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Design of safe control laws for the locomotion of biped robots

Nestor Bohorquez Dorante
Automatic. Université Grenoble Alpes, 2018. English. ⟨NNT : 2018GREAT110⟩
Theses tel-02057022v2
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Non-autonomous higher-order Moreau's sweeping process: Well-posedness, stability and Zeno trajectories

Bernard Brogliato
European Journal of Applied Mathematics, 2018, 29 (5), pp.941-968. ⟨10.1017/S0956792518000256⟩
Journal articles hal-01722772v2
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Solitary waves in the excitable Burridge-Knopoff model

Jose Eduardo Morales , Guillaume James , Arnaud Tonnelier
Wave Motion, 2018, 76, pp.103-121. ⟨10.1016/j.wavemoti.2017.10.001⟩
Journal articles hal-01634470v1
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The Contact Dynamics method: A nonsmooth story

Frédéric Dubois , Vincent Acary , Michel Jean
Comptes Rendus Mécanique, 2018, 346 (3), pp.247-262. ⟨10.1016/j.crme.2017.12.009⟩
Journal articles hal-01676287v1
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Consistent Discretization of Finite-time Stable Homogeneous Systems

Andrey Polyakov , Denis Efimov , Bernard Brogliato
VSS 2018 - 15th International Workshop on Variable Structure Systems and Sliding Mode Control, Jul 2018, Graz, Austria. pp.360-365, ⟨10.1109/VSS.2018.8460306⟩
Conference papers hal-01794386v1
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Errata to “Multivalued Robust Tracking Control of Lagrange Systems: Continuous and Discrete-Time Algorithms” [Sep 17 4436-4450]

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
IEEE Transactions on Automatic Control, 2018, 63 (8), pp.2750. ⟨10.1109/TAC.2018.2827992⟩
Journal articles hal-01927000v1
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Periodic motions of coupled impact oscillators

Guillaume James , Vincent Acary , Franck Pérignon
Remco Leine; Vincent Acary; Olivier Brüls. Advanced Topics in Nonsmooth Dynamics, Transactions of the European Network for Nonsmooth Dynamics, Springer International Publishing, pp.93-134, 2018, 978-3-319-75971-5. ⟨10.1007/978-3-319-75972-2_3⟩
Book sections hal-01660891v1
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Travelling breathers and solitary waves in strongly nonlinear lattices

Guillaume James
Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2018, 376 (2127), pp.20170138:1-25. ⟨10.1098/rsta.2017.0138⟩
Journal articles hal-01951239v1
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Nonsmooth contact dynamics for the numerical simulation of collisions in musical string instruments

Clara Issanchou , Vincent Acary , Franck Pérignon , Cyril Touzé , Jean-Loic Le Carrou et al.
Journal of the Acoustical Society of America, 2018, 143 (5), pp.1-13. ⟨10.1121/1.5039740⟩
Journal articles hal-01806133v2
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On the Constraints Formulation in the Nonsmooth Generalized-α Method

Olivier Brüls , Vincent Acary , Alberto Cardona
Springer International Publishing. Advanced Topics in Nonsmooth Dynamics. Transactions of the European Network for Nonsmooth Dynamics, pp.335-374, 2018, 9783319759715. ⟨10.1007/978-3-319-75972-2_9⟩
Book sections hal-01878550v1
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Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial

Bernard Brogliato
Multibody System Dynamics, 2018, 42 (3), pp.283-315. ⟨10.1007/s11044-017-9585-4⟩
Journal articles hal-01499581v2
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Optimal control of linear complementarity systems

Alexandre Vieira
Automatic Control Engineering. Université Grenoble Alpes, 2018. English. ⟨NNT : 2018GREAT064⟩
Theses tel-01989048v1
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Set-valued sliding-mode control of uncertain linear systems: continuous and discrete-time analysis

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
SIAM Journal on Control and Optimization, 2018, 56 (3), pp.1756-1793. ⟨10.1137/16M1077362⟩
Journal articles hal-01317948v1
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Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation

Narendra Akhadkar , Vincent Acary , Bernard Brogliato
Multibody System Dynamics, 2018, 42 (3), pp.249-282. ⟨10.1007/s11044-017-9584-5⟩
Journal articles hal-01562703v1
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On solving contact problems with Coulomb friction: formulations and numerical comparisons

Vincent Acary , Maurice Brémond , Olivier Huber
Springer International Publishing. Advanced Topics in Nonsmooth Dynamics - Transactions of the European Network for Nonsmooth Dynamics, pp.375-457, 2018, 9783319759715. ⟨10.1007/978-3-319-75972-2_10⟩
Book sections hal-01878539v1
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Adaptive step rotation in biped walking

Néstor Bohórquez , Pierre-Brice Wieber
IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.720-725, ⟨10.1109/IROS.2018.8594431⟩
Conference papers hal-01957332v1
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Well-Posedness and Output Regulation for Implicit Time-Varying Evolution Variational Inequalities

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
SIAM Journal on Control and Optimization, 2018, 56 (2), pp.751-781. ⟨10.1137/16M1083657⟩
Journal articles hal-01360325v2
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Comparisons of multiple-impact laws for multibody systems: Moreau's law, binary impacts, and the LZB approach

Ngoc Son Nguyen , Bernard Brogliato
Advanced Topics in Nonsmooth Dynamics. Transactions of the European Network for Nonsmooth Dynamics, Springer International Publishing AG, pp.1-45, 2018, Advanced Topics in Nonsmooth Mechanics. Transactions of the European Network for Nonsmooth Dynamics, ⟨10.1007/978-3-319-75972-2_1⟩
Book sections hal-01932551v1