Philippe Müllhaupt
Lecturer
philippe.muellhaupt@epfl.ch +41 21 693 38 38 http://lawww.epfl.ch
Citizenship: Swiss & Irish
+41 21 693 38 38
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+41 21 693 38 38
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Web site: Web site: https://sph.epfl.ch/
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BM 4101 (Bâtiment BM)
Station 17
1015 Lausanne
Web site: Web site: https://sti.epfl.ch/page-1740.html
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Fields of expertise
Nonlinear Control (Geometry and Algebra)
Classical Dynamics
Robotics
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
2021-08-27Muscle 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
2019-01-24On 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
Electrical and Electronics Engineering
Past EPFL PhD Students
Buccieri Davide , Graf Basile , Ingram David , Michellod Yvan , Sarshari Ehsan , Sudarsandhari Shibani Willson ,Courses
Project of Computational chemistry
This course exploits modern computational tools in a research project aiming at resolving a chemistry problem by group of two students.
Linear system theory
The course covers control theory and design for linear time-invariant systems : (i) Mathematical descriptions of systems (ii) Multivariables realizations; (iii) Stability ; (iv) Controllability and Observability; (v) Minimal realizations and coprime fractions; (vi) Pole placement and model matching.
Introduction to control of dynamical systems
Introductory course on control of dynamical systems. Four key systems serve as the backbone to a unified abstract formalism. This formalism is then used to solve fundamental control problems such as tracking and disturbance rejection, with particular emphasis on guaranteeing closed-loop stability
Discrete-time control of dynamical systems
An introduction to linear discrete-time control systems is provided which consists in applying a control at equally spaced time intervals. The consequence of the associated sampling process on the stability and performance of the closed-loop system is analysed in detail.
Nonlinear Control Systems
Analysis of nonlinear systems is performed towards controlling them. Stability in the sense of Lyapunov is introduced, together with geometrical methods (Exact Feedback Linearization). Various examples are treated (pen and pencil, and computer).
General physics : mechanics
Give the student the basic notions that will allow him or her to have a better understanding of physical phenomena, such as the mechanic of point masses. Acquire the capacity to analyse quantitatively the consequences of these effects with appropriate theoretical tools.