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Philippe Müllhaupt

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Related publications (55)

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A Matlab toolbox for scaled-generic modeling of shoulder and elbow

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Ehsan Sarshari, Yasmine Boulanaache

There still remains a barrier ahead of widespread clinical applications of upper extremity musculoskeletal models. This study is a step toward lifting this barrier for a shoulder musculoskeletal model by enhancing its realism and facilitating its applicati ...

Nature Research2021

Jet-Scheduling Control for SpiderCrane: Experimental Results

Dominique Bonvin, Philippe Müllhaupt, Christophe Salzmann, Davide Buccieri

SpiderCrane is a three-dimensional crane, whose main particularity lies in the absence of large inertial moving parts. This paper presents experimental results obtained with the novel jet-scheduling control methodology that is based on differential flatnes ...

2008

A Friction Compensation Control for Power Steering

Philippe Müllhaupt, Robert Fuchs

The effects of friction are critical to the dynamics of electric power steering (EPS). On the one hand, friction contributes to the stability of the system and filters some of the disturbances (road vibration, etc.). On the other hand, it affects negativel ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Quotient method for controlling the acrobot

Dominique Bonvin, Philippe Müllhaupt

This paper describes a two-sweep control design method to stabilize the acrobot, an input-afﬁne under-actuated system, at the upper equilibrium point. In the forward sweep, the system is successively reduced, one dimension at a time, until a two-dimensiona ...

2009

Modelling of the human shoulder as a parallel mechanism without constraints

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Christoph Anselm Engelhardt, David Ingram

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

Elsevier2016

Bilinear Control Systems with Forced Integrable Filtration

Philippe Müllhaupt, Basile Graf

A class of nonlinear systems and a filtration of the corresponding codistributions are presented. The filtration enjoys some strong integrability property which allows an easy computation of a linearizing normal form whenever the algorithm terminates with ...

American Institute of Physics2012

Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case

Dominique Bonvin, Philippe Müllhaupt

Feedback linearization requires a unique feedback law and a unique diffeomorphism to bring a system to Brunovsk´y normal form. Unfortunately, singularities might arise both in the feedback law and in the diffeomorphism. This paper demonstrates the ability ...

2012

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 ...

Wiley-Blackwell2013

Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control

Dominique Bonvin, Philippe Müllhaupt

Cable-operated manipulators, also termed cable robots, possess a number of unique properties which make them suitable for tasks involving high payloads, large workspaces, and interacting with dangerous materials. But the fact that cables can only pull the ...

2008

Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference

Denis Gillet, Philippe Müllhaupt

This paper presents a convenient way to invert the classical Preisach model to compensate the hysteresis of a piezoelectric stack actuator in real-time. The advantage of the proposed method lies in the possibility to track a stochastic signal and compensat ...

2008

End-to-end adaptation scheme for ubiquitous remote experimentation

Denis Gillet, Philippe Müllhaupt, Christophe Salzmann

Remote experimentation is an effective e-learning paradigm for supporting hands-on education using laboratory equipment at distance. The current trend is to enable remote experimentation in mobile and ubiquitous learning. In such a context, the remote expe ...

2009

Quotient Submanifolds for Static Feedback Linearization

Philippe Müllhaupt

A procedure for finding locally the linearizing output of a single input nonlinear affine system is proposed. It relies on successive integrations of one-dimensional distributions and projections along these submanifolds. The algorithm proceeds recursively ...

2006

Real-Time Interaction over the Internet: Model for QOS Adaptation

Denis Gillet, Philippe Müllhaupt, Christophe Salzmann

Real-time Interaction over the Internet (RTI2) is an Internet service that is required typically by remote experimentation applications. From a quality of service (QoS) point of view, RTI2 has constraints that differ from usual real-time multimedia service ...

2005

Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."

Philippe Müllhaupt

2008

Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch

Dominique Bonvin, Philippe Müllhaupt, Sergio Valentinotti

A direct adaptive control methodology for the rejection of unmeasured non-vanishing disturbances is proposed. The approach uses the framework of polynomial RST controllers and relies on the internal model principle with additional degrees of freedom provid ...

Wiley-Blackwell2012

Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers

Philippe Müllhaupt, Ehsan Sarshari

Scour can have the effect of subsidence of the piers in bridges, which can ultimately lead to the total collapse of these systems. Effective bridge design needs appropriate information on the equilibrium depth of local scour. The flow field around bridge p ...

2015

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

On two isomorphic Lie algebroids associated with feedback linearization

Philippe Müllhaupt

We present two Lie algebroids linked to the construction of the linearizing output of an input affine nonlinear system. The algorithmic development of the linearizing output proceeds inductively, and each stage has two structures, namely a codimension one ...

ELSEVIER2019

Analysis of Cascade Structure with Predictive Control and Feedback Linearization

Dominique Bonvin, Philippe Müllhaupt, Kahina Guemghar

Predictive control and feedback linearization are two popular approaches for the control of nonlinear systems. In this paper, a cascade combination of the two methods is proposed, where control based on input- output feedback linearization forms the inner ...

2005

Muscle Moment-Arms: A Key Element in Muscle-Force Estimation

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, David Ingram, Christoph Anselm Engelhardt

A clear and rigorous definition of muscle moment-arms in the context of musculoskeletal systems modelling is presented, using classical mechanics and screw theory. The definition provides an alternative to the tendon excursion method, which can lead to inc ...

Taylor & Francis2015