Yannick Aoustin
155
Documents
Présentation
<a name="_Ref485037563"></a>AOUSTIN Yannick, Full Professor of Nantes University
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![](file:////Users/yannick/Library/Group%20Containers/UBF8T346G9.Office/TemporaryItems/msohtmlclip/clip_image001.jpg)
Date of birth: 04/11/1958
Professional address: LS2N UMR 6004, Université de Nantes, Centrale Nantes, 1 rue de la Noë, 44000 Nantes, France Cedex 3
Phone: +33-2-40-37-69-48 ; E-mail: Yannick.Aoustin@ls2n.fr
### EDUCATION
\- Ph.D. Nantes University 1989
-Leading research and PhD students in 2006
### PROFESSIONAL STANDING
\- Associate Professor 1990-2015
\- Full-Professor of University of Nantes Since 2015
### INTERNATIONAL STANDING
\- Topic Editors-in-Chief: Climbing and Walking Robots of International Journal of Advanced Robotic Systems
Since 2015
\- Member of the editorial board of Multibody System Dynamics
Since 2016
\- Associate editor of IEEE Robotics and Automation Letters
Since 2020
-Associate editor of IROS2018; IROS2019; CODIT2019.
\- Invited professor during one month at Asian Institut of Technology (AIT) de Bangkok in 2010.
\- three weeks at the Keio University (Tokyo) in 2014.
### RESEARCH INTERESTS
Human walking, humanoid robots, exoskeleton, exosuit, co-manipulation, force control, control with EMG signals.
### SCIENTIFIC PUBLICATIONS
Co-author of two books devoted to bipedal robots, published by HERMES and ISTE and Wiley Editions, New-York, more 170 scientific journals or conferences. (see citations at <https://scholar.google.fr>).
The last papers are as follows:
-Chevallereau C., Razavi H., D. Six, Aoustin Y. and Grizzle J. ''Self-synchronization and self-stabilization of 3D bipedal walking gaits'', Robotics and Autonomous Systems, DOI~: 10.1016/j.robot.2017.10.018, 2017.
-Aoustin Y., Formalskii A. ''Walking of biped with passive exoskeleton: evaluation of energy consumption'', Multibody System Dynamics, Vol. 43, No 1, pages71-96, 2018.
-Devie S., Robet P.Ph, Aoustin Y. and Gautier M. ''Impedance control using a cascaded loop force control'', IEEE Robotics and Automation Letters (RA-L), Vol. 3, pages 1537-1543, Issue 3, DOI 10.1109/LRA.2018.2801472, 2018.
-Luo Q., De-Léone-Gomez V., Kalouguine A., Chevallereau C. and Aoustin Y. ''Self-synchronization and self-stabilization of walking gaits modeled by the three-dimensional lip model'', IEEE Robotics and Automation Letters (RA-L), Vol. 3, pages 3332-3339, Issue 4, DOI 10.1109/LRA.2018.2852767, 2018.
-De-Léone-Gomez~V., Q. Luo, A. Kalouguine, J. Alfonso Panames, Y. Aoustin, C. Chevallereau. ''An essential model for generating walking for humanoid robots'', Robotics and Autonomous Systems, Vol. 112, pages 229-243, 2019.
-T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, R.~Gross, Y.~Pereon and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, DOI 10.1109/TBME.2019.2914966.
-T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, in press.
-T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, 2020.
**SUPERVISION of 20 PhD STUDENTS.** One phd student was internationally co-supervised with CICESE, Mexico. Currently supervisor of four PhD students.
**PROJECTS:**
\- Member, of three ANR projects (PHEMA 2005-2009; R2A2 2010-2013; CHASLIM 2011-2015; DIGIGLID 2018-2022).
\- In charge for LS2N of one regional multidisciplinary project, (Project LMA and Gérontopole Autonomie Longévité des Pays de la Loire 2014-2017) .
In charge of one interdisciplinary project supported by Nantes University (Project MODERATO : MOdélisation et Décomposition des Emg pour la Reconnaissance et l’Assistance aux Troubles neurOmusculaires), 2017-2018.
Publications
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Dynamic Parameter Identification for Cable-Driven Parallel RobotsThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France
Communication dans un congrès
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Cinématique d'une Prothèse de Main Myoélectrique Accessible avec Actionneur Unique et Rétropulsion Passive du PouceCongrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès
hal-03753041v1
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An original walking composed of a ballistic single-support and a finite time double-support phasesENOC2022, Jul 2022, Lyon, France
Communication dans un congrès
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Bilateral teleoperation transparency at steady states2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), May 2022, Istanbul, Turkey. pp.752-757, ⟨10.1109/CoDIT55151.2022.9804152⟩
Communication dans un congrès
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A Third order Semi-Implicit Homogeneous differentiator: Experimental ResultsInternational Workshop on Variable Structure Systems and Sliding Mode Control, Sep 2022, Rio de Janeiro, Brazil
Communication dans un congrès
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Control Performance Improvement in Dynamically Decoupled Manipulatorsromansy 2022, IFToMM, Jul 2022, Udine, Italy
Communication dans un congrès
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Experimental validation of two semi-implicit homogeneous discretized differentiators on the CRAFT cable-driven parallel robotCFM2022, Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès
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Control of a Robot Axis with Effort FeedbackMIM2022, IFAC (Internationl federation of automatic control, Jun 2022, Nantes, France
Communication dans un congrès
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A noise less-sensing semi-implicit discretization of a homogeneous differentiator : principle and applicationECC 21-Berlin, Jul 2021, Berlin, France
Communication dans un congrès
hal-03414184v1
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A noise less-sensing semi-implicit discretization of a homogeneous differentiator: principle and application2021 European Control Conference (ECC), Jun 2021, Delft, France. pp.2340-2345, ⟨10.23919/ECC54610.2021.9655022⟩
Communication dans un congrès
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Bilateral teleoperation transparency at transient states14th Conference on Control on Industry Applications (Induscon 2021), Aug 2021, Sao Paulo, Brazil. ⟨10.1109/INDUSCON51756.2021.9529857⟩
Communication dans un congrès
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Semi-Implicit Homogeneous Euler Differentiator for a Second-Order System: Validation on Real DataIEEE CDC 2021, Dec 2021, Austin (Texas), United States
Communication dans un congrès
hal-03414289v2
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Definition of a Walking with starting and stopping motions for the Humanoid Romeo17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France
Communication dans un congrès
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An original walking composed of a ballistic single-support and a finite time double-support phases10th European Nonlinear Dynamics Conference, Jul 2020, Lyon, France
Communication dans un congrès
hal-02470316v1
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Generic control law for DC and AC machines2020 22nd European Conference on Power Electronics and Applications (EPE'20 ECCE Europe), Sep 2020, Lyon, France. pp.P.1-P.11, ⟨10.23919/EPE20ECCEEurope43536.2020.9215937⟩
Communication dans un congrès
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Bilateral Master-Slave operation based on cascaded loop structure in force-position and velocity2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), Jun 2020, Prague, Czech Republic. pp.1006-1011, ⟨10.1109/CoDIT49905.2020.9263793⟩
Communication dans un congrès
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Semi-Implicit Euler Discretization for Homogeneous Observer-based Control: one dimensional caseIFAC World Congress, Jul 2020, Berlin, Germany
Communication dans un congrès
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Haptic control of the parallel robot Orthoglide24ème Congrès Français de Mécanique, CFM 2019, Aug 2019, Brest, France
Communication dans un congrès
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A cascaded loop structure in force and position to control a bilateral teleoperation robotic system6th international conference on control, decision and information technologies, May 2019, Paris, France
Communication dans un congrès
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Joint torque estimation during a squat motionCongrès Français de Mécanique (Brest), Aug 2019, Brest, France
Communication dans un congrès
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Preliminary survey of backdrivable linear actuators for humanoid robots22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩
Communication dans un congrès
hal-01989982v1
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A Simulation-based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions9th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2018), Sep 2018, Nantes, France. pp.24-27, ⟨10.1109/IPIN.2018.8533858⟩
Communication dans un congrès
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Contribution of a Knee Orthosis to WalkingChallenges and trends in Wearable Robotics, 2018, Pisa, Italy
Communication dans un congrès
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An essential model for generating walking motions for humanoid robotsFrench-German Conference on Humanoid and Legged Robots 2018, Dec 2018, Munchen, Germany
Communication dans un congrès
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Study of the walking efficiency of a human with a caneRomansy, Jun 2018, Rennes, France
Communication dans un congrès
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Self-synchronization and Self-stabilization of Walking Gaits Modeled by the 3D LIP Model2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain
Communication dans un congrès
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A real-time gesture classification using surface EMG to control a robotics handENOC 2017, Jun 2017, Budapest, Hungary
Communication dans un congrès
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A Human-like Walking Gait Simulator for Pedestrian Dead Reckoning Navigation2017 14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany
Communication dans un congrès
hal-01997337v1
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Accurate force control and co-manipulation control using hybrid external commandInternational Federation of Automatic Control, Jul 2017, Toulouse, France
Communication dans un congrès
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Title: Dynamic Tool Center Point (DTCP) implementing in Automated Fiber Placement (AFP) the third International Symposium on Automated Composites Manufacturing (ACM1) , Apr 2017, Montreal, Canada
Communication dans un congrès
hal-01509857v1
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Optimized force and co-manipulation control using stiffness of force sensor with unknown environment2017 11th International Workshop on Robot Motion and Control (RoMoCo), Jul 2017, Wasowo Palace, France. ⟨10.1109/RoMoCo.2017.8003898⟩
Communication dans un congrès
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A testing system for a real-time gesture classification using surface EMGThe 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France
Communication dans un congrès
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Towards sequential decoding of intramuscular EMG signals: Parallel computing implementationGRETSI, Sep 2017, Juan-les-pins, France
Communication dans un congrès
hal-01677309v1
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A human-like walking gait simulator for estimation of selected gait parameters14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany. pp.1-6, ⟨10.1109/WPNC.2017.8250063⟩
Communication dans un congrès
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Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.538-543, ⟨10.1109/HUMANOIDS.2016.7803327⟩
Communication dans un congrès
hal-02397623v1
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Model - based and Experimental Analysis of the Symmetry in Human Walking in Different Device Carrying ModesBioRob 2016, 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, Jun 2016, SINGAPOUR, Singapore. p.1172-1179, ⟨10.1109/BIOROB.2016.7523790⟩
Communication dans un congrès
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Self-stabilization of 3D walking via vertical oscillations of the hip2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, ⟨10.1109/ICRA.2015.7139907⟩
Communication dans un congrès
hal-02397690v1
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Nonlinear orbital H_inf-stabilization of underactuated mechanical systems with unilateral constraints2015 European Control Conference (ECC), Jul 2015, Linz, Austria. pp.806-811, ⟨10.1109/ECC.2015.7330641⟩
Communication dans un congrès
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Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walkingECCOMAS Thematic Conference on Multibody Dynamics, Jun 2015, Barcelona, Spain
Communication dans un congrès
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Controlling the tape's gap in robotized fiber placement process using a visual servoing external hybrid control schemeThe International symposium Aircraft Materials (ACMA2014), Apr 2014, Morocco
Communication dans un congrès
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EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS17th International Confer ence on Climbing and Walking Robots (CLAWAR), Jul 2014, Poznan, Poland. ⟨10.1142/9789814623353_0040⟩
Communication dans un congrès
hal-01199826v1
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Online Intramuscular EMG Decomposition with Varying Number of Active Motor UnitsInternational Conference on NeuroRehabilitation (Replace, Repair, Restore, Relieve - Bridging Clinical and Engineering Solutions in Neurorehabilitation), Jun 2014, Aalborg, pp.303 - 311, ⟨10.1007/978-3-319-08072-7_50⟩
Communication dans un congrès
hal-01074903v1
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Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot2014 European Control Conference (ECC), Jun 2014, Strasbourg, France. pp.2600-2605, ⟨10.1109/ECC.2014.6862347⟩
Communication dans un congrès
hal-03750437v1
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Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the PositionCongreso Nacional de Control Automático AMCA 2013, Oct 2013, Ensenada, Baja California, Mexico. pp.1-6
Communication dans un congrès
hal-01053180v1
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Modélisation de trains d'impulsions à l'aide d'une loi de Weibull discrète. Estimation hors-ligne et séquentielle des paramètres24e colloque GRETSI sur le traitement du signal et des images, Sep 2013, Brest, France
Communication dans un congrès
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IMPROVING ACCURACY IN ROBOTIZED FIBER PLACEMENTTHE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, Jul 2013, Montréal, Canada. pp.778-786
Communication dans un congrès
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Online estimation of EMG signals model based on a renewal processIEEE International Conference on Acoustics, Speech, and Signal Processing, May 2013, Vancouver, Canada
Communication dans un congrès
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Partial linearization of the PVTOL aircraft with internal stability52nd Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨10.1109/CDC.2013.6760268⟩
Communication dans un congrès
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ARMS SWING EFFECTS ON A WALKING PLANAR BIPEDASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - ESDA2012, Jul 2012, Nantes, France
Communication dans un congrès
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ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPEDClimbing and Walking Robot- CLAWAR 2012, Jul 2012, Baltimore, United States
Communication dans un congrès
hal-00716364v1
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Walking trajectory optimization with rotation of the feet for a planar bipedal robot with four-bar kneesThe ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France
Communication dans un congrès
hal-00668764v1
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L'effets des Articulations Compliantes sur l'Efficacité Énergétique d'un Robot BipèdeSeptième Conférence Internationale Francophone d'Automatique (CIFA 2012), Jul 2012, Grenoble, France
Communication dans un congrès
hal-00716302v1
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Contribution de l'Effet du Balancement des Bras sur la Marche d'un Robot BipèdeCIFA 2012, Jul 2012, Grenoble, France
Communication dans un congrès
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Reactive Power Compensation in Mechanical SystemsThe 2nd Joint International Conference on Multibody System Dynamics - IMSD2012, May 2012, Stuttgart, Germany
Communication dans un congrès
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Control Algorithms of the Longitude Motion of the Powered Paragliderthe ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France. pp.1-6
Communication dans un congrès
hal-00718238v1
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Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar kneesThe Second Joint International Conference on Multibody System Dynamics, May 2012, Stuttgart, Germany
Communication dans un congrès
hal-00668766v1
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Compliant Joints Increase the Energy Efficiency of Bipedal RobotThe 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), Sep 2011, Paris, France
Communication dans un congrès
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Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems18th IFAC World Congress, Aug 2011, Milano, Italy
Communication dans un congrès
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Cross four-bar structure with spring for the knee of a bipedal robotMultibody Dynamics 2011 ECCOMAS, Jul 2011, Bruxelle, Belgium
Communication dans un congrès
hal-00564273v1
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Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approachesMultibody Dynamics 2011, 2011, Bruxelles, Belgium. pp.1
Communication dans un congrès
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Compliance for a cross four-bar knee jointThe 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.743-750
Communication dans un congrès
hal-00591830v1
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Sequential estimation of intramuscular EMG model parameters for prosthesis controlIEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Robotics for Neurology and Rehabilitation, Sep 2011, San Francisco, Ca
Communication dans un congrès
hal-00670265v1
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Cross four-bar linkage for the knees of a planar bipedal robot2010 IEEE-RAS International Conference on Humanoid Robots - Humanoids 2010, Dec 2010, Nashville, United States. pp.379-384
Communication dans un congrès
hal-00512467v1
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A penalty-based approach for contact forces computation in bipedal robots9th IEEE-RAS International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.121 -- 127, ⟨10.1109/ICHR.2009.5379590⟩
Communication dans un congrès
hal-00520395v1
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Study of different structures of the knee joint for a planar bipedal robotHumanoids2009, Dec 2009, Paris, France. pp.113-120
Communication dans un congrès
hal-00422259v1
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Optimal control of a neuromusculoskeletal model: a second order sliding mode solutionInternational Workshop on Variable Structure Systems, 2008., Jun 2008, Antalya, Turkey. pp.55 -- 60, ⟨10.1109/VSS.2008.4570682⟩
Communication dans un congrès
hal-00520405v1
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A semi quadruped walking robot - first experimental results6th International Conference on Climbing and Walking Robots CLAWAR'03, Sep 2003, Catania, Italy. pp. 579-584
Communication dans un congrès
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An experimental validation of a nonlinear velocities observerIFAC Conference on System Structure and Control, Jul 1995, Nantes, France. pp. 355-359, ⟨10.1016/S1474-6670(17)45488-7⟩
Communication dans un congrès
hal-00362559v1
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Bipedal Robots : Modeling, Design and Walking SynthesisISTE Ltd, John Wiley & sons,, 2009, 978-1-84821-076-9
Ouvrages
hal-01702864v1
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Les robots marcheurs bipèdes : modélisation, conception, synthèse de la marche, commandeHermès Sciences, Lavoisier, 2007, 978-2-7462-1370-8
Ouvrages
hal-01702853v1
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Human squat motion: joint torques estimation with a 3D model and a sagittal modelNew trends in medical and service robotics (Springer), pp.247-255, 2020
Chapitre d'ouvrage
hal-03000335v1
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Periodic walking motion of a Humanoid robot based on human dataEuCoMeS 2020 New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, pp.349-359, 2020
Chapitre d'ouvrage
hal-03022032v1
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Investigation of the stresses exerted by an exosuit of a human armAdvanced Technologies in Robotics and Intelligent Systems, Mechanisms and Machine Science 80., 2020
Chapitre d'ouvrage
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Automatic classification of intramuscular EMG to recognize pathologies.Advanced Structured Materials, Springer Nature, inPress
Chapitre d'ouvrage
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Preliminary survey of backdrivable linear actuators for humanoid robotsROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019
Chapitre d'ouvrage
hal-01984430v1
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On the use of inner position loop in co-manipulation taskROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019
Chapitre d'ouvrage
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Impact of a knee orthosis over walkingROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 584. Springer, Cham, 2018, 978-3-319-78962-0
Chapitre d'ouvrage
hal-01985287v1
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HInfini Stabilization of a 3D Bipedal Locomotion Under a Unilateral ConstraintNew Perspectives and Applications of Modern Control Theory, 2018
Chapitre d'ouvrage
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Historical Perspective of Humanoid Robot Research in EuropeSpringer. Humanoid Robotics: A Reference. Goswami A., Vadakkepat P. (eds), , pp.19-34, 2017, 978-94-007-6045-5. ⟨10.1007/978-94-007-6046-2_144⟩
Chapitre d'ouvrage
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Commande des robots humanoïdesTechnique de l'ingénieur, s7754 V1, 2017
Chapitre d'ouvrage
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Anthropomorphic Underactuated Hand with 15 JointsNew Trends in Medical and Service Robots, pp.277-295, 2016, ⟨10.1007/978-3-319-30674-2_21⟩
Chapitre d'ouvrage
hal-02594310v1
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Study and Choice of Actuation for a Walking Assist DeviceIn: Bleuler H., Bouri M., Mondada F., Pisla D., Rodic A., Helmer P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, pp.3-12, 2016, ⟨10.1007/978-3-319-23832-6_1⟩
Chapitre d'ouvrage
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On the Design of the Exoskeleton Arm with Decoupled DynamicsIn: Wenger P., Chevallereau C., Pisla D., Bleuler H., Rodić A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, pp.143-150, 2016, ⟨10.1007/978-3-319-30674-2_11⟩
Chapitre d'ouvrage
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Study and choice of actuation for a walking assist deviceMechanism and Machine Science, New trends in medical and service robots, Springer, 2015., 2015
Chapitre d'ouvrage
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Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive FeetArmando Carlos de Pina Filho. Humanoid Robots: New Developments, I-Tech Education and Publishing, Vienna, Austria, Chap. 3, pp. 31-44, 2007, 978-3-902613-00-4. ⟨10.5772/4859⟩
Chapitre d'ouvrage
hal-00362625v2
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MODERATO : MOdélisation et Décomposition des EMG pour la Reconnaissance et l'Assistance aux Troubles neurOmusculairesRencontre innovation dispositifs médicaux de l'université de Nantes, 2018
Autre publication scientifique
hal-02594470v1
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Evaluation de la performance musculaire avec traitement de signal EMG spécifiqueMyostorming VII, journée du Centre de Référence des Maladies Neuromusculaires Atlantique-Océanie-Caraïbes, Nantes, 2017
Autre publication scientifique
hal-02594499v1
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Commande EMG d'une main robotiqueJournal télévisé France 3 Estuaire, 2017
Autre publication scientifique
hal-02594530v1
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Une main bionique commandée par les musclesContribution à la fresque CNRS-RATP, métro Station Montparnasse, Paris, 2016
Autre publication scientifique
hal-02594576v1
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Design of an Exosuit for assistance based on physical human-robot interaction performance improvement2024
Pré-publication, Document de travail
hal-04533366v1
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Décomposition et analyse de tracés EMG pour aider au diagnostic des maladies neuromusculaires2021
Pré-publication, Document de travail
hal-03359081v1
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Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking2016
Pré-publication, Document de travail
hal-01304053v1
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Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints2014
Pré-publication, Document de travail
hal-01053182v1
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Effects of Knee Locking and Passive Joint Stiffness on Energy Consumption of a Seven-Link Planar Biped2012
Pré-publication, Document de travail
hal-00668808v1
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On optimal swinging of the biped arms2008
Pré-publication, Document de travail
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Improving accuracy in robotized fibre placement using force and visual servoing external hybrid control scheme[Intern report] ESTIA Recherche. 2014
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