Philippe Müllhaupt

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Lecturer

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

Citizenship: Swiss & Irish

+41 21 693 38 38
EPFL > STI > STI-SGM > SGM-ENS

+41 21 693 38 38
EPFL > VPA-AVP-DLE > AVP-DLE-EDOC > EDEE-ENS

EPFL STI SGM-GE
ME C2 425 (Bâtiment ME)
Station 9
1015 Lausanne

+41 21 693 38 38
Office: ME C2 425
EPFL > STI > STI-SGM > SGM-GE

+41 21 693 38 38
EPFL > SB > SB-SPH > SPH-ENS

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

+41 21 693 38 38
EPFL > STI > STI-SEL > SEL-ENS

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Administrative data

Fields of expertise

Nonlinear Control (Geometry and Algebra)
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

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

E. Sarshari; Y. Boulanaache; A. Terrier; A. Farron; P. Mullhaupt et al.

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

Philippe Müllhaupt

Lecturer

Fields of expertise

Biography

Professional course

Publications

Infoscience publications

Publications

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

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

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

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

On two isomorphic Lie algebroids for Feedback Linearization

On two isomorphic Lie algebroids associated with feedback linearization

Imprecise dynamic walking with time-projection control

Time-projection control to recover inter-sample disturbances, application to bipedal walking control

A Closed-Loop EMG-Assisted Shoulder Model

A simulation framework for humeral head translations

A framework for forward-dynamics simulation of the human shoulder

Modelling of the human shoulder as a parallel mechanism without constraints

Comparison of an EMG-based and a stress-based method to predict shoulder muscle forces

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

Modeling and Compensating Friction in Power Steering

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

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

Musculoskeletal Model of the Human Shoulder for Joint Force Estimation

A Cable-Driven Pendulum for Analysing the Stability of Joint Stiffness Control

A Friction Compensation Control for Power Steering

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

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

Nonlinear Analysis of a Coaxial Microhelicopter with a Bell Stabilizer Bar

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

Finite Dimensional Methods for Differential Flatness

A Quotient Method for Designing Nonlinear Controllers

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

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

Minimal State Representation for Open Fluid-Fluid Reaction Systems

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.

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

Bilinear Control Systems with Forced Integrable Filtration

Application of Legendrian Foliations in Differential Flatness Problems

Quotient method for stabilising a ball-on-a-wheel system – Experimental results

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

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

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

Numerical algorithm for feedback linearizable systems

Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch

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

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

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

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

A quotient method for designing nonlinear controllers

Feedback Linearizability and Flatness in Restricted Control Systems

Stabilization of the cart-pendulum system through approximate manifold decomposition

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

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

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

Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

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

Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

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

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

Introduction à l'Analyse et la Commande Non Linéaire

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

Quotient method for controlling the acrobot

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

End-to-end adaptation scheme for ubiquitous remote experimentation

Overactuated systems coordination

Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

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

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

Review of "Quantum field theory and the Jones polynomial."

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

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

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

On Achieving Periodic Joint-Motion for Redundant Robots

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

Control of the Toycopter using a Flat Approximation