BIPOP - 2017


Major publications by the team in recent years
  • 1V. Acary, O. Bonnefon, B. Brogliato.

    Nonsmooth Modeling and Simulation for Switched Circuits, Lecture Notes in Electrical Engineering, Springer Verlag, 2011, vol. 69.
  • 2V. Acary, B. Brogliato.

    Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2008, vol. 35.
  • 3V. Acary, B. Brogliato.

    Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems, in: Systems and Control Letters, 2010, vol. 59, pp. 284-293.
  • 4V. Acary, F. Cadoux, C. Lemaréchal, J. Malick.

    A formulation of the linear discrete Coulomb friction problem via convex optimization, in: Zeitschrift für angewandte Mathematik und Mechanik, 2011, vol. 91, no 2, pp. 155-175, DoI: 10.1002/zamm.201000073.
  • 5F. Bertails-Descoubes, F. Cadoux, G. Daviet, V. Acary.

    A Nonsmooth Newton Solver for Capturing Exact Coulomb Friction in Fiber Assemblies, in: ACM Transactions on Graphics, 2011, vol. 30, no 1, Article 6.
  • 6B. Bidégaray-Fesquet, E. Dumas, G. James.

    From Newton's cradle to the discrete p-Schrödinger equation, in: SIAM J. Math. Anal., 2013, vol. 45, pp. 3404-3430.
  • 7B. Brogliato.

    Some perspectives on the analysis and control of complementarity systems, in: IEEE Trans. Automatic Control, 2003, vol. 48, no 6, pp. 918-935.
  • 8B. Brogliato.

    Nonsmooth Mechanics. Models, Dynamics and Control, Springer Verlag London, 2016, 3rd edition.
  • 9B. Brogliato, R. Lozano, B. Maschke, O. Egeland.

    Dissipative Systems Analysis and Control, Springer Verlag, London, 2007, 2nd edition.
  • 10B. Brogliato, S. Niculescu, P. Orhant.

    On the control of finite-dimensional mechanical systems with unilateral constraints, in: IEEE Trans. Automatic Control, 1997, vol. 42, no 2, pp. 200-215.
  • 11G. Daviet, F. Bertails-Descoubes, L. Boissieux.

    A hybrid iterative solver for robustly capturing Coulomb friction in hair dynamics, in: ACM Transactions on Graphics (Proceedings of the ACM SIGGRAPH Asia'11 Conference, December 2011, vol. 30.

  • 12G. Daviet, F. Bertails-Descoubes.

    A Semi-Implicit Material Point Method for the Continuum Simulation of Granular Materials, in: ACM Transactions on Graphics, July 2016, vol. 35, no 4, 13 p. [ DOI : 10.1145/2897824.2925877 ]

  • 13G. James, P. Kevrekidis, J. Cuevas.

    Breathers in oscillator chains with Hertzian interactions, in: Physica D, 2013, vol. 251, pp. 39-59.
  • 14G. James, D. Pelinovsky.

    Gaussian solitary waves and compactons in Fermi-Pasta-Ulam lattices with Hertzian potentials, in: Proc. Royal Soc. A, 2014, vol. 470, 2165 p.
  • 15L. Liu, G. James, P. Kevrekidis, A. Vainchtein.

    Breathers in a locally resonant granular chain with precompression, in: Physica D: Nonlinear Phenomena, September 2016, vol. 331, pp. 27-47. [ DOI : 10.1016/j.physd.2016.05.007 ]

  • 16C. Liu, Z. Zhen, B. Brogliato.

    Frictionless multiple impacts in multibody systems: Part I. Theoretical framework, in: Proceedings of the Royal Society A, Mathematical, Physical and Engineering Sciences, December 2008, vol. 464, no 2100, pp. 3193-3211.
  • 17S. Nguyen, B. Brogliato.

    Multiple Impacts in Dissipative Granular Chains, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2014, vol. 72.
  • 18A. Tonnelier.

    Propagation of spike sequences in neural networks, in: SIAM J. Appl. Dyn. Syst., 2010, vol. 9.
  • 19G. Zheng, A. Tonnelier, D. Martinez.

    Voltage-stepping schemes for the simulation of spiking neural networks, in: Journal of Computational Neuroscience, 2009, vol. 26, no 3.
Publications of the year

Articles in International Peer-Reviewed Journals

  • 20N. Akhadkar, V. Acary, B. Brogliato.

    Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation, in: Multibody System Dynamics, 2017. [ DOI : 10.1007/s11044-017-9584-5 ]

  • 21B. Brogliato.

    Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial, in: Multibody System Dynamics, 2017, pp. 1-33. [ DOI : 10.1007/s11044-017-9585-4 ]

  • 22F. Dubois, V. Acary, M. Jean.

    The Contact Dynamics method: A nonsmooth story , in: Comptes Rendus Mécanique, December 2017. [ DOI : 10.1016/j.crme.2017.12.009 ]

  • 23M. Haddouni, V. Acary, S. Garreau, J.-D. Beley, B. Brogliato.

    Comparison of several formulations and integration methods for the resolution of DAEs formulations in event-driven simulation of nonsmooth frictionless multibody dynamics, in: Multibody System Dynamics, November 2017, vol. 41, no 3, pp. 201–231. [ DOI : 10.1007/s11044-017-9570-y ]

  • 24R. Kikuuwe, B. Brogliato.

    A New Representation of Systems with Frictional Unilateral Constraints and Its Baumgarte-Like Relaxation, in: Multibody System Dynamics, March 2017, vol. 39, no 3, pp. 267–290. [ DOI : 10.1007/s11044-015-9491-6 ]

  • 25J. Malick, ·. Welington De Oliveira, S. Zaourar-Michel.

    Uncontrolled inexact information within bundle methods, in: EURO Journal on Computational Optimization, March 2017, vol. 5, no 1, pp. 5–29. [ DOI : 10.1007/s13675-015-0060-9 ]

  • 26F. Miranda-Villatoro, B. Brogliato, F. Castaños.

    Multivalued robust tracking control of fully actuated Lagrange systems: Continuous and discrete–time algorithms, in: IEEE Transactions on Automatic Control, September 2017, vol. 62, no 9, pp. 4436-4450. [ DOI : 10.1109/TAC.2017.2662804 ]

  • 27J. E. Morales, G. James, A. Tonnelier.

    Traveling waves in a spring-block chain sliding down a slope, in: Physical Review E : Statistical, Nonlinear, and Soft Matter Physics, July 2017, vol. 96, no 1, 012227 p. [ DOI : 10.1103/PhysRevE.96.012227 ]

  • 28J. E. Morales, G. James, A. Tonnelier.

    Solitary waves in the excitable Burridge-Knopoff model, in: Wave Motion, January 2018, vol. 76, pp. 103-121. [ DOI : 10.1016/j.wavemoti.2017.10.001 ]


Invited Conferences

  • 29N. A. Villa, P.-B. Wieber.

    Model Predictive Control of Biped Walking with Bounded Uncertainties, in: HUMANOIDS 2017 - IEEE RAS International Conference on Humanoid Robots, Birmingham, United Kingdom, November 2017, pp. 1-6.


International Conferences with Proceedings

  • 30V. Acary, M. Brémond, F. Dubois.

    Méthodes de Newton non–lisses pour les problèmes de contact frottant dans les systèmes de multi–corps flexibles, in: CSMA 2017 - 13ème Colloque National en Calcul des Structures, Presqu’île de Giens (Var), France, May 2017, 8 p.

  • 31N. Akhadkar, V. Acary, B. Brogliato.

    3D Revolute Joint with Clearance in Multibody Systems, in: CK 2017 - 7th International Workshop on Computational Kinematics, Poitiers, France, Springer, May 2017, pp. 11-18. [ DOI : 10.1007/978-3-319-60867-9_2 ]

  • 32N. Bohórquez, P.-B. Wieber.

    Adaptive step duration in biped walking: a robust approach to nonlinear constraints, in: IEEE RAS International Conference on Humanoid Robots 2017, Birmingham, United Kingdom, November 2017.

  • 33N. Cazy, P.-B. Wieber, P. Robuffo Giordano, F. Chaumette.

    Visual Servoing Using Model Predictive Control to Assist Multiple Trajectory Tracking, in: IEEE Int. Conf. on Robotics and Automation, ICRA'17, Singapore, Singapore, May 2017.

  • 34M. Ciocca, P.-B. Wieber, T. Fraichard.

    Strong Recursive Feasibility in Model Predictive Control of Biped Walking, in: HUMANOIDS 2017 - IEEE-RAS International Conference on Humanoid Robots, Birmingham, United Kingdom, November 2017.

  • 35F. Miranda-Villatoro, B. Brogliato, F. Castaños.

    Set-valued sliding-mode control of uncertain linear systems: continuous and discrete-time analysis, in: IFAC 2017 - The 20th World Congress of the International Federation of Automatic Control, Toulouse, France, July 2017, pp. 1-32.

  • 36F. Miranda-Villatoro, F. Castaños, B. Brogliato.

    A set-valued nested sliding-mode controller, in: IFAC 2017 - The 20th World Congress of the International Federation of Automatic Control, Toulouse, France, July 2017, vol. 50, no 1, pp. 2971 - 2976. [ DOI : 10.1016/j.ifacol.2017.08.662 ]

  • 37A. Vieira, B. Brogliato, C. Prieur.

    On the optimal control of linear complementarity systems, in: IFAC World Congress, Toulouse, France, July 2017.


Conferences without Proceedings

  • 38S. Brossette, P.-B. Wieber.

    Collision avoidance based on separating planes for feet trajectory generation, in: Humanoids 2017 - IEEE RAS International Conference on Humanoid Robots, Birmingham, United Kingdom, November 2017, pp. 1-6.

  • 39C. Yoong, V. Acary, M. Legrand.

    Modification of Moreau-Jean's Scheme for Energy Conservation in Inelastic Impact Dynamics, in: 9th European Nonlinear Dynamics Conference, Budapest, Hungary, June 2017.


Scientific Books (or Scientific Book chapters)

  • 40G. James, V. Acary, F. Pérignon.

    Periodic motions of coupled impact oscillators, in: Advanced Topics in Nonsmooth Dynamics, Transactions of the European Network for Nonsmooth Dynamics, 2017, forthcoming.

  • 41P.-B. Wieber, A. Escande, D. Dimitrov, A. Sherikov.

    Geometric and numerical aspects of redundancy, in: Geometric and Numerical Foundations of Movements, 2017.


Internal Reports

  • 42V. Acary, M. Brémond, O. Huber.

    On solving contact problems with Coulomb friction: formulations and numerical comparisons, Inria, November 2017, no RR-9118, 224 p.

  • 43B. Brogliato.

    Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum, Inria Grenoble - Rhone-Alpes, February 2017.

  • 44M. Ly, F. Bertails-Descoubes, D. Rohmer.

    Unilaterally Incompressible Skinning, Inria - Research Centre Grenoble – Rhône-Alpes, April 2017.


Other Publications