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Document type : Journal articles
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Impact-contact dynamics in a disc-ball system

Caishan Liu , Hongjian Zhang , Zhao Zhen , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2013, 469 (2152), pp.20. ⟨10.1098/rspa.2012.0741⟩
Journal articles hal-00825597v1
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Trajectory Tracking Control of Multiconstraint Complementarity Lagrangian Systems

Irinel-Constantin Morarescu , Bernard Brogliato
IEEE Transactions on Automatic Control, 2010, 55 (6), pp.1300-1313. ⟨10.1109/TAC.2010.2042231⟩
Journal articles hal-00756307v1
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Energy dissipation and dispersion effects in granular media

Zhen Zhao , Caishan Liu , Bernard Brogliato
Physical Review E , 2008, 78 (3), pp.031307:1-13. ⟨10.1103/PhysRevE.78.031307⟩
Journal articles hal-01633231v1

Higher order schemes for nonsmooth mechanical systems

Vincent Acary
12th Seminar "NUMDIFF" on Numerical Solution of Differential and Differential-Algebraic Equations, Sep 2009, Halle, Germany
Conference papers inria-00423548v1
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On Output Regulation in Systems with Differential Variational Inequalities (Long Version)

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
CDC 2014 - 53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.TuB01.3, ⟨10.1109/CDC.2014.7039863⟩
Conference papers hal-01065090v1
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Threshold Curve for the Excitability of Bidimensional Spiking Neurons

Arnaud Tonnelier
Physical Review E : Statistical, Nonlinear, and Soft Matter Physics, 2014, 90 (2), pp.022701. ⟨10.1103/PhysRevE.90.022701⟩
Journal articles hal-01055045v1
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3D Inverse Dynamic Modeling of Strands

Alexandre Derouet-Jourdan , Florence Bertails-Descoubes , Joëlle Thollot
ACM SIGGRAPH 2011 Posters, ACM SIGGRAPH, Aug 2011, Vancouver, Canada. pp.Article No. 55, ⟨10.1145/2037715.2037778⟩
Conference papers inria-00617857v3
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Local linear convergence of alternating and averaged nonconvex projections

Adrian Lewis , David Russel Luke , Jérôme Malick
Foundations of Computational Mathematics, 2009, 9 (4), pp.485-513. ⟨10.1007/s10208-008-9036-y⟩
Journal articles hal-00389555v1
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The Spherical Constraint in Boolean Quadratic Programs

Jérôme Malick
Journal of Global Optimization, 2007, 39 (4), pp.609-622. ⟨10.1007/s10898-007-9161-1⟩
Journal articles istex inria-00070518v2

Nonsmooth Modeling and Simulation for Switched Circuits

Vincent Acary , Olivier Bonnefon , Bernard Brogliato
Springer Verlag, 69, 2010, Lecture Notes in Electrical Engineering, 9789048196807. ⟨10.1007/978-90-481-9681-4⟩
Books inria-00522358v1
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Spectral (Isotropic) Manifolds and Their Dimension

Aris Danilidis , Jérôme Malick , Hristo Sendov
Journal d'analyse mathématique, 2016, 128 (1), pp.369-397. ⟨10.1007/s11854-016-0013-0⟩
Journal articles hal-00972281v1
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Frictionless multiple impacts in multibody systems. II. Numerical algorithm and simulation results

Caishan Liu , Zhen Zhao , Bernard Brogliato
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2009, 465 (2101), pp.1-23. ⟨10.1098/rspa.2008.0079⟩
Journal articles hal-00755948v1
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Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints

Adrien Escande , Nicolas Mansard , Pierre-Brice Wieber
ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, ⟨10.1109/ROBOT.2010.5509953⟩
Conference papers hal-00484853v1
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Balance Recovery Prediction with Multiple Strategies for Standing Humans

Zohaib Aftab , Thomas Robert , Pierre-Brice Wieber
PLoS ONE, 2016, 11 (3), pp.e0151166. ⟨10.1371/journal.pone.0151166⟩
Journal articles hal-01465063v1
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Comparison of Capture Point estimation with human foot placement: Applicability and Limitations

Zohaib Aftab , Thomas Robert , Pierre-Brice Wieber
5èmes Journées Nationales de la Robotique Humanoïde, Jun 2010, Poitiers, France
Conference papers hal-00494610v1
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Model Predictive Control for Biped Walking Motion Generation

Pierre-Brice Wieber
Journal of the Robotics Society of Japan, 2014, 32 (6), pp.503-507. ⟨10.7210/jrsj.32.503⟩
Journal articles hal-02487853v1
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Observer-Based Control of Linear Complementarity Systems

Maurice P. M. H. Heemels , Kanat K. Camlibel , Bernard Brogliato , Hans Schumacher
11th International Workshop on Hybrid Systems: Computation and Control (HSCC 2008), Apr 2008, St-Louis, United States. pp.259-272, ⟨10.1007/978-3-540-78929-1_19⟩
Conference papers hal-00834580v2
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Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method

Olivier Huber , Vincent Acary , Bernard Brogliato , Franck Plestan
CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.4373-4378, ⟨10.1109/CDC.2014.7040071⟩
Conference papers hal-01066689v1

Curtailment of distribution-side power generation for primary substation investment deferral

Aurel Garry , Florent Cadoux , Marie-Cécile Alvarez-Hérault , Nouredine Hadjsaid , Antoine Minaud et al.
CIRED 2015 - The 23nd International Conference on Electricity Distribution, Jun 2015, Lyon, France
Conference papers hal-01167768v1
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Multivalued robust tracking control of fully actuated Lagrange systems: Continuous and discrete–time algorithms

Felix Miranda-Villatoro , Bernard Brogliato , Fernando Castaños
IEEE Transactions on Automatic Control, 2017, 62 (9), pp.4436-4450. ⟨10.1109/TAC.2017.2662804⟩
Journal articles hal-01254303v1
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Approcher des courbes par des hélices

Florence Bertails-Descoubes , Alexandre Derouet-Jourdan
Quadrature, 2015, 96
Journal articles hal-01224893v1

Floquet Analysis of Kuznetsov-Ma breathers: A Path Towards Spectral Stability of Rogue Waves

Jesús Cuevas-Maraver , Panayotis Kevrekidis , Dimitri J. Frantzeskakis , Nikolaos Karachalios , Mariana Larger Haragus et al.
Physical Review E , 2017, 96 (1), pp.012202. ⟨10.1103/PhysRevE.96.012202⟩
Journal articles hal-01465351v1
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A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation

Diana Serra , Camille Brasseur , Alexander Sherikov , Dimitar Dimitrov , Pierre-Brice Wieber et al.
IEEE-RAS 2016 - International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.932-937, ⟨10.1109/HUMANOIDS.2016.7803384⟩
Conference papers hal-01418402v1
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Geometric and numerical aspects of redundancy

Pierre-Brice Wieber , Adrien Escande , Dimitar Dimitrov , Alexander Sherikov
Geometric and Numerical Foundations of Movements, 117, Springer, pp.67-85, 2017, Springer Tracts in Advanced Robotics, ⟨10.1007/978-3-319-51547-2_4⟩
Book sections hal-01418462v1

Metal-insulator transition materials for bioinspired functions implementation

Arnaud Beaumont , Jean-Christophe Orlianges , Alexandre Boulle , Samir Adly , Arnaud Tonnelier et al.
Le premier colloque du GDR BioComp 4 au 8 octobre 2015 à Saint Paul de Vence, France, Oct 2015, Saint Paul de Vence, France
Conference poster hal-01226172v1
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Implicit Euler Time-Discretization of a Class of Lagrangian Systems with Set-Valued Robust Controller

Samir Adly , Bernard Brogliato , Le Ba Khiet
Journal of Convex Analysis, 2016, 23 (1), pp.23-52
Journal articles hal-01313222v1
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A Penetration-free Nonsmooth Dynamics Method for Frictionless Contact/Impact Problems

Olivier Brüls , Vincent Acary , Alberto Cardona
WCCM XI - 11th World Congress on Computational Mechanics - 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI), Eugenio Oñate, Jul 2014, Barcelona, Spain
Conference papers hal-01075153v1
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On preserving dissipativity properties of linear complementarity dynamical systems with the $θ$-method

Scott Greenhalgh , Vincent Acary , Bernard Brogliato
Numerische Mathematik, 2013, 125 (4), pp.601-637. ⟨10.1007/s00211-013-0553-5⟩
Journal articles istex hal-00807807v1
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Passivity-based switching control of flexible-joint complementarity mechanical systems

Irinel-Constantin Morarescu , Bernard Brogliato
Automatica, 2010, 46 (1), pp.160-166. ⟨10.1016/j.automatica.2009.10.023⟩
Journal articles hal-00755991v1
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On output regulation in state-constrained systems: An application to polyhedral case

Aneel Tanwani , Bernard Brogliato , Christophe Prieur
IFAC WC 2014 - 19th IFAC World Congress, Aug 2014, Le Cap, South Africa. ⟨10.3182/20140824-6-ZA-1003.01477⟩
Conference papers hal-00997266v2