Publications by Philippe Müllhaupt

Related publications (55)

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

Dominique Pioletti, Denis Gillet, Alexandre Terrier, Alain Farron, Philippe Müllhaupt

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical syste ...

Elsevier2010

Imprecise dynamic walking with time-projection control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

2018

A framework for forward-dynamics simulation of the human shoulder

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Alain Farron, Ehsan Sarshari

A vast majority of the available biomechanical models of the human shoulder has been developed based on inverse dynamics, e.g. [1,2]. This imposes a number of limitations on their application. For instance, the glenohumeral joint is approximated as an idea ...

2016

Muscle co-contraction in an upper limb musculoskeletal model: EMG-assisted vs. standard load-sharing

Dominique Pioletti, Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Ehsan Sarshari, Matteo Mancuso

Estimation of muscle forces in over-actuated musculoskeletal models involves optimal distributions of net joint moments among muscles by a standard load-sharing scheme (SLS). Given that co-contractions of antagonistic muscles are counterproductive in the n ...

2021

Minimal State Representation for Open Fluid-Fluid Reaction Systems

Dominique Bonvin, Philippe Müllhaupt, Michael Amrhein, Nirav Pravinbhai Bhatt

Reaction systems are typically represented by first-principles models that describe the evolution of the states (typically concentrations, volume and temperature) by means of conservation equations of differential nature and constitutive equations of algeb ...

Ieee Computer Soc2012

A Numerical Sufficiency Test for the Asymptotic Stability of Linear Time-Varying Systems

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

A numerical sufficiency test for the asymptotic stability of linear time-varying Hurwitz systems is proposed. The algorithmic procedure constructs a bounding tube in which the state is guaranteed to stay. The continuous-time system is evaluated at discrete ...

2007

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotatio ...

2009

Stabilization of the cart-pendulum system through approximate manifold decomposition

Dominique Bonvin, Philippe Müllhaupt, David Ingram

This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rath ...

2011

On two isomorphic Lie algebroids for Feedback Linearization

Philippe Müllhaupt

Two Lie algebroids are presented that are linked to the construction of the linearizing output of an affine in the input nonlinear system.\ The algorithmic construction of the linearizing output proceeds inductively, and each stage has two structures, name ...

2019

Improving tokamak vertical position control in the presence of power supply voltage saturation

Jonathan Bryan Lister, Philippe Müllhaupt, Jean-Yves Favez

The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable t ...

Institute of Physics2005

Quotient method for stabilising a ball-on-a-wheel system – Experimental results

Dominique Bonvin, Philippe Müllhaupt

This paper extends the quotient method proposed in [1] and applies it to stabilize a “ball-on-a-wheel” system. The quotient method requires a diffeomorphism to obtain the normal form of the input vector field and uses canonical pro- jection to obtain the q ...

2012

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combi- nation of free coor ...

IEEE2010

Trajectory Tracking through Overactuation for an Optical Delay Line

Denis Gillet, Philippe Müllhaupt

Nano-positioning devices constitute the mechatronic heart of the VLTI (Very Large Telescope Interferometer) for the ESO (European Southern Observatory) astrometry instrumentation. In the context of the development of a new optical Differential Delay Line ( ...

2007

Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

Dominique Pioletti, Denis Gillet, Alexandre Terrier, Philippe Müllhaupt

A new dynamical model of the shoulder has been developed. It consists of eleven muscles. The glenohumeral joint, modeled as a spherical joint, allows three rotations and blocks the translations. Muscle wrapping around a spherical humeral head is calculated ...

2009

Control of the Toycopter using a Flat Approximation

Dominique Bonvin, Philippe Müllhaupt

This paper considers a helicopter-like setup called the Toycopter. Its particularities reside first in the fact that the toycopter motion is constrained to remain on a sphere and second in the use of a variable rotational speed of the propellers to vary th ...

2008

A quotient method for designing nonlinear controllers

Dominique Bonvin, Philippe Müllhaupt

An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iter ...

IEEE Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

Denis Gillet, Philippe Müllhaupt

A double-stage feedback control structure for a double-stage mechanical system, with a single optical metrology is developed to reach the nanometer accuracy at high bandwidth over large displacements. A piezoelectric stack actuator is used for fine positio ...

2006

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

Numerical algorithm for feedback linearizable systems

Dominique Bonvin, Philippe Müllhaupt

A numerical algorithm that achieves asymptotic stability for feedback linearizable systems is presented. The nonlinear systems can be represented in various forms that include differential equations, simulated physical models or lookup tables. The proposed ...

American Institute of Physics2012

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

Philippe Müllhaupt, Basile Graf

A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combination of the free co ...

2010