Video Gallery

The videos are classified according to the laboratory research thrusts. A section has also been included for industrial projects. The list of available videos can be shown or hidden by clicking on the section name or the small arrow.

Parallel Mechanisms

The Agile Eye Agile Eye Video clip showing the available degrees of freedom and different types of trajectories, slowly and rapidly. Format: mpg    Length: 1:18    Size: 14.8 Mb 2-DOF Agile Eye Video clip showing the use of a laser on the end-effector. The path of the laser can be followed on the ceiling. Format: mpg    Length: 1:05    Size: 12.3 Mb Tripteron and Quadrupteron Tripteron: workspace Video clip showing the workspace of the mechanism. Format: mpg    Length: 0:13    Size: 3.8 Mb Tripteron: checkers game Video segment illustrating the manipulation of a checkers game. Format: mpg    Length: 0:30    Size: 8.7 Mb Tripteron: weights Video clip showing the manipulation of weights. Format: mpg    Length: 0:18    Size: 5.3 Mb Tripteron Video clip showing a combination of the manipulations mentioned above. Format: mpg    Length: 1:02    Size: 15.0 Mb Quadrupteron Video clip showing the available degrees of freedom, motion along different paths and the use of a pneumatically-driven gripper at the effector. Format: mpg    Length: 0:44    Size: 10.6 Mb Quadrupteron: accelerations Video clip showing the motion of the quadrupteron with different accelerations, from 1.2 to 4 g. Format: mpg    Length: 1:08    Size: 32.8 Mb Static and dynamic balancing Brief name Description. Format: mpg    Length: 0:50    Size: 7.9 Mb Brief name Description. Format: mpg    Length: 1:14    Size: 14.1 Mb Brief name Description. Format: mpg    Length: 0:42    Size: 10.2 Mb Flight simulator Flight simulator: workspace Video clip showing the workspace of the mechanism as well as several feasible velocities and accelerations (slowly and rapidly). Format: avi    Length: 1:27    Size: 117.4 Mb Flight simulator: static balancing Video clip showing forces needed at the actuators for a takeoff, with and without static balancing. Format: avi    Length: 0:25    Size: 32.2 Mb SHaDe (a spherical 3-DOF haptic device) Haptic device and Agile Eye Video clip showing the use of the SHaDe haptic device to control the Agile Eye mechanism. Format: mpg    Length: 0:12    Size: 2.2 Mb Ultra-fast hybrid parallel manipulator Hybrid mechanism: manual motion Video clip showing the available degrees of freedom of the mechanism through human manipulation. Format: mpg    Length: 0:22    Size: 3.0 Mb Hybrid mechanism: normal use Video clip showing several type of motions through normal control. Format: mpg    Length: 0:20    Size: 2.7 Mb

Cable-Driven Parallel Mechanisms

Cable mechanims for a radio-telescope Cable-driven mechanism Video clip showing workspace and motion of the 6-DOF cable-driven mechanism. Format: mpg    Length: 3:59    Size: 39.6 Mb Large Adaptative Reflector Artistic representation of the Large Adaptative Reflector(LAR). Format: avi    Length: 0:20    Size: 25.3 Mb Linking of several individual stations Illustration of several individual stations linked together to obtain an equivalent collective surface. Format: avi    Length: 0:11    Size: 7.2 Mb

Robot Hands

The MARS Hand (robust underactuated robotic hand) MARS Hand Video clip showing the use of the MARS Hand and the accomplishment of several grasps. Format: mpg    Length: 1:54    Size: 21.6 Mb MARS Hand: force control Video clip showing the use of a force control algorithm with the MARS Hand. Format: mpg    Length: 0:38    Size: 18.2 Mb SARAH Hand (underactuated robotic hand for the Canadarm) Plastic SARAH Video clip showing the plastic prototype of SARAH, using electric screwdriver as input. Format: mpg    Length: 1:12    Size: 3.3 Mb SARAH Video clip showing several grasps carried out by SARAH, using external electrical actuators as input (the gray and blue base is a replica of the Canadarm end-effector). Format: mpg    Length: 1:14    Size: 3.4 Mb SARAH: space use Animation showing the use of the SARAH Hand to relocate camera on the international space station. Format: mpg    Length: 0:49    Size: 23.8 Mb SARAH for general purpose Video clip showing several grasps carried out by SARAH, using two in-built electrical actuators as input. Format: mpg    Length: 1:08    Size: 3.2 Mb Pneumatically-driven robotic hand Pneumatically-driven robotic hand Video clip showing the use of the pneumatically-driven hand, including the accomplishment of several various grasps. Format: mpg    Length: 2:21    Size: 36.4 Mb Hand prosthesis with voluntary opening Tendon-driven hand Video clip showing the use of the tendon-driven hand, including the grasp of various objects. Format: mpg    Length: 0:46    Size: 11.1 Mb Prosthesis installation Video clip showing the implementation and use of the harness. Format: mpg    Length: 0:54    Size: 11.0 Mb Prosthesis use Video slip showing various possibles grasps made by the prosthesis. Format: mpg    Length: 1:07    Size: 11.6 Mb

Human-Robot Cooperation

Force limiting devices Comparison: stiff joint, compliant joint and torque limiter Video experimentally illustrating the precision and safety levels obtained for different types of joint coupling. Format: wmv    Length: 1:43    Size: 18.3 Mb Two degrees of freedom Cartesian force limiting device Video illustrating experimentally the behaviour of a two degrees of freedom Cartesian force limiting device (proof of concept). The video shows collisions at low and high velocity and with an angle of 45 degrees. Format: wmv    Length: 1:26    Size: 3,9 Mb Three degrees of freedom Cartesian force limiting device Animation illustrating the working principle of a three degree of freedom Cartesian force limiting device installed on a suspended robot. Format: wmv    Length: 0:44    Size: 1,1 Mb

Mobile Robots

Hexapode (walking robot) Hexapode Sequence illustrating different types of steps taken by the Hexapode Robot. Format: mov    Length: 1:37    Size: 164.3 Mb PROMPT (walking robot) PROMPT: brainstorming Video clip showing several concepts discussed in the design of the robot PROMPT. Format: wmv    Length: 44 s    Size: 4,5 Mb PROMPT: compliance Video clip showing the compliance mechanism of the robot PROMPT. Format: avi    Length: 3 s    Size: 2,3 Mb PROMPT: assembly Video clip showing the assembly of the robot PROMPT. Format: wmv    Length: 26 s    Size: 1,2 Mb PROMPT: actual use Video clip showing an actual use of the robot PROMPT (experiment at the Canadian Space Agency's analog site). Format: wmv    Length: 2 min 36 s    Size: 15 Mb PROMPT: actual use Video clip showing an actual use of the robot PROMPT (excerpts of the short film made for Espace 400e). Format: wmv    Length: 1 min 23 s    Size: 12 Mb PROMPT: actual use Video clip showing an actual use of the robot PROMPT (experiment at the Canadian Space Agency's analog site). Format: wmv    Length: 0 min 30 s    Size: 4,6 Mb PROMPT: actual use Video clip showing an actual use of the robot PROMPT (experiment on Laval University's campus). Format: wmv    Length: 3 min 02 s    Size: 18 Mb PROMPT: actual use Video clip showing an actual use of the robot PROMPT (experiment at the UTIAS Mars Dome). Format: wmv    Length: 6 min 03 s    Size: 35 Mb

Other Research Areas

Deployable mechanisms Triangular face Sequence illustrating the deployment of a triangular face. Format: mpg    Length: 0:19    Size: 3.5 Mb Cubic face Sequence illustrating the deployment of a cubic face. Format: mpg    Length: 0:19    Size: 3.5 Mb Pentagonal face Sequence illustrating the deployment of a pentagonal face. Format: mpg    Length: 0:19    Size: 3.5 Mb Tetrahedron (pyramid) Sequence illustrating the deployment of a tetrahedron (pyramid). Format: mpg    Length: 0:20    Size: 3.7 Mb Hexahedron (cube) Sequence illustrating the deployment of a hexahedron (cube). Format: mpg    Length: 0:15    Size: 2.8 Mb Triangular prism Sequence illustrating the deployment of a triangular prism. Format: mpg    Length: 0:10    Size: 2.4 Mb Pentagonal prism Sequence illustrating the deployment of a pentagonal prism. Format: mpg    Length: 0:10    Size: 2.5 Mb Dynamically reconfigurable theatre stage Miniature theatre: animations of a discrete surface Animations of a discrete surface with independent platforms (9 actuators per module) and coupled platforms (3 actuators per module). Put the animation in a loop for better view. Format: mpg    Length: 0:03    Size: 1,1 Mb Miniature theatre: animation of the planar interpolation mechanism Animation showing the basic mechanism used to coupled the platforms in a module. Format: mpg    Length: 0:08    Size: 1,0 Mb Miniature theatre: animation of a 4-dof module Animation showing some of the movements that can be produced with a 4-dof module with actuators in the corners. Format: mpg    Length: 0:25    Size: 9,1 Mb Miniature theatre: animation of a 3-dof module Animation showing some of the movements that can be produced with a 3-dof module. Format: mpg    Length: 0:24    Size: 8,9 Mb Miniature theatre: basic motions of a module Video clip showing the four basic motions of a module of the miniature stage. Format: mpg    Length: 1:19    Size: 28,3 Mb Miniature theatre: stage with 20 modules Video clip showing different trajectories of a mobile stage with 20 modules. Format: mpg    Length: 5:36    Size: 66 Mb Miniature theatre: high-tech puppet show Video clip of a high-tech puppet show using the complete miniature stage (La mouette of Tchekhov). Format: mp4    Length: 17:53    Size: 36,5 Mb Polyhedra with articulated faces PAF of a Cube Video clip showing the mobility of a PAF made of a cube. Format: mpg    Length: 0:18    Size: 3.2 Mb PAF of a Dodecahedron Video clip showing the shaky mobility of a PAF made of a dodecahedron. Format: mpg    Length: 0:20    Size: 3.7 Mb PAF of an Icosahedron Video clip showing the rigidity of a PAF made of an icosahedron. Format: mpg    Length: 0:12    Size: 2.3 Mb PAF of a Cuboctahedron Video clip showing the mobility of a PAF made of a cuboctahedron. Format: mpg    Length: 0:17    Size: 3.1 Mb PAF of a Truncated octahedron Video clip showing the mobility of a PAF made of a truncated octahedron. Format: mpg    Length: 0:24    Size: 4.3 Mb PAF of a Rhombicuboctahedron Video clip showing the mobility of a PAF made of a rhombicuboctahedron. Format: mpg    Length: 0:19    Size: 3.5 Mb PAF of a Snub cube Video clip showing the rigidity of a snub cube. Format: mpg    Length: 0:16    Size: 3.0 Mb PAF of an Icosidodecahedron Video clip showing the rigidity of a PAF made of an icosidodecahedron. Format: mpg    Length: 0:12    Size: 2.3 Mb PAF of a Great rhombicuboctahedron Video clip showing the mobility of a PAF made of a great rhombicuboctahedron. Format: mpg    Length: 0:23    Size: 4.2 Mb PAF of a Truncated icosahedron Video clip showing the shaky mobility of a PAF made of a truncated icosahedron. Format: mpg    Length: 0:23    Size: 4.1 Mb PAF of a Truncated dodecahedron Video clip showing the shaky mobility of a PAF made of a truncated dodecahedron. Format: mpg    Length: 0:24    Size: 4.4 Mb PAF of a Rhombicosidodecahedron Video clip showing the shaky mobility of a PAF made of a rhombicosidodecahedron Format: mpg    Length: 0:23    Size: 4.1 Mb

Industrial Projects

Robust underactuated robotic hand (MARS) MARS Hand Video clip showing the use of the MARS Hand and the accomplishment of several grasps. Format: mpg    Length: 1:54    Size: 21.6 Mb MARS Hand: force control Video clip showing the use of a force control algorithm with the MARS Hand. Format: mpg    Length: 0:38    Size: 18.2 Mb Underactuated robotic hand for the Canadarm (SARAH) Plastic SARAH Video clip showing the plastic prototype of SARAH, using electric screwdriver as input. Format: mpg    Length: 1:12    Size: 3.3 Mb SARAH Video clip showing several grasps carried out by SARAH, using external electrical actuators as input (the gray and blue base is a replica of the Canadarm end-effector). Format: mpg    Length: 1:14    Size: 3.4 Mb SARAH: space use Animation showing the use of the SARAH Hand to relocate camera on the international space station. Format: mpg    Length: 0:49    Size: 23.8 Mb SARAH for general purpose Video clip showing several grasps carried out by SARAH, using two in-built electrical actuators as input. Format: mpg    Length: 1:08    Size: 3.2 Mb Blanket Manipulation Tool (BMT) Blanket Manipulation Tool Video clip showing the Blanket Manipulation Tool in operation. Format: mpg    Length: 0:29    Size: 4.3 Mb