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Alexandre Girard

Professeur, Faculté de génie
FAC. GÉNIE Mécanique

Présentation

Sujet de recherche

Robotics and Automation, Servo-Control

Disciplines de recherche

Mechanical Engineering, Applied Mathematics, Computer Engineering and Software Engineering, Electrical Engineering and Electronic Engineering, Aeronautical Engineering

Mots-clés

Robotics, Control engineering, Dynamics, Machine learning, Automatisation

Intérêts de recherche

I am especially interested in the science of controlling how things move, from mechanical design up to control laws and planning algorithms: robots, mechanisms, actuators, sensors, vehicles, etc.

Langues parlées et écrites

Anglais, Français

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.

Expérience académique

Professeur Agrégé / Associate Professor. (2022-). Université de Sherbrooke. Canada.

Professeur Adjoint / Assistant Professor. (2017-2022). Université de Sherbrooke. Canada.

Teaching Assistant. (2017-2017). Massachusetts Institute of Technology. United States of America.

Prix et distinctions

  • (2022) Prix de la qualité de l'enseignement (équipe du programme de génie robotique). Université de Sherbrooke. (Prize / Award).
  • (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. 230 378 $. (2021-2026)
  • Grant. (Awarded). Co-investigator. Smart, Connected and Perceptive (SCoPe) Off-Road Vehicles. PROMPT-Québec. Leddartech. Alliance. 39 129 $. (2022-2025)
  • 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. 117 300 $. (2020-2023)
  • Grant. (Completed). Principal Investigator. Multi-function patient handling device development. Arjo Canada. Stage de stratégie d'entreprise. 22 500 $. (2022-2023)
  • Grant. (Completed). Principal Investigator. Agile and dexterous motion control robotic laboratory. Canada Foundation for Innovation (CFI). John R. Evans Leaders Fund. 162 970 $. (2018-2023)
  • Grant. (Completed). Principal Investigator. Demonstration of robotic interaction using traction drive actuators. Mathematics of Information Technology and Complex Systems (MITACS). SSE. 15 000 $. (2023-2023)
  • Grant. (Awarded). Principal Investigator. Physics-based learning for smarter motion controllers. Natural Sciences and Engineering Research Council of Canada (NSERC). Discovery Grant. 135 000 $. (2018-2023)
  • Grant. (Completed). Principal Investigator. Intelligent Robotized Deburring. Mathematics of Information Technology and Complex Systems (MITACS). Stage de stratégie d'entreprise. 7 500 $. (2022-2023)
  • Contract. (Completed). Co-investigator. Développement de systèmes intelligents pour chenilles. Michelin Canada. 7 800 $. (2022-2022)
  • Grant. (Completed). Co-investigator. Conception et réalisation d'un robot désherbeur pour agriculture maraîchère. Fonds de recherche du Québec - Nature et technologies (FRQNT). Impulsion. 78 740 $. (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. (Completed). Principal Investigator. Control of MR actuators for the automotive industry. Mathematics of Information Technology and Complex Systems (MITACS). Accélération. 45 000 $. (2020-2022)
  • Grant. (Completed). Principal Investigator. Variable transmission actuators for wearable robots. Fonds de recherche du Québec - Nature et technologies (FRQNT). Relève Professorale. 111 425 $. (2020-2022)
  • Grant. (Completed). Co-investigator. Detection of human presence integrated into a manipulator robot. Mathematics of Information Technology and Complex Systems (MITACS). Kinova. Acceleration. 7 500 $. (2021-2022)
  • Grant. (Completed). 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). 178 925 $. (2021-2022)
  • Grant. (Completed). Principal Investigator. Magnetorheological Fluid Actuators for various industries (part 2). MITACS. Mitacs Accelerate. 120 000 $. (2019-2021)
  • Grant. (Completed). Principal Investigator. Digital and open-source toolbox for robotics. University of Sherbrooke. Fonds d'innovation pédagogique. 29 700 $. (2018-2021)
  • Contract. (Completed). Principal Investigator. Design, Fabrication, and Testing of a Force-controllable actuator. Arjo Canada. 107 025 $. (2020-2021)
  • Grant. (Completed). Principal Investigator. Magnetorheological actuators for active suspensions. Mathematics of Information Technology and Complex Systems (MITACS). Accelerate. 80 000 $. (2020-2020)
  • Grant. (Completed). Principal Investigator. Improvement of a motorized assistance system for patient lift. Mathematics of Information Technology and Complex Systems (MITACS). Accelerate. 15 000 $. (2020-2020)
  • Grant. (Completed). Principal Investigator. Fonds de démarrage / Start-up funds. Fonds Institutionnel de Recherche de l'Université de Sherbrooke. Start-up funds. 70 000 $. (2017-2020)
  • Contract. (Completed). Principal Investigator. Dynamic unloading actuator: preliminary analysis and comparison of possible concepts. Arjo Canada. 2 700 $. (2020-2020)
  • Grant. (Completed). Co-investigator. Magnetorheological Fluid Actuators for various industries. Mitacs. Acceleration. 106 666 $. (2018-2020)
  • Contract. (Completed). Co-investigator. Design of an electromechanical automatic tool changer for a manipulator robot. Kinova. Research contract. 25 000 $. (2019-2019)
  • Grant. (Completed). Principal Investigator. Improvement of a motorized assistance system for patient lift. Arjo Canada. Engage Plus. 12 500 $. (2019-2019)
  • Grant. (Completed). Co-investigator. Wearable Collaborative Robotic Tool. Government of Quebec. Programme de soutien à la valorisation et au transfert (PSVT). 187 431 $. (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. 150 000 $. (2019)
  • Grant. (Completed). Principal Investigator. Motorized assistance system for patient lifts. Natural Sciences and Engineering Research Council of Canada (NSERC). Engage. 25 000 $. (2018-2019)
  • Grant. (Completed). Principal Investigator. Discovery Launch Supplements. Natural Sciences and Engineering Research Council of Canada (NSERC). Discovery Launch Supplements. 12 500 $. (2018)

Publications

Articles de revue

  • Gendron, Etienne; Leclerc, Marc-Antoine; Hovington, Samuel; Perron, Étienne; Rancourt, David; Lussier-Desbiens, Alexis; Hamelin, Philippe; Girard, Alexandre. (2024). Assessing Wind Impact on Semi-Autonomous Drone Landings for In-Contact Power Line Inspection. Drone System and Applications 12 (Published).
  • Alexandre Girard. (2024). Dimensionless Policies Based on the Buckingham Pi Theorem: Is This a Good Way to Generalize Numerical Results?. mathematics 12 (5), (Published).
  • Alex Lecavalier, Jeff Denis, Jean-Sébastien Plante, Alexandre Girard. (2023). A Bimodal Hydrostatic Actuator for Robotic Legs with Compliant Fast Motion and High Lifting Force. Actuators 12 (452), (Published).
  • Ian Lalonde, Jeff Denis, Alexandre Girard. (2023). A Dual-Motor Actuator for Ceiling Robots with High Force and High Speed Capabilities. IEEE Robotics and Automation Letters (Submitted).
  • William Therrien, Olivier Lecompte, Alexandre Girard. (2023). Using Buckingham’s Pi Theorem for Multi-System Learning Transfer: a Case-study with 3 Vehicles Sharing a Data-base. RA-L (Submitted).
  • Olivier Lecompte, William Therrien and Alexandre Girard. (2022). Experimental investigation of a maneuver selection algorithm for vehicles in low adhesion conditions. IEEE Transactions on Intelligent Vehicles 7 (3), 407-412. (Published).
  • Catherine Véronneau, Jeff Denis, Pierre Lhommeau, Alexandre St-Jean, Alexandre Girard, Jean-Sébastien Plante and Jean-Philippe Lucking Bigué. (2022). Modular magnetorheological actuator with high torque density and transparency for the collaborative robot industry. Robotic and Automation Letters (Published).
  • 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).

Ressources en ligne

  • Alexandre Girard. (2020). Vidéos de robotique, commande, mécatronique, planification, systèmes asservis, mathématique, etc. Site Web.
  • Alexandre Girard. (2019). Pyro: An object-based toolbox for robot dynamic simulation, analysis, control and planning. Site Web.

Articles de conférence

  • Donatien Callon, Ian Lalonde, Mathieu Nadeau, Alexandre Girard. (2024). Controller Design and Experimental Evaluation of a Motorized Assistance for a Patient Transfer Floor Lift. International Conference on Assistive Robotics (ICAR 2024). (Accepted).
  • 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). (Published).
  • 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

  • A. Girard and H. H. Asada. (2022). Multiple Drive Variable Transmission Ratio System with Selective Actuator Engagement. United States of America. (Granted/Issued).
  • 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 of America. (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).

Autres contributions

Cours enseignés

  • Cinématique différentielle des robots manipulateurs. GRO640. (2023-06-05 à 2023-06-23).(2CR).
  • Algèbre linéaire pour la robotique. GRO211. (2023-03-06 à 2023-03-17).(1CR).
  • Modélisation géométrique d’un robot industriel. GRO203. (2023-03-06 à 2023-03-17).(1CR).
  • Robotique: modélisation et commande. GMC714. (2023-01-10 à 2023-04-21).(3CR).
  • Systèmes asservis. GRO501. (2022-09-15 à 2022-11-15).(4CR).
  • Cinématique différentielle des robots manipulateurs. GRO640. (2022-05-15 à 2022-06-15).(2CR).
  • Algèbre linéaire pour la robotique. GRO211. (2022-03-01 à 2022-03-30).(1CR).
  • Modélisation géométrique d’un robot industriel. GRO203. (2022-03-01 à 2022-03-30).(1CR).
  • Programmation dynamique, commande optimale et apprentissage par renforcement. GMC705. (2022-01-04 à 2022-04-30).(3CR).
  • Projet Majeur de conception II. PMC760. (2022-01-04 à 2022-04-30).(6CR).
  • Cinématique différentielle des robots manipulateurs. GRO640. (2021-05-15 à 2021-06-15).(2CR).
  • 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. Niveau : .
  • Commande des bras robotiques collaboratifs. (2021-01-12 à 2021-04-23).CoRoM. Niveau : .
  • 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).(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).(4CR).
  • Commande adaptative pour les bras robotiques. GMC950. (2019-09-02 à 2019-12-20).(3CR).
  • Commande des systèmes robotiques. GMC705. (2019-04-30 à 2019-08-02).(3CR).
  • Algèbre linéaire pour la robotique. GRO210. (2019-01-08 à 2019-04-26).(1CR).
  • Modélisation géométrique d’un robot industriel. GR0203. (2019-01-08 à 2019-04-26).(1CR).
  • Algorithmes d'estimation pour les voitures autonomes. GMC950. (2018-05-01 à 2018-08-10).(3CR).
  • Projet d'intégration S4. (2018-05-01 à 2018-08-10).(1CR).
  • Systèmes mécatroniques analogiques. IMC326. (2018-05-01 à 2018-08-10).(3CR).
  • Algèbre linéaire pour la robotique. GRO210. (2018-01-09 à 2018-04-27).(1CR).
  • Modélisation géométrique d’un robot industriel. GRO203. (2018-01-09 à 2018-04-27).(1CR).

Présentations

  • (2023). Generalisation multi-système de lois de commande avec le théorème de Buckingham Pi. Forum CoRoM. Montreal, Canada
  • (2020). Human augmentation with wearable robots: challenges and opportunities. NSERC Canadian Robotics Network (NCRN) Seminar. Canada
  • (2020). Supernumerary robotic limbs: actuation challenges. ICRA workshop on Wearable Superlimbs. Las Vegas, United States of America