Search Results - "Aoustin, Yannick"

An essential model for generating walking motions for humanoid robots by De-León-Gómez, Víctor, Luo, Qiuyue, Kalouguine, Anne, Pámanes, J. Alfonso, Aoustin, Yannick, Chevallereau, Christine

“…The modeling of humanoid robots with many degrees-of-freedom (DoF) can be done via the complete dynamic model. However, the complexity of the model can hide…”
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Arm swing effects on walking bipedal gaits composed of impact, single and double support phases by Kaddar, Bassel, Aoustin, Yannick, Chevallereau, Christine

“…In human walking, it is often assumed that the arms have a passive movement which reduces the energy consumption of walking. The issue addressed in this work…”
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Experimental Validation of the Essential Model for a Complete Walking Gait with the NAO Robot by Marquez-Acosta, Emanuel, De-León-Gómez, Victor, Santibañez, Victor, Chevallereau, Christine, Aoustin, Yannick

“…In this paper, for the first time, experimental tests of complete offline walking gaits generated by the essential model are performed. This model does not…”
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A semi-implicit homogeneous discretized differentiator based on two projectors: experimental validation on a cable-driven parallel robot by Michel, Loic, Métillon, Marceau, Caro, Stéphane, Ghanes, Malek, Plestan, Franck, Barbot, Jean-Pierre, Aoustin, Yannick

“…This work is dedicated to the application of a semi-implicit homogeneous differentiator to estimate the angular velocity and the angular acceleration of each…”
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A self‐stabilised walking gait for humanoid robots based on the essential model with internal states by Luo, Qiuyue, Chevallereau, Christine, Ou, Yongsheng, Pang, Jianxin, De‐León‐Gómez, Victor, Aoustin, Yannick

“…Walking stability is one of the key issues for humanoid robots. A self‐stabilised walking gait for a full dynamic model of humanoid robots is proposed. For…”
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Using the Generalized Inverted Pendulum to Generate Less Energy-Consuming Trajectories for Humanoid Walking by Omran, Sahab, Sakka, Sophie, Aoustin, Yannick

“…This paper proposes an analysis of the effect of vertical position of the pivot point of the inverted pendulum during humanoid walking. We introduce a new…”
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Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose by Aoustin, Yannick, Formal’skii, Alexander, Martynenko, Yuri

“…The objective of this paper is to define a strategy for the swing up of a double-link pendulum and its stabilization in the unstable equilibrium state with…”
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Finite Time Stabilization of a Perturbed Double Integrator-Part I: Continuous Sliding Mode-Based Output Feedback Synthesis by Orlov, Yury, Aoustin, Yannick, Chevallereau, Christine

“…The twisting and supertwisting algorithms, generating important classes of second order sliding modes (SOSMs), are well-recognized for their finite time…”
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Optimization of design parameters and improvement of human comfort conditions in an upper-limb exosuit for assistance by Lu, Yaodong, Aoustin, Yannick, Arakelian, Vigen

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Human like trajectory generation for a biped robot with a four-bar linkage for the knees by Aoustin, Yannick, Hamon, Arnaud

“…The design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee…”
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Self-stabilization of 3D walking via vertical oscillations of the hip by Chevallereau, Christine, Aoustin, Yannick

“…Actual control of most humanoid robots is based on the 3D linear inverted pendulum and assumes an horizontal displacement of the center of mass of the robot…”
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Leg design for biped locomotion with mono-articular and bi-articular linear actuation by Chevallereau, Christine, Wenger, Philippe, Aoustin, Yannick, Mercier, Franck, Delanoue, Nicolas, Lucidarme, Philippe

“…•An original design strategy of biped legs actuated with linear motors is proposed.•Eight actuation schemes combining mono-articular and bi-articular motors…”
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Highly accurate real-time decomposition of single channel intramuscular EMG(minor revison) by Yu, Tianyi, Akhmadeev, Konstantin, Le Carpentier, Eric, Aoustin, Yannick, Farina, Dario

“…Real-time intramuscular electromyography (iEMG) decomposition, as an identification procedure of individual motor neuron (MN) discharge timings from a…”
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Highly Accurate Real-Time Decomposition of Single Channel Intramuscular EMG by Yu, Tianyi, Akhmadeev, Konstantin, Carpentier, Eric Le, Aoustin, Yannick, Farina, Dario

“…Objective: Real-time intramuscular electromyography (iEMG) decomposition, as an identification procedure of individual motor neuron (MN) discharge timings from…”
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Orbital stabilization of an underactuated bipedal gait via nonlinear H∞-control using measurement feedback by Montano, Oscar, Orlov, Yury, Aoustin, Yannick, Chevallereau, Christine

“…The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H ∞…”
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A survey on the discrete-time differentiators in closed-loop control systems: Experiments on an electro-pneumatic system by Mojallizadeh, Mohammad Rasool, Brogliato, Bernard, Polyakov, Andrey, Selvarajan, Subiksha, Michel, Loïc, Plestan, Franck, Ghanes, Malek, Barbot, Jean-Pierre, Aoustin, Yannick

“…This paper is dedicated to the experimental analysis of discrete-time differentiators implemented in closed-loop control systems. To this end, an…”
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On-Line Recursive Decomposition of Intramuscular EMG Signals Using GPU-Implemented Bayesian Filtering by Yu, Tianyi, Akhmadeev, Konstantin, Le Carpentier, Eric, Aoustin, Yannick, Farina, Dario

“…Objective: Real-time intramuscular electromyography (iEMG) decomposition, which is needed in biofeedback studies and interfacing applications, is a complex…”
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Self-synchronization and self-stabilization of 3D bipedal walking gaits by Chevallereau, Christine, Razavi, Hamed, Six, Damien, Aoustin, Yannick, Grizzle, Jessy

“…This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on…”
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Simulation of Motor Unit Action Potential Recordings From Intramuscular Multichannel Scanning Electrodes by Konstantin, Akhmadeev, Yu, Tianyi, Le Carpentier, Eric, Aoustin, Yannick, Farina, Dario

“…Multi-channel intramuscular EMG (iEMG) provides information on motor neuron behavior, muscle fiber (MF) innervation geometry and, recently, has been proposed…”
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Walking of biped with passive exoskeleton: evaluation of energy consumption by Aoustin, Y., Formalskii, A. M.

“…The paper aims to theoretically show the feasibility and efficiency of a passive exoskeleton for a human walking and carrying a load. The human is modeled…”
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