Personnel
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
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Bibliography

Major publications by the team in recent years
[1]
V. Acary, O. Bonnefon, B. Brogliato.
Nonsmooth Modeling and Simulation for Switched Circuits, Lecture Notes in Electrical Engineering, Springer Verlag, 2011, vol. 69.
[2]
V. 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.
[3]
V. 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.
[4]
V. 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.
[5]
F. 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.
[6]
B. 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.
[7]
B. Brogliato.
Some perspectives on the analysis and control of complementarity systems, in: IEEE Trans. Automatic Control, 2003, vol. 48, no 6, pp. 918-935.
[8]
B. Brogliato.
Nonsmooth Mechanics. Models, Dynamics and Control, Springer Verlag London, 2016, 3rd edition.
[9]
B. Brogliato, R. Lozano, B. Maschke, O. Egeland.
Dissipative Systems Analysis and Control, Springer Verlag, London, 2007, 2nd edition.
[10]
B. 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.
[11]
G. 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.
http://www.inrialpes.fr/bipop/people/bertails/Papiers/hybridIterativeSolverHairDynamicsSiggraphAsia2011.html
[12]
G. 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 ]
https://hal.inria.fr/hal-01310189
[13]
G. James, P. Kevrekidis, J. Cuevas.
Breathers in oscillator chains with Hertzian interactions, in: Physica D, 2013, vol. 251, pp. 39-59.
[14]
G. 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.
[15]
L. 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 ]
https://hal.archives-ouvertes.fr/hal-01417945
[16]
C. 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.
[17]
S. Nguyen, B. Brogliato.
Multiple Impacts in Dissipative Granular Chains, Lecture Notes in Applied and Computational Mechanics, Springer Verlag, 2014, vol. 72.
[18]
A. Tonnelier.
Propagation of spike sequences in neural networks, in: SIAM J. Appl. Dyn. Syst., 2010, vol. 9.
[19]
G. 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

[20]
N. 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 ]
https://hal.inria.fr/hal-01562703
[21]
B. 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 ]
https://hal.inria.fr/hal-01629146
[22]
F. 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 ]
https://hal.archives-ouvertes.fr/hal-01676287
[23]
M. 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 ]
https://hal.inria.fr/hal-01562700
[24]
R. 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 ]
https://hal.inria.fr/hal-01235861
[25]
J. 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 ]
https://hal.archives-ouvertes.fr/hal-01249261
[26]
F. 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 ]
https://hal.inria.fr/hal-01254303
[27]
J. 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 ]
https://hal.archives-ouvertes.fr/hal-01630039
[28]
J. 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 ]
https://hal.archives-ouvertes.fr/hal-01634470

Invited Conferences

[29]
N. 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.
https://hal.inria.fr/hal-01649580

International Conferences with Proceedings

[30]
V. 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.
https://hal.inria.fr/hal-01562706
[31]
N. 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 ]
https://hal.archives-ouvertes.fr/hal-01625733
[32]
N. 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.
https://hal.archives-ouvertes.fr/hal-01649781
[33]
N. 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.
https://hal.inria.fr/hal-01482878
[34]
M. 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.
https://hal.inria.fr/hal-01618881
[35]
F. 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.
https://hal.inria.fr/hal-01629185
[36]
F. 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 ]
https://hal.inria.fr/hal-01629187
[37]
A. Vieira, B. Brogliato, C. Prieur.
On the optimal control of linear complementarity systems, in: IFAC World Congress, Toulouse, France, July 2017.
https://hal.inria.fr/hal-01493188

Conferences without Proceedings

[38]
S. 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.
https://hal.archives-ouvertes.fr/hal-01639745
[39]
C. 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.
https://hal.archives-ouvertes.fr/hal-01569841

Scientific Books (or Scientific Book chapters)

[40]
G. 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.
https://hal.archives-ouvertes.fr/hal-01660891
[41]
P.-B. Wieber, A. Escande, D. Dimitrov, A. Sherikov.
Geometric and numerical aspects of redundancy, in: Geometric and Numerical Foundations of Movements, 2017.
https://hal.inria.fr/hal-01418462

Internal Reports

[42]
V. Acary, M. Brémond, O. Huber.
On solving contact problems with Coulomb friction: formulations and numerical comparisons, Inria, November 2017, no RR-9118, 224 p.
https://hal.inria.fr/hal-01630836
[43]
B. Brogliato.
Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum, Inria Grenoble - Rhone-Alpes, February 2017.
https://hal.inria.fr/hal-01331565
[44]
M. Ly, F. Bertails-Descoubes, D. Rohmer.
Unilaterally Incompressible Skinning, Inria - Research Centre Grenoble – Rhône-Alpes, April 2017.
https://hal.inria.fr/hal-01512412

Other Publications

[45]
B. Brogliato.
Feedback control of multibody systems with joint clearance and dynamic backlash: A tutorial, March 2017, working paper or preprint.
https://hal.inria.fr/hal-01499581
[46]
J. Cuevas-Maraver, P. Kevrekidis, D. J. Frantzeskakis, N. Karachalios, M. L. Haragus, G. James.
Floquet Analysis of Kuznetsov–Ma breathers: A Path Towards Spectral Stability of Rogue Waves , February 2017, https://arxiv.org/abs/1701.06212 - working paper or preprint.
https://hal.archives-ouvertes.fr/hal-01465351
[47]
G. Daviet, F. Bertails-Descoubes.
Simulation of Drucker–Prager granular flows inside Newtonian fluids, February 2017, working paper or preprint.
https://hal.inria.fr/hal-01458951
[48]
O. Huber, V. Acary, B. Brogliato.
Lyapunov stability analysis of the implicit discrete-time twisting control algorithm, October 2017, working paper or preprint.
https://hal.inria.fr/hal-01622092