industriel. GRO203. (2020-02-25 à 2020-03-06). (1CR).
  • Systèmes asservis. GRO501. (2019-09-03 à 2019-12-20). Niveau : Undergraduate. (4CR).
  • Commande adaptative pour les bras robotiques. GMC950. (2019-09-02 à 2019-12-20). Niveau : Graduate. (3CR).
  • Commande des systèmes robotiques. GMC705. (2019-04-30 à 2019-08-02). Niveau : Graduate. (3CR).
  • Algèbre linéaire pour la robotique. GRO210. (2019-01-08 à 2019-04-26). Niveau : Undergraduate. (1CR).
  • Modélisation géométrique d’un robot industriel. GR0203. (2019-01-08 à 2019-04-26). Niveau : Undergraduate. (1CR).
  • Algorithmes d'estimation pour les voitures autonomes. GMC950. (2018-05-01 à 2018-08-10). Niveau : Graduate. (3CR).
  • Projet d'intégration S4. (2018-05-01 à 2018-08-10). Niveau : Undergraduate. (1CR).
  • Systèmes mécatroniques analogiques. IMC326. (2018-05-01 à 2018-08-10). Niveau : Undergraduate. (3CR).
  • Algèbre linéaire pour la robotique. GRO210. (2018-01-09 à 2018-04-27). Niveau : Undergraduate. (1CR).
  • Modélisation géométrique d’un robot industriel. GRO203. (2018-01-09 à 2018-04-27). Niveau : Undergraduate. (1CR).

Activités de collaboration internationale

  • Visiting Researcher. (2012). New Zealand. Research collaboration with Pr. Iain Anderson at The University of Auckland, where I was a visiting researcher for two months. We developed a soft polymer multi-dof sensor for soft robotics system. I was leading the research for this project which led to a Journal paper.
  • Visiting Researcher. (2010). Germany. I worked at the IWB Institute, at the "Technische Universität München", on developing impedance controllers for industrial robots.

Présentations

  • (2012). Binary robotics: robots using arrays of small soft cellular actuators. Research Seminar, Auckland Bioengineering Institute. Auckland, New Zealand.
  • (2011). La modélisation de systèmes mécatroniques (Mecatronics systems modeling). Advanced Design Class. Sherbrooke, Canada.
  • (2011). Les actionneurs : L’art de créer le mouvement (Actuators: the art of creating motion). Advanced Design Class. Sherbrooke, Canada.