Gabriel Buche

Learn More
This paper presents the experimental validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints— holonomic constraints imposed via feedback—on the robot’s(More)
This paper presents the experimental implementation and validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N-link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints - holonomic constraints imposed via feedback -(More)
This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of(More)
1 Control Systems Laboratory, EECS Department, University of Michigan, Ann Arbor, Michigan 48109-2122, USA, {MorrisBJ,Grizzle}@umich.edu 2 Locomotion and Biomechanics Laboratory, Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210, USA, Westervelt.4@osu.edu 3 IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, BP 92101, 1 rue(More)
An active vibration control system using an inertial actuator for suppression of multiple unknown and/or time-varying vibrations will be presented. The objective is to minimize the residual force by applying an appropriate control effort through the inertial actuator. The system does not use any additional transducer for getting in real-time information(More)
In this paper, we propose an experimental validation of a new control strategy based on the use of intuitive control and neural networks CMAC in order to control the under-actuated robot RABBIT. The training of the neural networks is carried out during the simulation. When the training is finished, these neural networks are used to control the real robot.(More)
This brief presents a procedure for design and tuning of reduced orders feedforward compensators for active vibration control systems subject to wide band disturbances. The procedure takes in account the inherent “positive” feedback coupling between the compensator system and the measurement of the image of the disturbance. It also takes advantage of the(More)
An active vibration control system using an inertial actuator for suppression of multiple unknown and/or time-varying vibrations will be presented. The objective is to minimize the residual force by applying an appropriate control effort through the inertial actuator. The system does not use any additional transducer for getting in real time information(More)