Yannick Aoustin
Présentation
Date of birth: 04/11/1958 Professional address: LS2N UMR 6004, Université de Nantes, Centrale Nantes, 1 rue de la Noë, 44000 Nantes, France Cedex 3 Phone: +33-2-40-37-69-48 ; E-mail: Yannick.Aoustin@ls2n.fr - Ph.D. Nantes University 1989 -Leading research and PhD students in 2006 - Associate Professor 1990-2015 - Full-Professor of University of Nantes Since 2015 - Topic Editors-in-Chief: Climbing and Walking Robots of International Journal of Advanced Robotic Systems Since 2015 - Member of the editorial board of Multibody System Dynamics Since 2016 - Associate editor of IEEE Robotics and Automation Letters Since 2020 -Associate editor of IROS2018; IROS2019; CODIT2019. - Invited professor during one month at Asian Institut of Technology (AIT) de Bangkok in 2010. - three weeks at the Keio University (Tokyo) in 2014. Human walking, humanoid robots, exoskeleton, exosuit, co-manipulation, force control, control with EMG signals. Co-author of two books devoted to bipedal robots, published by HERMES and ISTE and Wiley Editions, New-York, more 170 scientific journals or conferences. (see citations at https://scholar.google.fr). The last papers are as follows: -Chevallereau C., Razavi H., D. Six, Aoustin Y. and Grizzle J. ''Self-synchronization and self-stabilization of 3D bipedal walking gaits'', Robotics and Autonomous Systems, DOI~: 10.1016/j.robot.2017.10.018, 2017. -Aoustin Y., Formalskii A. ''Walking of biped with passive exoskeleton: evaluation of energy consumption'', Multibody System Dynamics, Vol. 43, No 1, pages71-96, 2018. -Devie S., Robet P.Ph, Aoustin Y. and Gautier M. ''Impedance control using a cascaded loop force control'', IEEE Robotics and Automation Letters (RA-L), Vol. 3, pages 1537-1543, Issue 3, DOI 10.1109/LRA.2018.2801472, 2018. -Luo Q., De-Léone-Gomez V., Kalouguine A., Chevallereau C. and Aoustin Y. ''Self-synchronization and self-stabilization of walking gaits modeled by the three-dimensional lip model'', IEEE Robotics and Automation Letters (RA-L), Vol. 3, pages 3332-3339, Issue 4, DOI 10.1109/LRA.2018.2852767, 2018. -De-Léone-Gomez~V., Q. Luo, A. Kalouguine, J. Alfonso Panames, Y. Aoustin, C. Chevallereau. ''An essential model for generating walking for humanoid robots'', Robotics and Autonomous Systems, Vol. 112, pages 229-243, 2019. -T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, R.~Gross, Y.~Pereon and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, DOI 10.1109/TBME.2019.2914966. -T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, in press. -T.~Yu, K.~Akhmadeev, E.~Le Carpentier, Y. Aoustin, and D.~Farina. Recursive decomposition of electromyographic signals with a varying number of active sources: Bayesian modelling and filtering, IEEE Transactions on Biomedical Engineering, 2020. SUPERVISION of 20 PhD STUDENTS. One phd student was internationally co-supervised with CICESE, Mexico. Currently supervisor of four PhD students. PROJECTS: - Member, of three ANR projects (PHEMA 2005-2009; R2A2 2010-2013; CHASLIM 2011-2015; DIGIGLID 2018-2022). - In charge for LS2N of one regional multidisciplinary project, (Project LMA and Gérontopole Autonomie Longévité des Pays de la Loire 2014-2017) . In charge of one interdisciplinary project supported by Nantes University (Project MODERATO : MOdélisation et Décomposition des Emg pour la Reconnaissance et l’Assistance aux Troubles neurOmusculaires), 2017-2018.AOUSTIN Yannick, Full Professor of Nantes University

EDUCATION
PROFESSIONAL STANDING
INTERNATIONAL STANDING
RESEARCH INTERESTS
SCIENTIFIC PUBLICATIONS
Publications
Publications
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Robot-assisted simulator for epidural anesthesia9th IFToMM International Workshop on New trends in Medical and Service Robotics (MesRob'25), IFTOMM; Institut Pprime; CNRS; Université de Poitiers, Jul 2025, Poitiers, France |
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Control Performance Improvement of the Decoupled Exoskeleton ArmMesrob 2025, Pprime; CNRS; Université de Poitiers, Jul 2025, Poitiers, France |
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Optimization of an exosuit design for elbow and shoulder joints considering comfort and safetyICORR 2025 - International Conference on Rehabilitation Robotics, May 2025, Chicago, United States |
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An interconnected discrete time cascaded semi-implicit differentiation2024 17th International Workshop on Variable Structure Systems (VSS), Oct 2024, Abu Dhabi, France. pp.164-169, ⟨10.1109/VSS61690.2024.10753413⟩ |
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Estimating angular joint positions based on Electromyographic (EMG) activity13th International Workshop on Robot Motion and Control, Dariusz Pazdersk, Jul 2024, Poznan (PL), Poland |
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Dynamic Parameter Identification for Cable-Driven Parallel RobotsThe Sixth International Conference on Cable-Driven Parallel Robots (CableCon 2023), Jun 2023, Nantes, France |
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Experimental validation of two semi-implicit homogeneous discretized differentiators on the CRAFT cable-driven parallel robotCFM2022, Congrès Français de Mécanique, Aug 2022, Nantes, France |
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Control Performance Improvement in Dynamically Decoupled Manipulatorsromansy 2022, IFToMM, Jul 2022, Udine, Italy |
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Control of a Robot Axis with Effort FeedbackMIM2022, IFAC (Internationl federation of automatic control, Jun 2022, Nantes, France |
A Fourth Order Semi-Implicit Homogeneous Differentiator2022 10th International Conference on Systems and Control (ICSC), Nov 2022, Marseille, France. pp.31-35, ⟨10.1109/ICSC57768.2022.9993942⟩ |
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Cinématique d'une Prothèse de Main Myoélectrique Accessible avec Actionneur Unique et Rétropulsion Passive du PouceCongrès Français de Mécanique, Aug 2022, Nantes, France |
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Bilateral teleoperation transparency at steady states2022 8th International Conference on Control, Decision and Information Technologies (CoDIT), May 2022, Istanbul, Turkey. pp.752-757, ⟨10.1109/CoDIT55151.2022.9804152⟩ |
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An original walking composed of a ballistic single-support and a finite time double-support phasesENOC2022, Jul 2022, Lyon, France |
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A Third order Semi-Implicit Homogeneous differentiator: Experimental ResultsInternational Workshop on Variable Structure Systems and Sliding Mode Control, Sep 2022, Rio de Janeiro, Brazil |
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Semi-Implicit Homogeneous Euler Differentiator for a Second-Order System: Validation on Real DataIEEE CDC 2021, Dec 2021, Austin (Texas), United States |
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Bilateral teleoperation transparency at transient states14th Conference on Control on Industry Applications (Induscon 2021), Aug 2021, Sao Paulo, Brazil. ⟨10.1109/INDUSCON51756.2021.9529857⟩ |
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A noise less-sensing semi-implicit discretization of a homogeneous differentiator: principle and application2021 European Control Conference (ECC), Jun 2021, Delft, France. pp.2340-2345, ⟨10.23919/ECC54610.2021.9655022⟩ |
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A noise less-sensing semi-implicit discretization of a homogeneous differentiator : principle and applicationECC 21-Berlin, Jul 2021, Berlin, France |
Generic control law for DC and AC machines2020 22nd European Conference on Power Electronics and Applications (EPE'20 ECCE Europe), Sep 2020, Lyon, France. pp.P.1-P.11, ⟨10.23919/EPE20ECCEEurope43536.2020.9215937⟩ |
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Bilateral Master-Slave operation based on cascaded loop structure in force-position and velocity2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), Jun 2020, Prague, Czech Republic. pp.1006-1011, ⟨10.1109/CoDIT49905.2020.9263793⟩ |
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An original walking composed of a ballistic single-support and a finite time double-support phases10th European Nonlinear Dynamics Conference, Jul 2020, Lyon, France |
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Definition of a Walking with starting and stopping motions for the Humanoid Romeo17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France. ⟨10.5220/0009827000470055⟩ |
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Joint torque estimation during a squat motionCongrès Français de Mécanique (Brest), Aug 2019, Brest, France |
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Haptic control of the parallel robot Orthoglide24ème Congrès Français de Mécanique, CFM 2019, Aug 2019, Brest, France |
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A cascaded loop structure in force and position to control a bilateral teleoperation robotic system6th international conference on control, decision and information technologies, May 2019, Paris, France. ⟨10.1109/codit.2019.8820484⟩ |
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Study of the walking efficiency of a human with a caneRomansy, Jun 2018, Rennes, France. ⟨10.1007/978-3-319-78963-7_47⟩ |
An essential model for generating walking motions for humanoid robotsFrench-German Conference on Humanoid and Legged Robots 2018, Dec 2018, Munchen, Germany. ⟨10.1016/j.robot.2018.11.015⟩ |
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A Simulation-based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions9th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2018), Sep 2018, Nantes, France. pp.24-27, ⟨10.1109/IPIN.2018.8533858⟩ |
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A human-like walking gait simulator for estimation of selected gait parameters14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany. pp.1-6, ⟨10.1109/WPNC.2017.8250063⟩ |
Self-synchronization and Self-stabilization of Walking Gaits Modeled by the 3D LIP Model2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain |
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Contribution of a Knee Orthosis to WalkingChallenges and trends in Wearable Robotics, 2018, Pisa, Italy. ⟨10.1007/978-3-030-01887-0_86⟩ |
Towards sequential decoding of intramuscular EMG signals: Parallel computing implementationGRETSI, Sep 2017, Juan-les-pins, France |
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A testing system for a real-time gesture classification using surface EMGThe 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.1602⟩ |
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Title: Dynamic Tool Center Point (DTCP) implementing in Automated Fiber Placement (AFP)the third International Symposium on Automated Composites Manufacturing (ACM1) , Apr 2017, Montreal, Canada |
Optimized force and co-manipulation control using stiffness of force sensor with unknown environment2017 11th International Workshop on Robot Motion and Control (RoMoCo), Jul 2017, Wasowo Palace, France. ⟨10.1109/RoMoCo.2017.8003898⟩ |
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A real-time gesture classification using surface EMG to control a robotics handENOC 2017, Jun 2017, Budapest, Hungary |
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A Human-like Walking Gait Simulator for Pedestrian Dead Reckoning Navigation2017 14th Workshop on Positioning, Navigation and Communications (WPNC), Oct 2017, Bremen, Germany |
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Accurate force control and co-manipulation control using hybrid external commandInternational Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.931⟩ |
Model - based and Experimental Analysis of the Symmetry in Human Walking in Different Device Carrying ModesBioRob 2016, 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, Jun 2016, SINGAPOUR, Singapore. p.1172-1179, ⟨10.1109/BIOROB.2016.7523790⟩ |
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Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.538-543, ⟨10.1109/HUMANOIDS.2016.7803327⟩ |
Nonlinear orbital H_inf-stabilization of underactuated mechanical systems with unilateral constraints2015 European Control Conference (ECC), Jul 2015, Linz, Austria. pp.806-811, ⟨10.1109/ECC.2015.7330641⟩ |
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Self-stabilization of 3D walking via vertical oscillations of the hip2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, ⟨10.1109/ICRA.2015.7139907⟩ |
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Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walkingECCOMAS Thematic Conference on Multibody Dynamics, Jun 2015, Barcelona, Spain |
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EFFECTS OF THE VERTICAL CoM MOTION ON ENERGY CONSUMPTION FOR WALKING HUMANOIDS17th International Confer ence on Climbing and Walking Robots (CLAWAR), Jul 2014, Poznan, Poland. ⟨10.1142/9789814623353_0040⟩ |
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Controlling the tape's gap in robotized fiber placement process using a visual servoing external hybrid control schemeThe International symposium Aircraft Materials (ACMA2014), Apr 2014, Morocco |
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Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot2014 European Control Conference (ECC), Jun 2014, Strasbourg, France. pp.2600-2605, ⟨10.1109/ECC.2014.6862347⟩ |
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Online Intramuscular EMG Decomposition with Varying Number of Active Motor UnitsInternational Conference on NeuroRehabilitation (Replace, Repair, Restore, Relieve - Bridging Clinical and Engineering Solutions in Neurorehabilitation), Jun 2014, Aalborg, pp.303 - 311, ⟨10.1007/978-3-319-08072-7_50⟩ |
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IMPROVING ACCURACY IN ROBOTIZED FIBER PLACEMENTTHE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, Jul 2013, Montréal, Canada. pp.778-786 |
Online estimation of EMG signals model based on a renewal processIEEE International Conference on Acoustics, Speech, and Signal Processing, May 2013, Vancouver, Canada |
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Partial linearization of the PVTOL aircraft with internal stability52nd Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨10.1109/CDC.2013.6760268⟩ |
Modélisation de trains d'impulsions à l'aide d'une loi de Weibull discrète. Estimation hors-ligne et séquentielle des paramètres24e colloque GRETSI sur le traitement du signal et des images, Sep 2013, Brest, France |
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Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the PositionCongreso Nacional de Control Automático AMCA 2013, Oct 2013, Ensenada, Baja California, Mexico. pp.1-6 |
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Reactive Power Compensation in Mechanical SystemsThe 2nd Joint International Conference on Multibody System Dynamics - IMSD2012, May 2012, Stuttgart, Germany |
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Contribution de l'Effet du Balancement des Bras sur la Marche d'un Robot BipèdeCIFA 2012, Jul 2012, Grenoble, France |
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L'effets des Articulations Compliantes sur l'Efficacité Énergétique d'un Robot BipèdeSeptième Conférence Internationale Francophone d'Automatique (CIFA 2012), Jul 2012, Grenoble, France |
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Optimal walking gait with double support, simple support and impact for a bipedal robot equipped of four-bar kneesThe Second Joint International Conference on Multibody System Dynamics, May 2012, Stuttgart, Germany |
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Control Algorithms of the Longitude Motion of the Powered Paragliderthe ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France. pp.1-6 |
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ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPEDClimbing and Walking Robot- CLAWAR 2012, Jul 2012, Baltimore, United States |
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Walking trajectory optimization with rotation of the feet for a planar bipedal robot with four-bar kneesThe ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France |
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ARMS SWING EFFECTS ON A WALKING PLANAR BIPEDASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - ESDA2012, Jul 2012, Nantes, France |
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Compliance for a cross four-bar knee jointThe 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.743-750 |
Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approachesMultibody Dynamics 2011, 2011, Bruxelles, Belgium. pp.1 |
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Cross four-bar structure with spring for the knee of a bipedal robotMultibody Dynamics 2011 ECCOMAS, Jul 2011, Bruxelle, Belgium |
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Sequential estimation of intramuscular EMG model parameters for prosthesis controlIEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Robotics for Neurology and Rehabilitation, Sep 2011, San Francisco, Ca |
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Compliant Joints Increase the Energy Efficiency of Bipedal RobotThe 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), Sep 2011, Paris, France |
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Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems18th IFAC World Congress, Aug 2011, Milano, Italy |
Cross four-bar linkage for the knees of a planar bipedal robot2010 IEEE-RAS International Conference on Humanoid Robots - Humanoids 2010, Dec 2010, Nashville, United States. pp.379-384 |
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Study of different structures of the knee joint for a planar bipedal robotHumanoids2009, Dec 2009, Paris, France. pp.113-120 |
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A penalty-based approach for contact forces computation in bipedal robots9th IEEE-RAS International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.121 -- 127, ⟨10.1109/ICHR.2009.5379590⟩ |
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Optimal control of a neuromusculoskeletal model: a second order sliding mode solutionInternational Workshop on Variable Structure Systems, 2008., Jun 2008, Antalya, Turkey. pp.55 -- 60, ⟨10.1109/VSS.2008.4570682⟩ |
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A semi quadruped walking robot - first experimental results6th International Conference on Climbing and Walking Robots CLAWAR'03, Sep 2003, Catania, Italy. pp. 579-584 |
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An experimental validation of a nonlinear velocities observerIFAC Conference on System Structure and Control, Jul 1995, Nantes, France. pp. 355-359, ⟨10.1016/S1474-6670(17)45488-7⟩ |
Bipedal Robots : Modeling, Design and Walking SynthesisISTE Ltd, John Wiley & sons,, 2009, 978-1-84821-076-9 |
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Les robots marcheurs bipèdes : modélisation, conception, synthèse de la marche, commandeHermès Sciences, Lavoisier, 2007, 978-2-7462-1370-8 |
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Investigation of the stresses exerted by an exosuit of a human armAdvanced Technologies in Robotics and Intelligent Systems, Mechanisms and Machine Science 80., 2020 |
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Human squat motion: joint torques estimation with a 3D model and a sagittal modelNew trends in medical and service robotics (Springer), pp.247-255, 2020 |
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Periodic walking motion of a Humanoid robot based on human dataEuCoMeS 2020 New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, pp.349-359, 2020 |
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On the use of inner position loop in co-manipulation taskROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019 |
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Automatic classification of intramuscular EMG to recognize pathologies.Advanced Structured Materials, Springer Nature, In press |
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Preliminary survey of backdrivable linear actuators for humanoid robotsVigen Arakelian, Philippe Wenger. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, Springer, 2019, ROMANSY 22 – Robot Design, Dynamics and Control |
HInfini Stabilization of a 3D Bipedal Locomotion Under a Unilateral ConstraintNew Perspectives and Applications of Modern Control Theory, 2018 |
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Impact of a knee orthosis over walkingROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 584. Springer, Cham, 2018, 978-3-319-78962-0 |
Commande des robots humanoïdesTechnique de l'ingénieur, s7754 V1, 2017 |
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Historical Perspective of Humanoid Robot Research in EuropeGoswami A.; Vadakkepat P. Humanoid Robotics: A Reference, Springer, pp.19-34, 2017, 978-94-007-6045-5. ⟨10.1007/978-94-007-6046-2_144⟩ |
On the Design of the Exoskeleton Arm with Decoupled DynamicsIn: Wenger P., Chevallereau C., Pisla D., Bleuler H., Rodić A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, pp.143-150, 2016, ⟨10.1007/978-3-319-30674-2_11⟩ |
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Anthropomorphic Underactuated Hand with 15 JointsNew Trends in Medical and Service Robots, pp.277-295, 2016, ⟨10.1007/978-3-319-30674-2_21⟩ |
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Study and Choice of Actuation for a Walking Assist DeviceIn: Bleuler H., Bouri M., Mondada F., Pisla D., Rodic A., Helmer P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, pp.3-12, 2016, ⟨10.1007/978-3-319-23832-6_1⟩ |
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Study and choice of actuation for a walking assist deviceMechanism and Machine Science, New trends in medical and service robots, Springer, 2015., 2015 |
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Estimation of the Absolute Orientation of a Five-link Walking Robot with Passive FeetArmando Carlos de Pina Filho. Humanoid Robots: New Developments, I-Tech Education and Publishing, Vienna, Austria, Chap. 3, pp. 31-44, 2007, 978-3-902613-00-4. ⟨10.5772/4859⟩ |
MODERATO : MOdélisation et Décomposition des EMG pour la Reconnaissance et l'Assistance aux Troubles neurOmusculairesRencontre innovation dispositifs médicaux de l'université de Nantes, 2018 |
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Evaluation de la performance musculaire avec traitement de signal EMG spécifiqueMyostorming VII, journée du Centre de Référence des Maladies Neuromusculaires Atlantique-Océanie-Caraïbes, Nantes, 2017 |
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Commande EMG d'une main robotiqueJournal télévisé France 3 Estuaire, 2017 |
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Une main bionique commandée par les musclesContribution à la fresque CNRS-RATP, métro Station Montparnasse, Paris, 2016 |
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Report on Calculation of Jacobian Matrix of Poincaré Return Map for Self-synchronized 3D Walking Gaits[Research Report] LABORATOIRE DES SCIENCES DU NUMÉRIQUE DE NANTES. 2018 |
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Improving accuracy in robotized fibre placement using force and visual servoing external hybrid control scheme[Intern report] ESTIA Recherche. 2014 |