Academic staff
Yannick AOUSTIN
Full Professor, Nantes UniversityContact details
Yannick Aoustin Full professor Directeur de l’ED MaSTIC 641 Nantes Université, LS2N, UMR CNRS 6004 1 rue de la Noë BP 92101 44321 Nantes Cedex 3, France phone:+33(0)240376948 Fax:+33(0)240376930
- Phone
- 0251125518 (n° interne : 455518)
- Office 2
- (33)+2.40.37.69.48
- Yannick.Aoustin@univ-nantes.fr
Taught academic discipline(s)
Automatic Control, Robotics EEA.
Research topics
Underactuated systems, legged robots, bipeds, non-linear observers, exsokeletons
Activities / Resume
Education:
1987: Thèse de doctorat de 3 ème cycle, Automatique,
Title: Systèmes à paramètres répartis
Title: Etude d'un accumulateur à chaleur latente
Laboratory: Laboratoire d'Automatique de Nantes - École Centrale de Nantes.
2006:
Graduate School: STIM, Sciences et Technologies de l'Information et Matériaux
Title: Contribution à l'étude des systèmes sous-actionnés
Positions:
1986-1987 Assistant 'IUT de Nantes, département génie électrique.
1988-1989 Lecture lycée La Chauvinière-Monge.
1989-2015 Assistant Professor, 61 ème section CNU, Nantes University.
Octobre 90: Assistant Professor. Septembre 95
2015\ Full Professor Nantes Université.
1987: Thèse de doctorat de 3 ème cycle, Automatique,
Title: Systèmes à paramètres répartis
Title: Etude d'un accumulateur à chaleur latente
Laboratory: Laboratoire d'Automatique de Nantes - École Centrale de Nantes.
2006:
Graduate School: STIM, Sciences et Technologies de l'Information et Matériaux
Title: Contribution à l'étude des systèmes sous-actionnés
Positions:
1986-1987 Assistant 'IUT de Nantes, département génie électrique.
1988-1989 Lecture lycée La Chauvinière-Monge.
1989-2015 Assistant Professor, 61 ème section CNU, Nantes University.
Octobre 90: Assistant Professor. Septembre 95
2015\ Full Professor Nantes Université.
https://pagespersowp.ls2n.fr/yannickaoustin/
Additional information
An updated version of my CV is aviailable here: https://pagespersowp.ls2n.fr/yannickaoustin/
Journals
Aoustin Y., Chedmail P. et Glumineau A., ``Some Simulation Results on the Robustness of a Flexible arm Nonlinear Control law,'' International Journal of Modelling and Simulation, Vol. 11, No 4, 1-13, 1991.
Chedmail P. , Aoustin Y. et Chevallereau C., ``Modelling and Control of Flexible Robots,'' International Journal of Numerical Methods in Engineering, Vol. 32, No 1, 1595-1619, 1991.
Aoustin Y. , Chevallereau C., Glumineau A. et Moog C. H., ``Experimental Results for the End-effector Control of a Single Flexible Robotic Arm,'' IEEE Transaction on Control System Technology, Vol.2, No 4, 371-381, 1994.
Aoustin Y. et Formal'sky A.~M., ``On the Synthesis of a Nominal Trajectory for Control Law of a One-link Flexible Arm,'' International Journal of Robotics Research, Vol. 16, No.1, MIT Press, 36-46, 1997.
Aoustin Y. et Formal'sky A.~M., ``On the Feed-forward Torques and Rerence Trajectory for Flexible Two-Link Arm''. Multibody System Dynamics, Vol. 3, No. 3, Kluwer Academic Publishers, 241-265, 1999.
Chevallereau C. et Aoustin Y., ``Optimal Reference Trajectories for Walking and Running of a Biped,'' Robotica, Vol 19, No 5, 557-569, 2001.
Aoustin Y. et Formal'sky A.~M., ``Feed-forward torques and Reference Trajectory for an Arm with Flexibles Joints,'' Archives of Control Sciences, Polish Academy of Sciences, Vol. 12, No.2, 125-149, 2002.
Muraro A., Chevallereau C. et Aoustin Y., ``Optimal Trajectories for a Quadruped Robot with Trot, Amble and Curvet Gaits for two Energetic Criteria,'' Multibody System Dynamics, Vol 9, Kluwer Academic Publishers, 39-62, 2003.
Aoustin Y. et Formal'sky A.M., ``Control Design for a Biped Reference Trajectory Based on Driven Angles as Functions of the Undriven Angle,'' Journal of Computer and System Sciences International, Vol. 42, No. 4, 159-176, 2003.
, 2003. ``Single Anti-Swing Feedback Control for a Gantry Crane,'' Robotica, Vol. 21, No. 6, 655-666.
Chevallereau C., Abba G., Aoustin Y., Plestan F., Westervelt E. R., Canudas de Wit C. , et Grizzle J. W., ``Rabbit: A Testbed for Advanced Control Theory,''IEEE Control System Magazine, Vol. 23, No.5, 57-78, 2003.
., ``On the Stabilization of Biped Vertical Posture in Single Support Using Internal Torques,'' Robotica, Vol. 23, No.1, 65-74, 2004.
., ``A Simplified Stability for a Biped Walk with Under and Over Actuated Phases'', International Journal of Robotics Research, Vol. 24, No.7, 537-551, 2005.
. , ``Virtual quadruped: mechanical design control, simulation, and experimentation'', Fundamentalnaya i prikladnaya matematika, Vol. 11, No. 8, 5-28. 2005 (In Russian).
., ``Observer-based control of a walking biped robot without orientation measurement'', Robotica, Vol. 24, pp, 385-400, 2006.
Aoustin Y., Chevallereau C. et Formal'sky A.~M, `'Numerical and Experimental Study of the Virtual Quadruped - SemiQuad'', ' Multibody System Dynamics, 2006, 16 :1-20.
, ``Stabilisation of unstable equilibrium postures of a two-link pendulum using a flywheel'', Journal of Computer and Systems International, Vol. 45, No. 2, 204-211. 2006.
Kinugasa T., Chevallereau, C. and Aoustin Y., ``Stabilisation of unstable equilibrium postures of a two-link pendulum using a flywheel'', emph{Transaction and Information Engineers In Japanese}, March, 2008.
Aoustin Y., Formal'sky A.~M, `'Ball on a Beam: Stabilization under Saturated Input Control with Large Basin of Attraction'', ' Multibody System Dynamics, Vol. 21, 71-89, Kluwer Academic Publishers, 2008
Chevallereau, C., Bessonnet, G. Abba, G. and Aoustin Y., ``Bipedal Robots'', Willey, 328 pages 2008.
Tlalolini D., Chevallereau C. and Aoustin Y., ''Comparaison of differents gaits with rotation of the feet for a planar biped'' Robotics And Autonomous Systems, 1-39, 2008.
Tlalolini D., Aoustin Y. and Chevallereau C., ''Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped'' Multibody System Dynamics, DOI:10.1007/s11044-009-9175-1, 2009.
Tlalolini D., Chevallereau C. and Aoustin Y., ''Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion'', \emph{IEEE/ASME TRANSACTIONS ON MECHATRONICS},
10.1109/TMECH.2010.2042458, pp. 1-11, 2009.
Rengifo C., Aoustin, Y., Plestan, F. and Chevallereau, Ch. ''Distribution of forces between synergistic and antagonistic muscles using an optimization criterion depending on muscle contraction behavior'', ASME, Journal of Biomechanical Engineering, (2010-04-10), Vol 142, 4, pp. 11''.
Aoustin Y., Formal'skii, A. and Martynenko, Y. ''Pendubot combining of energy and intuitive approach to swing up, stabilization in erected pose.'', Multibody System Dynamics, Vol 25, N°(1), 65-80, 2011, DOI: 10.1007/s11044-010-9228-5''.
Orlov, Y., Aoustin, Y. and Chevallereau, C. ''Finite Time Stabilization of a Perturbed Double Integrator $-$ Part I: Continuous Sliding Mode-based Output Feedback Synthesis'', IEEE Transaction on Automatic Control, Vol 56, N°(3), 614-618, 2011, DOI: 10.1109/TAC.2010.2090708.
Lebastard, V., Aoustin, Y. and Plestan, F. ''Estimation of absolute orientation for a bipedal robot: experimental results'', IEEE Transaction on Robotics, Vol 27, 1, pp. 170-174, DOI: 10.1109/TRO.2010.2094410.
Journals
Aoustin Y., Chedmail P. et Glumineau A., ``Some Simulation Results on the Robustness of a Flexible arm Nonlinear Control law,'' International Journal of Modelling and Simulation, Vol. 11, No 4, 1-13, 1991.
Chedmail P. , Aoustin Y. et Chevallereau C., ``Modelling and Control of Flexible Robots,'' International Journal of Numerical Methods in Engineering, Vol. 32, No 1, 1595-1619, 1991.
Aoustin Y. , Chevallereau C., Glumineau A. et Moog C. H., ``Experimental Results for the End-effector Control of a Single Flexible Robotic Arm,'' IEEE Transaction on Control System Technology, Vol.2, No 4, 371-381, 1994.
Aoustin Y. et Formal'sky A.~M., ``On the Synthesis of a Nominal Trajectory for Control Law of a One-link Flexible Arm,'' International Journal of Robotics Research, Vol. 16, No.1, MIT Press, 36-46, 1997.
Aoustin Y. et Formal'sky A.~M., ``On the Feed-forward Torques and Rerence Trajectory for Flexible Two-Link Arm''. Multibody System Dynamics, Vol. 3, No. 3, Kluwer Academic Publishers, 241-265, 1999.
Chevallereau C. et Aoustin Y., ``Optimal Reference Trajectories for Walking and Running of a Biped,'' Robotica, Vol 19, No 5, 557-569, 2001.
Aoustin Y. et Formal'sky A.~M., ``Feed-forward torques and Reference Trajectory for an Arm with Flexibles Joints,'' Archives of Control Sciences, Polish Academy of Sciences, Vol. 12, No.2, 125-149, 2002.
Muraro A., Chevallereau C. et Aoustin Y., ``Optimal Trajectories for a Quadruped Robot with Trot, Amble and Curvet Gaits for two Energetic Criteria,'' Multibody System Dynamics, Vol 9, Kluwer Academic Publishers, 39-62, 2003.
Aoustin Y. et Formal'sky A.M., ``Control Design for a Biped Reference Trajectory Based on Driven Angles as Functions of the Undriven Angle,'' Journal of Computer and System Sciences International, Vol. 42, No. 4, 159-176, 2003.
, 2003. ``Single Anti-Swing Feedback Control for a Gantry Crane,'' Robotica, Vol. 21, No. 6, 655-666.
Chevallereau C., Abba G., Aoustin Y., Plestan F., Westervelt E. R., Canudas de Wit C. , et Grizzle J. W., ``Rabbit: A Testbed for Advanced Control Theory,''IEEE Control System Magazine, Vol. 23, No.5, 57-78, 2003.
., ``On the Stabilization of Biped Vertical Posture in Single Support Using Internal Torques,'' Robotica, Vol. 23, No.1, 65-74, 2004.
., ``A Simplified Stability for a Biped Walk with Under and Over Actuated Phases'', International Journal of Robotics Research, Vol. 24, No.7, 537-551, 2005.
. , ``Virtual quadruped: mechanical design control, simulation, and experimentation'', Fundamentalnaya i prikladnaya matematika, Vol. 11, No. 8, 5-28. 2005 (In Russian).
., ``Observer-based control of a walking biped robot without orientation measurement'', Robotica, Vol. 24, pp, 385-400, 2006.
Aoustin Y., Chevallereau C. et Formal'sky A.~M, `'Numerical and Experimental Study of the Virtual Quadruped - SemiQuad'', ' Multibody System Dynamics, 2006, 16 :1-20.
, ``Stabilisation of unstable equilibrium postures of a two-link pendulum using a flywheel'', Journal of Computer and Systems International, Vol. 45, No. 2, 204-211. 2006.
Kinugasa T., Chevallereau, C. and Aoustin Y., ``Stabilisation of unstable equilibrium postures of a two-link pendulum using a flywheel'', emph{Transaction and Information Engineers In Japanese}, March, 2008.
Aoustin Y., Formal'sky A.~M, `'Ball on a Beam: Stabilization under Saturated Input Control with Large Basin of Attraction'', ' Multibody System Dynamics, Vol. 21, 71-89, Kluwer Academic Publishers, 2008
Chevallereau, C., Bessonnet, G. Abba, G. and Aoustin Y., ``Bipedal Robots'', Willey, 328 pages 2008.
Tlalolini D., Chevallereau C. and Aoustin Y., ''Comparaison of differents gaits with rotation of the feet for a planar biped'' Robotics And Autonomous Systems, 1-39, 2008.
Tlalolini D., Aoustin Y. and Chevallereau C., ''Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped'' Multibody System Dynamics, DOI:10.1007/s11044-009-9175-1, 2009.
Tlalolini D., Chevallereau C. and Aoustin Y., ''Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion'', \emph{IEEE/ASME TRANSACTIONS ON MECHATRONICS},
10.1109/TMECH.2010.2042458, pp. 1-11, 2009.
Rengifo C., Aoustin, Y., Plestan, F. and Chevallereau, Ch. ''Distribution of forces between synergistic and antagonistic muscles using an optimization criterion depending on muscle contraction behavior'', ASME, Journal of Biomechanical Engineering, (2010-04-10), Vol 142, 4, pp. 11''.
Aoustin Y., Formal'skii, A. and Martynenko, Y. ''Pendubot combining of energy and intuitive approach to swing up, stabilization in erected pose.'', Multibody System Dynamics, Vol 25, N°(1), 65-80, 2011, DOI: 10.1007/s11044-010-9228-5''.
Orlov, Y., Aoustin, Y. and Chevallereau, C. ''Finite Time Stabilization of a Perturbed Double Integrator $-$ Part I: Continuous Sliding Mode-based Output Feedback Synthesis'', IEEE Transaction on Automatic Control, Vol 56, N°(3), 614-618, 2011, DOI: 10.1109/TAC.2010.2090708.
Lebastard, V., Aoustin, Y. and Plestan, F. ''Estimation of absolute orientation for a bipedal robot: experimental results'', IEEE Transaction on Robotics, Vol 27, 1, pp. 170-174, DOI: 10.1109/TRO.2010.2094410.
Mis à jour le 28 May 2024.