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Hello. I'm Anthony Jubien.

PhD student in robotics field

IRCCyN (Institut de Recherche en Communication et Cybernétique de Nantes - France)
ONERA (The French Aerospace Lab, Toulouse - France)

Graduated in automatic, robotic, mechatronic and electrican fields from the Université de Nantes and the Ecole Centrale de Nantes.

  Learn about what I do

I work in several areas on robots


Dynamic identification

Simulation and control

My most important publications

Janot, A., Gautier, M., Jubien, A., Vandanjon, P.O., 2011. Experimental joint stiffness identification depending on measurements availability. 50ème IEEE Conference on Decision and Control and European Control Conference (CDC), Orlando (Floride, Etats-Unis), 12-15 décembre 2011. pp. 5112–5117.

Gautier, M., Jubien, A., Janot, A., Robet, P.P., 2013. Dynamic Identification of flexible joint manipulators with an efficient closed loop output error method based on motor torque output data. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe (Allemagne). 6-10 mai 2013. pp. 2949-2955. 

Jubien, A., Gautier, M., Janot, A., 2013. Effectiveness of the DIDIM method with respect to the usual CLOE method. Application to the dynamic parameters identification of an industrial robot. 9 ème Asian Control Conference (ASCC), Istanbul (Turquie). 23-26 juin 2013. pp 1-6. DOI : 

Robet, P.P., Gautier, M., Jubien, A., Janot, A., 2013. Global identification of mechanical and electrical parameters of DC motor driven joint with a fast CLOE method. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong (Australie). 9-12 juillet 2013. pp. 1205-1210. 

Jubien, A., Gautier, M., 2013. Global Identification of Spring Balancer, Dynamic Parameters and Drive Gains of Heavy Industrial Robots. IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), Tokyo (Japon), 3-7 novembre 2013.

More publication:    here (HAL base) and here (IEEE base)

Research projects

COROUSSO project: control of robots for machining and welding.
ARROW project: Accurate and Rapid Robots with a large Operational Workspace

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