Publication

A Friction Compensation Control for Power Steering

Publications associées (26)

Stability and Unbalance Analysis of Rigid Rotors Supported by Spiral Groove Bearings: Comparison of Different Approaches

The dynamic behavior of spiral-grooved gas bearing supported four degrees-of-freedom (DOF) rotors is investigated by means of linearized bearing force coefficients and full time-integrated transient analysis. The transient method consists of a state-space ...

2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Rohan Budhiraja, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

A Simple Mechanistic Model for Friction of Rough Partially Lubricated Surfaces

Jean-François Molinari, Julie Richard, Tobias Brink, Gianluca Costagliola

We report experimental measurements of friction between an aluminum alloy sliding over steel with various lubricant densities. Using the topography scans of the surfaces as input, we calculate the real contact area using the boundary element method and the ...

2021

Adhesive wear regimes on rough surfaces and interaction of micro-contacts

Jean-François Molinari, Son-Jonathan Pham-Ba

We develop an analytical model of adhesive wear between two unlubricated rough surfaces, forming micro-contacts under normal load. The model is based on an energy balance and a crack initiation criteria. We apply the model to the problem of self-affine rou ...

2021

Review of control strategies for lower-limb exoskeletons to assist gait

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Motor control: Neural correlates of optimal feedback control theory

Mackenzie Mathis, Steffen Schneider

Recent work is revealing neural correlates of a leading theory of motor control. By linking an elegant series of behavioral experiments with neural inactivation in macaques with computational models, a new study shows that premotor and parietal areas can b ...

CELL PRESS2021