# Philippe Müllhaupt

#### Scientist

philippe.muellhaupt@epfl.ch +41 21 693 38 38 http://lawww.epfl.ch

Citizenship: Swiss & Irish

+41 21 693 38 38

EPFL
>
STI
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STI-SGM
>
SGM-ENS

+41 21 693 38 38

EPFL
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SB
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SB-SPH
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SPH-ENS

Web site: Web site: https://sph.epfl.ch/

**EPFL STI-DO **

BM 4101 (Bâtiment BM)

Station 17

1015 Lausanne

Web site: Web site: https://sti.epfl.ch/page-1740.html

### Fields of expertise

Classical Dynamics

Robotics

### Biography

Philippe Mullhaupt received his Diplôme d'Ingénieur in Electrical Engineering from the Ecole Polytechnique Fédérale de Lausanne, Switzerland in 1993 and a Diplôme Etudes Approfondies in the field of Signal Processing and Control Theory from the University of Paris XI, Orsay, France in 1994. He then received the doctoral degree from the EPFL in 1999, in the field of Nonlinear Control with application to Underactuated Mechanical Systems. He then joined the European Nonlinear Control Network as a post-doctoral fellow at the Centre Automatique et Systèmes of the Ecole Nationale Supérieure des Mines de Paris in Fontainebleau, France. His theoretical research interests lie in the field of geometric and algebraic methods for nonlinear control systems. He is also a lecturer for classical mechanics, nonlinear control, linear control and multivariable state space methods.### Professional course

**Post-Doc**

Centre Automatique et Syst�mes

ENSMP-Paris (Fontainebleau)

1999-2000

**Researcher and Lecturer**

LA

EPFL

2000 - 2014

**Scientist**

Space Center

EPFL

2014 - 2016

**Scientist**

BIOROB

EPFL

2014 - 2017

**Scientist**

LBO

EPFL

2014 - 2018

**Researcher and Lecturer**

IGM

EPFL

2014 - (now)

**Inventory management and follow-ups**

STI-DO

EPFL

2017 - 2019

**Academic Promotion**

STI-DO

EPFL

2019-Now

## Publications

### Infoscience publications

#### Publications

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

*Scientific Reports*. 2021-10-21. DOI : 10.1038/s41598-021-99856-y.

#### Bayesian inference with Expectation Maximisation for the characterisation of antibiotic treatment recovery in Cystic Fibrosis

2021-08-27#### Muscle co-contraction in an upper limb musculoskeletal model: EMG-assisted vs. standard load-sharing

*Computer Methods in Biomechanics and Biomedical Engineering*. 2021. DOI : 10.1080/10255842.2020.1814755.

#### Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patients

*Computer Methods In Biomechanics And Biomedical Engineering*. 2021. DOI : 10.1080/10255842.2020.1808889.

#### On two isomorphic Lie algebroids for Feedback Linearization

2019-01-24#### On two isomorphic Lie algebroids associated with feedback linearization

2019. 8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS), Vienna, AUSTRIA, September 04-06, 2019. p. 280-285. DOI : 10.1016/j.ifacol.2019.11.792.#### Imprecise dynamic walking with time-projection control

*arXiv*. 2018-11-12.

#### Guidance, Navigation and Control for Autonomous Rendezvous and Docking of Nano-Satellites

Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8729.#### A Closed-Loop EMG-Assisted Shoulder Model

Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8658.#### Time-projection control to recover inter-sample disturbances, application to bipedal walking control

*ArXiv*. 2018.

#### A simulation framework for humeral head translations

*Medical Engineering and Physics*. 2017. DOI : 10.1016/j.medengphy.2017.08.013.

#### Room Modal Equalisation with Electroacoustic Absorbers

Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7166.#### A framework for forward-dynamics simulation of the human shoulder

2016. 11th Conference of the International Shoulder Group, ISG 2016, Winterthur, Switzerland, 14-16 July 2016.#### Modelling of the human shoulder as a parallel mechanism without constraints

*Mechanism and Machine Theory*. 2016. DOI : 10.1016/j.mechmachtheory.2016.02.004.

#### Effect of partial-thickness tear on loading capacities of the supraspinatus tendon: a finite element analysis

*Computer Methods in Biomechanics and Biomedical Engineering*. 2015. DOI : 10.1080/10255842.2015.1075012.

#### Effect of Patient Specific Parameters on Degenerative Shoulder Diseases

Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6588.#### Modeling and Compensating Friction in Power Steering

2015. European Control Conference 2015, Linz, Austria, July 15-17. p. 2138-2143. DOI : 10.1109/ECC.2015.7330856.#### Comparison of an EMG-based and a stress-based method to predict shoulder muscle forces

*Computer Methods In Biomechanics And Biomedical Engineering*. 2015. DOI : 10.1080/10255842.2014.899587.

#### Active Stability of Glenohumeral Joint Diminishes during the End-range Motions

2015. 21st Congress of the European Society of Biomechanics ESB 2015, Prague, Czech Republic, 5-8 July 2015.#### Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers

2015. ASME 2015 34th International Conference on Ocean, Offshore & Arctic Engineering OMAE2015, St. John’s, Newfoundland, Canada, May 31-June 5. p. V007T06A061. DOI : 10.1115/OMAE2015-42387.#### A Cable-Driven Pendulum for Analysing the Stability of Joint Stiffness Control

*Journal of Biological Cybernetics*. 2015.

#### Musculoskeletal Model of the Human Shoulder for Joint Force Estimation

Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6497.#### Muscle Moment-Arms: A Key Element in Muscle-Force Estimation

*Computer Methods in Biomechanics and Biomedical Engineering*. 2015. DOI : 10.1080/10255842.2013.818666.

#### A Friction Compensation Control for Power Steering

*IEEE Transactions on Control Systems Technology*. 2015. DOI : 10.1109/Tcst.2015.2483561.

#### Review of "Critical configurations of planar robot arms" by Khimshiashvili Giorgi, Panina Gaiane, Siersma Dirk and Zhukova Alena, in Cent. Eur. J. Math. 11, no. 3, 519-529, 2013

*Mathematical reviews + database fee*. 2014.

#### Review of "Stability analysis and design of nonlinear singular systems" by Yang, Chun Yu, Zhang Qing Ling, Zhou Linna, Springer, Heidelberg, LCNCIS 435, 2013

*Mathematical reviews + database fee*. 2014.

#### Review of "Neutral wrenches of 3-parametric robot-manipulators of spherical rank 1" by Marksova, Marta, Appl. Math. 56, n0. 4, 405-416, 2011

*Mathematical reviews + database fee*. 2014.

#### Nonlinear Analysis of a Coaxial Microhelicopter with a Bell Stabilizer Bar

*Journal of the American Helicopter Society*. 2014. DOI : 10.4050/JAHS.59.012003.

#### Finite Dimensional Methods for Differential Flatness

Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5749.#### A Quotient Method for Designing Nonlinear Controllers

*European Journal of Control*. 2013. DOI : 10.1016/j.ejcon.2012.10.001.

#### Quotient-method Algorithms for Input-affine Single-input Nonlinear Systems

Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5467.#### Review of "A characterization of one-element p-bases of rings of constants", by Jedrzejewicz, P., Bull. Pol. Acad. Sci. Math. 59 (2011), no. 1, 19–26.1732-8985

*Mathematical reviews + database fee*. 2012.

#### Review of "Flexible Multibody Dynamics", by Bauchau, O. A., Springer, 2011.

*Mathematical reviews + database fee*. 2012.

#### Bilinear Control Systems with Forced Integrable Filtration

2012. Int. Conf. on Numerical Analysis and Applied Mathematics (ICNAAM), Kos, Greece, September 19-25, 2012. p. 1450-1453. DOI : 10.1063/1.4756434.#### Numerical algorithm for feedback linearizable systems

2012. 10th Int. Conference of Numerical Analysis and Applied Mathematics, Kos, Greece, September 2012. p. 1458-1461. DOI : 10.1063/1.4756436.#### Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case

2012. American Control Conference, Montreal, Canada, June 27-29, 2012. p. 1155-1161. DOI : 10.1109/ACC.2012.6315095.#### Quotient method for stabilising a ball-on-a-wheel system – Experimental results

2012. IEEE CDC 2012, Hawaii, December 2012. p. 1271-1278. DOI : 10.1109/CDC.2012.6426434.#### Application of Legendrian Foliations in Differential Flatness Problems

2012. IEEE CDC 2012, Hawaii. p. 3570-3575. DOI : 10.1109/CDC.2012.6426237.#### Review of "A multiple time-scale solution for non-linear vibration of mass grounded system", by A. Shooshtari and A.A. Pasha Zanoosi, Appl. Math. Model., 34, 2010, no. 7, 1918-1929.

*Mathematical reviews + database fee*. 2012.

#### Review of "The shape of some linear transformations", by Hou, Bo and Gao, Suogang, Linear Algebra Appl., 433, 2010, n0 11-12, 2088-2095

*Mathematical reviews + database fee*. 2012.

#### Review of "Some nonlinear boundary value problems describing conflict control with continuous feedback and nonconvex target set", by S.A. Brykalov and Y.A. Latushkin, Nonlinear Analysis, 71, 2009, no 12, pp. 1116-1123

*Mathematical reviews + database fee*. 2012.

#### Minimal State Representation for Open Fluid-Fluid Reaction Systems

2012. 2012 American Control Conference (ACC), Montreal, Canada, June 27 - 29, 2012. p. 3496-3502. DOI : 10.1109/ACC.2012.6315195.#### Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch

*Int. Journal of Adaptive Control and Signal Processing*. 2012. DOI : 10.1002/acs.2292.

#### A quotient method for designing nonlinear controllers

2011. 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011. p. 7980-7987. DOI : 10.1109/CDC.2011.6160803.#### Review of "Condition number related to the outer inverse of a complex matrix", by D. Mosic and D. Djordjevic, Appl. Math. Comput. 215, 2009, no.8, pp 2826-2834

*Mathematical reviews + database fee*. 2011.

#### Review of "The complex solution to a quaternion matrix equation with applications", Ding, Yu-Han; Wang, Qing-Wen, Math. Sci. Res. J. 12, no. 9, pp. 215-224, 2008

*Mathematical reviews + database fee*. 2011.

#### Review of "On functions whose graph is a Hamel basis. II", Krzysztof Plotka, Canad. Math. Bull. 52, No. 2, pp 295-302, 2009.

*Mathematical reviews + database fee*. 2011.

#### Review of "Modeling, performance analysis and control of robot manipulators" Edited by Etienne Dombre and Wisama Khalil

*Mathematical reviews + database fee*. 2011.

#### Feedback Linearizability and Flatness in Restricted Control Systems

2011. 18th IFAC World Congress, Milano, Italy, August 28, 2011. p. 13362-13367. DOI : 10.3182/20110828-6-IT-1002.01987.#### Stabilization of the cart-pendulum system through approximate manifold decomposition

2011. IFAC, Milano, Italy 2011, August 28th to September 2nd 2011. p. 10659-10666. DOI : 10.3182/20110828-6-IT-1002.01168.#### Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

2010. 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. p. 1307-1312. DOI : 10.1109/CCA.2010.5611216.#### Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System

*Advances in the Theory of Control, Signals and Systems with Physical Modeling*; London: Springer, 2010. p. 49-64.

#### Review of "Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration" Betsch, P. and Siebert, R., International J. Numer. Methods, Engrg. 79, no. 4, pp. 444-473, 2009

*Mathematical reviews + database fee*. 2010.

#### Review of "On symplectic polar spaces over non-perfect fields of characteristic 2", De Bruyn, B. and Pasini, A., Linear Multilinear Algebra 57, no. 6, pp. 567-575, 2009

*Mathematical reviews + database fee*. 2010.

#### Advances in the Theory of Control, Signals and Systems with Physical Modeling

New York, Heidelberg, Berlin: Springer Verlag.#### A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

*Medical Engineering and Physics*. 2010. DOI : 10.1016/j.medengphy.2010.07.006.

#### Review of "Some remarks on Eisenstein's criterion", Woo, Sung Sik, Commun. Korean Math. Soc. 23 (2008), no.4, 499-509

*Mathematical reviews + database fee*. 2010.

#### Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

2010. IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. p. 1307-1312. DOI : 10.1109/CCA.2010.5611216.#### Quotient method for controlling the acrobot

2009. CDC 2009, Shanghai, December 2009. p. 1770-1775. DOI : 10.1109/CDC.2009.5400729.#### Review of "The inversion formulae for automorphisms of polynomial algebras and rings of differential operators in prime characteristic", by Bavula, V. V., J. Pure Appl. Algebra, 212, 2008, no. 10, pp 2320-2337

*Mathematical reviews + database fee*. 2009.

#### Review of "Generalized Differential Galois Theory." P. Landesmann, Trans. Amer. Math. Soc. 360 (2008) no. 8, pp 4441-4495.

*Mathematical reviews + database fee*. 2009.

#### Review of "Sheafhom: software for sparse integer matrices", M. McConnell, Pure Appl. Math. Q. 3 (2007), no. 1, part 3, 307-322.

*Mathematical reviews + database fee*. 2009.

#### Review of "Singurlarly perturbed piecewise deterministic games", A. Haurie and F. Moresino, SIAM J. Control Optim, 47 (2008), no. 1, 73-91.

*Mathematical reviews + database fee*. 2009.

#### Review of "On the number of generators of the module of derivations and multiplicity of certain rings", Gurjar, R.V. and Vagh, V., J. Algebra 319 (2008), no. 5, 2030-2049

*Mathematical reviews + database fee*. 2009.

#### End-to-end adaptation scheme for ubiquitous remote experimentation

*Personal and Ubiquitous Computing*. 2009. DOI : 10.1007/s00779-007-0184-x.

#### Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach

2009. European Control Conference, Budapest, August 2009. p. 808-813. DOI : 10.23919/ECC.2009.7074503.#### Overactuated systems coordination

Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4299.#### Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

2009. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008. p. 67-73. DOI : 10.1109/ROBIO.2009.4912981.#### Introduction à l'Analyse et la Commande Non Linéaire

Lausanne: PPUR.#### Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

*IEEE Transactions on Robotics and Automation*. 2009. DOI : 10.1109/TRO.2009.2014494.

#### Review of "On the determination of the basin of attraction for stationary and periodic movements"

*Mathematical reviews + database fee*. 2008.

#### Review of "Standard bases for local rings of branches and their module of differentials"

*Mathematical reviews + database fee*. 2008.

#### Review of "The Holditch sickles for the open homothetic motions"

*Mathematical reviews + database fee*. 2008.

#### Review of "Holditch-type theorems under the closed planar homothetic motions"

*Mathematical reviews + database fee*. 2008.

#### Dedicated controller design for a dual-stage opto-mechatronic system

2008. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2-5 July 2008. p. 457-464. DOI : 10.1109/AIM.2008.4601704.#### Review of "Quantum field theory and the Jones polynomial."

*Mathematical reviews + database fee*. 2008.

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

*Mathematical reviews + database fee*. 2008.

#### Jet-scheduling control for flat systems

Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-3996.#### Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control

2008. IFAC World Congress, Seoul, July 2008. DOI : 10.3182/20080706-5-KR-1001.00536.#### Jet-Scheduling Control for SpiderCrane: Experimental Results

2008. IFAC World Congress, Seoul, July 2008. p. 3148-3154. DOI : 10.3182/20080706-5-KR-1001.00535.#### On Achieving Periodic Joint-Motion for Redundant Robots

2008. IFAC World Congress, Seoul, 6-11 July, 2008. p. 4355-4360. DOI : 10.3182/20080706-5-KR-1001.00734.#### Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference

2008. American Control Conference, Seattle, June 2008. p. 2939-2944. DOI : 10.1109/ACC.2008.4586942.#### Control of the Toycopter using a Flat Approximation

*IEEE Transactions on Control Systems Technology*. 2008. DOI : 10.1109/TCST.2007.916333.

#### Fast Step-response Evaluation of Linear Continuous-time Systems with Time Delay in the Feedback Loop

2007. IFAC World Congress Seoul, Seoul, june 2008. p. 2631-2636. DOI : 10.3182/20080706-5-KR-1001.00443.#### Review of "Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles"

*Mathematical reviews + database fee*. 2007.

#### Review of "Control of chaos and its relevancy to spacecraft steering" by E. E. N. Macau and C. Grebogi in Phil. Trans. R. Soc. A, vol. 364, p. 2463-2481

*Mathematical reviews + database fee*. 2007.

#### Review of "On Lagrange multipliers in flexible multibody dyanmics" by B. Simeon, Comput. Meth. Appl. Mech. Eng., vol. 195, p. 6993-7005

*Mathematical reviews + database fee*. 2007.

#### Review of "Rational constants of monomial derivations" by A. Nowicki and J. Zielinski, J. Algebra 302 (2006),no. 1, 387-418

*Mathematical reviews + database fee*. 2007.

#### Review of "The dynamics of legged locomotion: models, analysis, and challenges" by Ph. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, SIAM Rev. 48 (2006), no. 2, 207-304

*Mathematical reviews + database fee*. 2007.

#### Trajectory Tracking through Overactuation for an Optical Delay Line

*IEEE/ASME Transactions on Mechatronics*. 2007.

#### Design and control of quadrotors with application to autonomous flying

Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3727.#### A Two-Time-Scale Control Scheme for Fast Unconstrained Systems

2007. Int. Workshop on Nonlinear Model Predictive Control, Freudenstadt-Lauterbad, August 26-30, 2005. p. 551–563. DOI : 10.1007/978-3-540-72699-9_46.#### A Two-Time-Scale Control Scheme for Fast Systems

*Assessment and Future Directions of Nonlinear Model Predictive Control*; Springer, 2007. p. 551-563.

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

*Automatica*. 2007. DOI : 10.1016/j.automatica.2006.10.014.

#### Attraction Region of Planar Linear Systems with One Unstable Pole and Saturated Feedback

*Journal of Dynamical and Control Systems*. 2006. DOI : 10.1007/s10450-006-0003-0.

#### HIV and solid organ transplantation: the Swiss experience

*Swiss medical weekly*. 2006. DOI : 10.4414/smw.2006.11356.

#### Dynamics of torque control continuously variable transmissions

Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3646.#### Velocity Scheduling Controller for a Nonholonomic Mobile Robot

2006. Chinese Control Conference, Harbin, August 2006. p. 2103-2108. DOI : 10.1109/CHICC.2006.280926.#### Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

2006. 2006 IEEE International Conference on Robotics, Automation & Mechatronics (RAM), Bangkok, Thailand, June 7-9, 2006. DOI : 10.1109/RAMECH.2006.252649.#### Quotient Submanifolds for Static Feedback Linearization

*Systems & Control Letters*. 2006. DOI : 10.1016/j.sysconle.2005.12.002.

### Teaching & PhD

#### Teaching

Mechanical Engineering

Physics