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128

CV_YA


 

AOUSTIN Yannick, Full Professor of Nantes University

 

 

 

 

 

 

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.


Journal articles45 documents

  • Mathieu Hobon, VÍctor De-León-Gómez, Gabriel Abba, Yannick Aoustin, Christine Chevallereau. Feasible Speeds for Two Optimal Periodic Walking Gaits of a Planar Biped Robot. Robotica, Cambridge University Press, In press, ⟨10.1017/S0263574721000631⟩. ⟨hal-03242271⟩
  • Christine Chevallereau, Philippe Wenger, Yannick Aoustin, Franck Mercier, Nicolas Delanoue, et al.. Leg design for biped locomotion with mono-articular and bi-articular linear actuation. Mechanism and Machine Theory, Elsevier, 2021, 156, pp.104138. ⟨10.1016/j.mechmachtheory.2020.104138⟩. ⟨hal-02985257⟩
  • Konstantin Akhmadeev, Tianyi Yu, Éric Le Carpentier, Yannick Aoustin, Dario Farina. Simulation of motor unit action potential recordings from intramuscular multichannel scanning electrodes. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2020, 67 (7), pp.2005-2014. ⟨10.1109/TBME.2019.2953680⟩. ⟨hal-02362499⟩
  • Tianyi Yu, Konstantin Akhmadeev, Éric Le Carpentier, Yannick Aoustin, Raphaël Gross, et al.. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, In press. ⟨hal-02362477⟩
  • Tianyi Yu, Konstantin Akhmadeev, Éric Le Carpentier, Yannick Aoustin, Dario Farina. On-line recursive decomposition of intramuscular EMG signals using GPU-implemented Bayesian filtering. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2019, 67 (6), pp.1806-1818. ⟨10.1109/TBME.2019.2948397⟩. ⟨hal-02362489⟩
  • Qiuyue Luo, Christine Chevallereau, Yannick Aoustin. Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints. International Journal of Humanoid Robotics, World Scientific Publishing, 2019, pp.1950040. ⟨10.1142/S0219843619500403⟩. ⟨hal-02475100⟩
  • VÍctor De-León-Gómez, Qiuyue Luo, Anne Kalouguine, J. Alfonso Pámanes, Yannick Aoustin, et al.. An essential model for generating walking motions for humanoid robots. Robotics and Autonomous Systems, Elsevier, 2019, 112, pp.229-243. ⟨10.1016/j.robot.2018.11.015⟩. ⟨hal-01990079⟩
  • Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy Grizzle. Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits. Robotics and Autonomous Systems, Elsevier, 2018, 100, pp.43 - 60. ⟨10.1016/J.ROBOT.2017.10.018⟩. ⟨hal-01676223⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. Estimation of the External Force for a Co-Manipulation Task Using the Drive Chain Robot. International Journal of Mechanical and Mechatronics Engineering, World Academy of Science, Engineering and Technology, 2018, 12 (10), pp.977-985. ⟨10.5281/zenodo.1474952⟩. ⟨hal-01957663⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. Impedance control using a cascaded loop force control. IEEE Robotics and Automation Letters, IEEE 2018. ⟨hal-01845977⟩
  • Yannick Aoustin, Arnaud Hamon. Walking gait of a planar bipedal robot with four-bar knees. Movement & Sport Sciences - Science & Motricité, EDP sciences, 2018. ⟨hal-01872293⟩
  • Qiuyue Luo, Anne Kalouguine, Christine Chevallereau, Yannick Aoustin, Victor de Leon Gomez. Self-Synchronization and Self-Stabilization of Walking Gaits Modeled by the Three-Dimensional LIP Model. IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.3332 - 3339. ⟨10.1109/lra.2018.2852767⟩. ⟨hal-01925444⟩
  • Mahdi Abid, Valérie Renaudin, Yannick Aoustin, Eric Le Carpentier, Thomas Robert. Walking gait step length asymmetry induced by handheld device. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25 (11), pp.2075-2083. ⟨10.1109/TNSRE.2017.2705285⟩. ⟨hal-01623521v2⟩
  • Yannick Aoustin, A Formalskii. Walking of biped with passive exoskeleton: evaluation of energy consumption. Multibody System Dynamics, Springer Verlag, 2017. ⟨hal-01628077⟩
  • Itzel de Jesus Gonzalez Ojeda, Olivier Patrouix, Yannick Aoustin. Pressure based approach for Automated Fiber Placement (AFP) with sensor based feedback loop and flexible component in the effector. IFAC-PapersOnLine, Elsevier, 2017, 50 (1), pp.794-799. ⟨10.1016/j.ifacol.2017.08.511⟩. ⟨hal-02538737⟩
  • Christine Chevallereau, Frédéric Boyer, Mathieu Porez, Johan Mauny, Yannick Aoustin. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion. Bioinspiration and Biomimetics, IOP Publishing, 2017, 12 (4), pp.46006 - 46006. ⟨10.1088/1748-3190/aa728f⟩. ⟨hal-01558509⟩
  • Oscar Montano, Yury Orlov, Yannick Aoustin, Christine Chevallereau. Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback. Autonomous Robots, Springer Verlag, 2016, ⟨10.1007/s10514-015-9543-z⟩. ⟨hal-01306820⟩
  • Sahab Omran, Sophie Sakka, Yannick Aoustin. Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking. Archives of civil and mechanical engineering, 2016. ⟨hal-01306836⟩
  • Oscar Montano, Yury Orlov, Yannick Aoustin. Nonlinear H ∞ -control under unilateral constraints. International Journal of Control, Taylor & Francis, 2016. ⟨hal-01306827⟩
  • Divine Maalouf, Claude H. Moog, Yannick Aoustin, Shunjie Li. Classification of two-degree-of-freedom underactuated mechanical systems. IET Control Theory and Applications, Institution of Engineering and Technology, 2015, 9 (10), pp.1501-1510. ⟨10.1049/iet-cta.2014.0280⟩. ⟨hal-01152350⟩
  • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Arm swing effects on walking bipedal gaits composed of impact, single and double support phases.. Robotics and Autonomous Systems, Elsevier, 2015, http://dx.doi.org/10.1016/j.robot.2014.12.005. ⟨10.1016/j.robot.2014.12.005⟩. ⟨hal-01100497⟩
  • Mendez Cristian, Yannick Aoustin, Carlos Rengifo, Jose Armando Ordonez. Evaluation of the aid provided by an exoskeleton in the reduction of the joint torques exerted by human lower limbs: A simulation study. IEEE Latin America Transactions (Revista IEEE America Latina), 2015, Vol 13, N° 2, pages 428-433, pp.428-433. ⟨10.1109/TLA.2015.7055560⟩. ⟨hal-01178991⟩
  • Maylis Uhart, Olivier Patrouix, Yannick Aoustin. Improving manufacturing of aeronautical parts with an enhanced industrial Robotised Fibre Placement Cell using an external force-vision scheme. International Journal on Interactive Design and Manufacturing, Springer Verlag, 2015, p., 1-21, Print ISSN 1955-2513, Online ISSN 1955-2505. ⟨10.1007/s12008-015-0271-6⟩. ⟨hal-01179004⟩
  • Yannick Aoustin. Walking Gait of a Biped with a Wearable Walking Assist Device. International Journal of Humanoid Robotics, World Scientific Publishing, 2015, Vol. 12, No. 2 1550018 (20 p.). ⟨10.1142/S0219843615500188⟩. ⟨hal-01178922⟩
  • Gabriel Abba, Yannick Aoustin. Modélisation des robots humanoïdes; Modeling of humanoid robots.. Techniques de l'Ingenieur, Techniques de l'ingénieur, 2014, Modélisation des robots humanoïdes, pp.s7753. ⟨hal-01100442⟩
  • Jonathan Monsifrot, Eric Le Carpentier, Yannick Aoustin, Darion Farina. Sequential Decoding of Intramuscular EMG Signals via Estimation of a Markov Model. IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2014, 22 (5), pp.1. ⟨10.1109/TNSRE.2014.2316547⟩. ⟨hal-01024878⟩
  • Yannick Aoustin, A. M. Formalskii. 3D Walking Biped: Optimal Swing of the Arms. Multibody System Dynamics, Springer Verlag, 2013, pp.10.1007/s11044-013-9378-3. ⟨10.1007/s11044-013-9378-3⟩. ⟨hal-00839761⟩
  • Arnaud Hamon, Yannick Aoustin, Stéphane Caro. Two walking gaits for a planar bipedal robot equipped with a four-bar mechanism for the knee joint. Multibody System Dynamics, Springer Verlag, 2013, pp.1-25. ⟨10.1007/s11044-013-9382-7⟩. ⟨hal-00855905⟩
  • Yannick Aoustin, Arnaud Hamon. Human like trajectory generation for a biped robot with a four-bar linkage for the knees. Robotics and Autonomous Systems, Elsevier, 2013, pp.1-20. ⟨10.1016/j.robot.2013.06.002⟩. ⟨hal-00849700⟩
  • Arnaud Hamon, Yannick Aoustin. Walking gait of a planar bipedal robot with four-bar knees. Movement & Sport Sciences - Science & Motricité, EDP sciences, 2013. ⟨hal-00760889⟩
  • Yannick Aoustin. Modeling, Control and Simulation of Upward Jump of a Biped. Multi, 2012, pp.1-21. ⟨10.1007/s11044-012-9319-6⟩. ⟨hal-00718175⟩
  • Yannick Aoustin, Alexander Formal'Skii, Martynenko Yuri. Pendubot combining of energy and intuitive approach to swing up, stabilization in erected pose. Multibody System Dynamics, Springer Verlag, 2011, pp.DOI: 10.1007/s11044-010-9228-5. ⟨10.1007/s11044-010⟩. ⟨hal-00540847⟩
  • Tlalolini David, Christine Chevallereau, Yannick Aoustin. Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2011, 16 (2), pp.310-320. ⟨10.1109/TMECH.2010.2042458⟩. ⟨hal-00483135⟩
  • Vincent Lebastard, Yannick Aoustin, Franck Plestan. Estimation of absolute orientation for a bipedal robot: experimental results. IEEE Transactions on Robotics, IEEE, 2011, 27 (1), pp.170-174. ⟨hal-00626499⟩
  • Yuri Orlov, Yannick Aoustin, Christine Chevallereau. Finite Time Stabilization of a Double Integrator - Part I: Continuous Sliding Mode-based Position Feedback Synthesis. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2011, 56 (3), pp.614 - 618. ⟨hal-00794656⟩
  • David Tlalolini, Yannick Aoustin, Christine Chevallereau. Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization. Multibody System Dynamics, Springer Verlag, 2010, 23 (1), pp.33-56. ⟨10.1007/s11044-009-9175-1⟩. ⟨hal-00794667⟩
  • Carlos Rengifo, Yannick Aoustin, Franck Plestan, Christine Chevallereau. Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behaviour. Journal of Biomechanical Engineering, American Society of Mechanical Engineers, 2010, 132 (4), pp.11. ⟨hal-00457640⟩
  • Tetsuya Kinugasa, Christine Chevallereau, Yannick Aoustin. Effect of Circular Arc Feet on a Control Law for a Biped. Robotica, Cambridge University Press, 2009, 27, pp.621-632. ⟨10.1017/S0263574708005006⟩. ⟨hal-00794784⟩
  • David Tlalolini, Christine Chevallereau, Yannick Aoustin. Comparison of different gaits with rotation of the feet for a planar biped. Robotics and Autonomous Systems, Elsevier, 2009, 57 (4), pp.371-383. ⟨10.1016/j.robot.2008.09.008⟩. ⟨hal-00794718⟩
  • Yannick Aoustin, Alexander Formal'Skii. Ball on a beam: stabilization under saturated input control with large basin of attraction. Multibody System Dynamics, Springer Verlag, 2008, 21, pp.71-89. ⟨10.1007/s11044-008-9128-0⟩. ⟨hal-00462061⟩
  • Yannick Aoustin, Christine Chevallereau, Alexander Formal'Skii. Numerical and Experimental Study of a Virtual Quadrupedal Walking Robot - SemiQuad. Multibody System Dynamics, Springer Verlag, 2006, 16, pp.1-20. ⟨10.1007/s11044-006-9015-5⟩. ⟨hal-00794912⟩
  • Christine Chevallereau, Gabriel Abba, Yannick Aoustin, Franck Plestan, Eric Westervelt, et al.. RABBIT: A Testbed for Advanced Control Theory. IEEE Control Systems Magazine, Institute of Electrical and Electronics Engineers, 2003, 23 (5), pp.57-79. ⟨hal-00794856⟩
  • Alain Muraro, Christine Chevallereau, Yannick Aoustin. Optimal trajectories for a quadruped robot with Trot, Amble, Curvet Gaits for two energetic criteria. Multibody System Dynamic, 2003, 9 (1), pp.39-62. ⟨hal-00794871⟩
  • Christine Chevallereau, Yannick Aoustin. Optimal Reference Trajectories for Walking and Running of a Biped Robot. Robotica, Cambridge University Press, 2001, 19 (5), pp.557-569. ⟨hal-00794833⟩
  • Yannick Aoustin, Christine Chevallereau, Alain Glumineau, Claude Moog. Experimental Results for the End-effector Control of a Single Flexible Robotic Arm. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 1994, 2 (4), pp.371-381. ⟨hal-00410016⟩

Conference papers55 documents

  • Pierre-Philippe Robet, Maxime Gautier, Yannick Aoustin. Generic control law for DC and AC machines. 2020 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⟩. ⟨hal-02966816⟩
  • A Kalouguine, V De-León-Gómez, Christine Chevallereau, S Dalibard, Y Aoustin. Definition of a Walking with starting and stopping motions for the Humanoid Romeo. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France. ⟨hal-03021974⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. Bilateral Master-Slave operation based on cascaded loop structure in force-position and velocity. 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), Jun 2020, Prague, Czech Republic. pp.1006-1011, ⟨10.1109/CoDIT49905.2020.9263793⟩. ⟨hal-03079997⟩
  • Yannick Aoustin, Alexander Formalskii. An original walking composed of a ballistic single-support and a finite time double-support phases. 10th European Nonlinear Dynamics Conference, Jul 2020, Lyon, France. ⟨hal-02470316⟩
  • Loïc Michel, Malek Ghanes, Franck Plestan, Yannick Aoustin, Jean-Pierre Barbot. Semi-Implicit Euler Discretization for Homogeneous Observer-based Control: one dimensional case. IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02559189⟩
  • Olivier Bordron, Clément Huneau, Éric Le Carpentier, Yannick Aoustin. Joint torque estimation during a squat motion. Congrès Français de Mécanique (Brest), Aug 2019, Brest, France. ⟨hal-02362513⟩
  • Philippe Lemoine, Pierre-Philippe Robet, Damien Chablat, Yannick Aoustin, Maxime Gautier. Haptic control of the parallel robot Orthoglide. 24ème Congrès Français de Mécanique, Aug 2019, Brest, France. ⟨hal-02264290⟩
  • Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Sylvain Devie. A cascaded loop structure in force and position to control a bilateral teleoperation robotic system. 6th international conference on control, decision and information technologies, May 2019, Paris, France. ⟨hal-02362505⟩
  • Victor de Leon Gomez, Chiara Barone, Aoustin Yannick, Christine Chevallereau. Study of the walking efficiency of a human with a cane. Romansy, Jun 2018, Rennes, France. ⟨hal-01845958⟩
  • Christine Chevallereau, Anne Kalouguine, Qiuyue Luo, Aoustin Yannick, Victor de Leon Gomez. An essential model for generating walking motions for humanoid robots. French-German Conference on Humanoid and Legged Robots 2018, Dec 2018, Munchen, Germany. ⟨hal-01984211⟩
  • Olivier Bordron, Yannick Aoustin, Clément Huneau, Eric Le Carpentier. Contribution of a Knee Orthosis to Walking. Challenges and trends in Wearable Robotics, 2018, Pisa, Italy. ⟨hal-01985279⟩
  • Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. 22nd 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⟩. ⟨hal-01989982⟩
  • Qiuyue Luo, Victor de Leon Gomez, Anne Kalouguine, Christine Chevallereau, Aoustin Yannick. Self-synchronization and Self-stabilization of Walking Gaits Modeled by the 3D LIP Model. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01984214⟩
  • Mahdi Abid, Valérie Renaudin, Thomas Robert, Yannick Aoustin, Eric Le Carpentier. A Simulation-based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions. 9th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2018), Sep 2018, Nantes, France. pp.24-27, ⟨10.1109/IPIN.2018.8533858⟩. ⟨hal-01997361⟩
  • Itzel de Jesus Gonzalez Ojeda, Olivier Patrouix, Yannick Aoustin. 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. ⟨hal-01509857⟩
  • Tianyi Yu, Konstantin Akhmadeev, Eric Le Carpentier, Yannick Aoustin. Towards sequential decoding of intramuscular EMG signals: Parallel computing implementation. GRETSI, Sep 2017, Juan-les-pins, France. ⟨hal-01677309⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Anthony Jubien, et al.. Accurate force control and co-manipulation control using hybrid external command. International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨hal-01491560⟩
  • Konstantin Akhmadeev, Elena Rampone, Tianyi Yu, Yannick Aoustin, Eric Le Carpentier. A testing system for a real-time gesture classification using surface EMG. The 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨hal-01491572⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier, Anthony Jubien. Optimized force and co-manipulation control using stiffness of force sensor with unknown environment. 2017 11th International Workshop on Robot Motion and Control (RoMoCo), Jul 2017, Wasowo Palace, France. ⟨10.1109/RoMoCo.2017.8003898⟩. ⟨hal-01690445⟩
  • Konstantin Akhmadeev, Elena Rampone, Tianyi Yu, Yannick Aoustin, Éric Le Carpentier. A real-time gesture classification using surface EMG to control a robotics hand. ENOC 2017, Jun 2017, Budapest, Hungary. ⟨hal-01707679⟩
  • Mahdi Abid, Valérie Renaudin, Thomas Robert, Yannick Aoustin, Eric Le Carpentier. A human-like walking gait simulator for estimation of selected gait parameters. 14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany. pp.1-6, ⟨10.1109/WPNC.2017.8250063⟩. ⟨hal-01688770⟩
  • Mahdi Abid, Valérie Renaudin, Thomas Robert, Yannick Aoustin, Eric Le-Carpentier. A Human-like Walking Gait Simulator for Pedestrian Dead Reckoning Navigation. 2017 14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany. ⟨hal-01997337⟩
  • Shivesh Kumar, Valérie Renaudin, Yannick Aoustin, Eric Le Carpentier, Christophe Combettes. Model - based and Experimental Analysis of the Symmetry in Human Walking in Different Device Carrying Modes. BioRob 2016, 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, Jun 2016, SINGAPOUR, Singapore. p.1172-1179, ⟨10.1109/BIOROB.2016.7523790⟩. ⟨hal-01357279⟩
  • Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin, Christine Chevallereau. Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.538-543, ⟨10.1109/HUMANOIDS.2016.7803327⟩. ⟨hal-02397623⟩
  • Sahab Omran, Sophie Sakka, Yannick Aoustin. Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking. ECCOMAS Thematic Conference on Multibody Dynamics, Jun 2015, Barcelona, Spain. ⟨hal-01199819⟩
  • Christine Chevallereau, Yannick Aoustin. Self-stabilization of 3D walking via vertical oscillations of the hip. 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, ⟨10.1109/ICRA.2015.7139907⟩. ⟨hal-02397690⟩
  • Christine Chevallereau, Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin. Nonlinear orbital H_inf-stabilization of underactuated mechanical systems with unilateral constraints. 2015 European Control Conference (ECC), Jul 2015, Linz, Austria. pp.806-811, ⟨10.1109/ECC.2015.7330641⟩. ⟨hal-02397956⟩
  • Maylis Uhart, Olivier Patrouix, Yannick Aoustin. Controlling the tape's gap in robotized fiber placement process using a visual servoing external hybrid control scheme. The International symposium Aircraft Materials (ACMA2014), Apr 2014, Morocco. ⟨hal-01060699⟩
  • Eric Le Carpentier, Yannick Aoustin, Jonathan Monsifrot, Dario Farina. Online Intramuscular EMG Decomposition with Varying Number of Active Motor Units. International 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⟩. ⟨hal-01074903⟩
  • S Omran, S Sakka, Y Aoustin. EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS. 17th International Confer ence on Climbing and Walking Robots (CLAWAR), Jul 2014, Poznan, Poland. ⟨10.1142/9789814623353_0040⟩. ⟨hal-01199826⟩
  • Jonathan Monsifrot, Éric Le Carpentier, Yannick Aoustin, Dario Farina. Online estimation of EMG signals model based on a renewal process. IEEE International Conference on Acoustics, Speech, and Signal Processing, May 2013, Vancouver, Canada. ⟨hal-00812591⟩
  • Vincent Léchappé, Yannick Aoustin, L. Marquez Martinez, Claude Moog. Partial linearization of the PVTOL aircraft with internal stability. 52nd Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨10.1109/CDC.2013.6760268⟩. ⟨hal-00858102⟩
  • Maylis Uhart, Olivier Patrouix, Yannick Aoustin, Joseph Canou. IMPROVING ACCURACY IN ROBOTIZED FIBER PLACEMENT. THE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, Jul 2013, Montréal, Canada. pp.778-786. ⟨hal-00916362⟩
  • Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin. Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position. Congreso Nacional de Control Automático AMCA 2013, Oct 2013, Ensenada, Baja California, Mexico. pp.1-6. ⟨hal-01053180⟩
  • Jonathan Monsifrot, Éric Le Carpentier, Yannick Aoustin. Modélisation de trains d'impulsions à l'aide d'une loi de Weibull discrète. Estimation hors-ligne et séquentielle des paramètres. 24e colloque GRETSI sur le traitement du signal et des images, Sep 2013, Brest, France. ⟨hal-00830055⟩
  • Carlos Rengifo, Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Reactive Power Compensation in Mechanical Systems. The 2nd Joint International Conference on Multibody System Dynamics - IMSD2012, May 2012, Stuttgart, Germany. ⟨hal-00716393⟩
  • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. ARMS SWING EFFECTS ON A WALKING PLANAR BIPED. ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - ESDA2012, Jul 2012, Nantes, France. ⟨hal-00668760⟩
  • Yannick Aoustin, Martynenko Yuri. Control Algorithms of the Longitude Motion of the Powered Paraglider. the ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France. pp.1-6. ⟨hal-00718238⟩
  • Arnaud Hamon, Yannick Aoustin. Walking trajectory optimization with rotation of the feet for a planar bipedal robot with four-bar knees. The ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France. ⟨hal-00668764⟩
  • Arnaud Hamon, Yannick Aoustin. Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar knees. The Second Joint International Conference on Multibody System Dynamics, May 2012, Stuttgart, Germany. ⟨hal-00668766⟩
  • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPED. Climbing and Walking Robot- CLAWAR 2012, Jul 2012, Baltimore, United States. ⟨hal-00716364⟩
  • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Contribution de l'Effet du Balancement des Bras sur la Marche d'un Robot Bipède. CIFA 2012, Jul 2012, Grenoble, France. ⟨hal-00716350⟩
  • Abdul Haq, Yannick Aoustin, Christine Chevallereau. L'effets des Articulations Compliantes sur l'Efficacité Énergétique d'un Robot Bipède. Septième Conférence Internationale Francophone d'Automatique (CIFA 2012), Jul 2012, Grenoble, France. ⟨hal-00716302⟩
  • Jonathan Monsifrot, Eric Le Carpentier, Dario Farina, Yannick Aoustin. Sequential estimation of intramuscular EMG model parameters for prosthesis control. IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Robotics for Neurology and Rehabilitation, Sep 2011, San Francisco, Ca. ⟨hal-00670265⟩
  • Divine Maalouf, Claude Moog, Yannick Aoustin, Shun-Jie Li. Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems. 18th IFAC World Congress, Aug 2011, Milano, Italy. ⟨hal-00584325⟩
  • Abdul Haq, Yannick Aoustin, Christine Chevallereau. Compliant Joints Increase the Energy Efficiency of Bipedal Robot. The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), Sep 2011, Paris, France. ⟨hal-00668813⟩
  • Arnaud Hamon, Yannick Aoustin. Compliance for a cross four-bar knee joint. The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.743-750. ⟨hal-00591830⟩
  • Carlos Rengifo, Yannick Aoustin, Franck Plestan, Christine Chevallereau. Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approaches. Multibody Dynamics 2011, 2011, Bruxelles, Belgium. pp.1. ⟨hal-00626575⟩
  • Arnaud Hamon, Yannick Aoustin. Cross four-bar structure with spring for the knee of a bipedal robot. Multibody Dynamics 2011 ECCOMAS, Jul 2011, Bruxelle, Belgium. ⟨hal-00564273⟩
  • Arnaud Hamon, Yannick Aoustin. Cross four-bar linkage for the knees of a planar bipedal robot. 2010 IEEE-RAS International Conference on Humanoid Robots - Humanoids 2010, Dec 2010, Nashville, United States. pp.379-384. ⟨hal-00512467⟩
  • Carlos Rengifo, Yannick Aoustin, Christine Chevallereau, Franck Plestan. A penalty-based approach for contact forces computation in bipedal robots. 9th IEEE-RAS International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.121 -- 127, ⟨10.1109/ICHR.2009.5379590⟩. ⟨hal-00520395⟩
  • Arnaud Hamon, Yannick Aoustin. Study of different structures of the knee joint for a planar bipedal robot. Humanoids2009, Dec 2009, Paris, France. pp.113-120. ⟨hal-00422259⟩
  • Carlos Rengifo, Franck Plestan, Yannick Aoustin. Optimal control of a neuromusculoskeletal model: a second order sliding mode solution. International Workshop on Variable Structure Systems, 2008., Jun 2008, Antalya, Turkey. pp.55 -- 60, ⟨10.1109/VSS.2008.4570682⟩. ⟨hal-00520405⟩
  • Yannick Aoustin, Serge Bellavoir, Gaël Branchu, Christine Chevallereau, Alexander Formal'Sky, et al.. A semi quadruped walking robot - first experimental results. 6th International Conference on Climbing and Walking Robots CLAWAR'03, Sep 2003, Catania, Italy. pp. 579-584. ⟨hal-00362673⟩
  • Brahim Cherki, Yannick Aoustin, Philippe Lemoine. An experimental validation of a nonlinear velocities observer. IFAC Conference on System Structure and Control, Jul 1995, Nantes, France. pp. 388-392. ⟨hal-00362559⟩

Books2 documents

  • Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Aoustin Yannick. Bipedal Robots : Modeling, Design and Walking Synthesis. ISTE Ltd, John Wiley & sons,, 2009, 978-1-84821-076-9. ⟨hal-01702864⟩
  • Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Aoustin Yannick. Les robots marcheurs bipèdes : modélisation, conception, synthèse de la marche, commande. Hermès Sciences, Lavoisier, 2007, 978-2-7462-1370-8. ⟨hal-01702853⟩

Book sections16 documents

  • O Bordron, C Huneau, E Le Carpentier, Yannick Aoustin. Human squat motion: joint torques estimation with a 3D model and a sagittal model. New trends in medical and service robotics (Springer), pp.247-255, 2020. ⟨hal-03000335⟩
  • Anne Kalouguine, Christine Chevallereau, Sébastien Dalibard, Yannick Aoustin. Periodic walking motion of a Humanoid robot based on human data. EuCoMeS 2020 New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, pp.349-359, 2020. ⟨hal-03022032⟩
  • Morgan Langard, Yannick Aoustin, Vigen Arakelian, Damien Chablat. Investigation of the stresses exerted by an exosuit of a human arm. Advanced Technologies in Robotics and Intelligent Systems, Mechanisms and Machine Science 80., 2020. ⟨hal-02365461⟩
  • Alban Gallard, Konstantin Akhmadeev, Éric Le Carpentier, Raphaël Gross, Yann Péréon, et al.. Automatic classification of intramuscular EMG to recognize pathologies.. Advanced Structured Materials, Springer Nature, In press. ⟨hal-02362458⟩
  • Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984430⟩
  • Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier. On the use of inner position loop in co-manipulation task. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984436⟩
  • Oscar Montano, Yuri Orlov, Aoustin Yannick, Christine Chevallereau. HInfini Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint. New Perspectives and Applications of Modern Control Theory, 2018. ⟨hal-01697136⟩
  • Olivier Bordron, Clément Huneau, Eric Le Carpentier, Yannick Aoustin. Impact of a knee orthosis over walking. ROMANSY 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. ⟨hal-01985287⟩
  • Abba G., Yannick Aoustin. Commande des robots humanoïdes. Technique de l'ingénieur, 2017. ⟨hal-01465130⟩
  • Aoustin Yannick, Christine Chevallereau, Jean-Paul Laumond. Historical Perspective of Humanoid Robot Research in Europe. Springer. 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⟩. ⟨hal-01697135⟩
  • Vigen Arakelian, Christine Chevallereau, Yannick Aoustin. On the Design of the Exoskeleton Arm with Decoupled Dynamics. In: 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⟩. ⟨hal-02883022⟩
  • E. Matheson, Y. Aoustin, Eric Le Carpentier, A. Léon, J. Perrin. Anthropomorphic Underactuated Hand with 15 Joints. New Trends in Medical and Service Robots, pp.277-295, 2016, ⟨10.1007/978-3-319-30674-2_21⟩. ⟨hal-02594310⟩
  • Vigen Arakelian, Yannick Aoustin, Christine Chevallereau. Study and Choice of Actuation for a Walking Assist Device. In: 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⟩. ⟨hal-02883026⟩
  • Vigen Arakelian, Christine Chevallereau, Yannick Aoustin. On the Design of the Exoskeleton Arm with Decoupled Dynamics. In: 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⟩. ⟨hal-02883025⟩
  • Christine Chevallereau, Yannick Aoustin, Vigen Arakalian. Study and choice of actuation for a walking assist device. Mechanism and Machine Science, New trends in medical and service robots, Springer, 2015., 2015. ⟨hal-01178930⟩
  • Yannick Aoustin, Gaëtan Garcia, Philippe Lemoine. Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive Feet. Armando Carlos de Pina Filho. Humanoid Robots: New Developments, I-Tech Education and Publishing, Vienna, Austria, Chap. 3, pp. 31-44, 2007, Advanced Robotic Systems, 978-3-902613-00-4. ⟨hal-00362625⟩

Other publications4 documents

  • Eric Le Carpentier, Yannick Aoustin, Konstantin Akhmadeev, Tianyi Yu, Yann Pereon, et al.. MODERATO : MOdélisation et Décomposition des EMG pour la Reconnaissance et l'Assistance aux Troubles neurOmusculaires. Rencontre innovation dispositifs médicaux de l'université de Nantes, 2018. ⟨hal-02594470⟩
  • Eric Le Carpentier, Yannick Aoustin. Evaluation de la performance musculaire avec traitement de signal EMG spécifique. Myostorming VII, journée du Centre de Référence des Maladies Neuromusculaires Atlantique-Océanie-Caraïbes, Nantes, 2017. ⟨hal-02594499⟩
  • Tianyi Yu, Konstantin Akhmadeev, Yannick Aoustin, Eric Le Carpentier. Commande EMG d'une main robotique. Journal télévisé France 3 Estuaire, 2017. ⟨hal-02594530⟩
  • Eric Le Carpentier, Yannick Aoustin. Une main bionique commandée par les muscles. Contribution à la fresque CNRS-RATP, métro Station Montparnasse, Paris, 2016. ⟨hal-02594576⟩

Preprints, Working Papers, ...4 documents

  • Sahab Omran, Sophie Sakka, Yannick Aoustin. Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking. 2016. ⟨hal-01304053⟩
  • Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin. Nonlinear state feedback H-infinity-control of mechanical systems under unilateral constraints. 2014. ⟨hal-01053182⟩
  • Abdul Haq, Yannick Aoustin, Christine Chevallereau. Effects of Knee Locking and Passive Joint Stiffness on Energy Consumption of a Seven-Link Planar Biped. 2012. ⟨hal-00668808⟩
  • Yannick Aoustin, M. Formal'Skii. On optimal swinging of the biped arms. 2008. ⟨hal-00462472⟩

Reports2 documents

  • Qiuyue Luo, Anne Kalouguine, Christine Chevallereau, Yannick Aoustin, Victor de Leon Gomez. Report on Calculation of Jacobian Matrix of Poincaré Return Map for Self-synchronized 3D Walking Gaits. [Research Report] LABORATOIRE DES SCIENCES DU NUMÉRIQUE DE NANTES. 2018. ⟨hal-01818860⟩
  • Maylis Uhart, Olivier Patrouix, Yannick Aoustin. Improving accuracy in robotized fibre placement using force and visual servoing external hybrid control scheme. [Intern report] ESTIA Recherche. 2014. ⟨hal-01060750v2⟩