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Publications associées (32)

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...

IEEE2022

Exploring the inner workings of the clove hitch knot

Pedro Miguel Nunes Pereira de Almeida Reis, Tomohiko Sano, Paul Johanns, Changyeob Baek, Paul Grandgeorge

We perform a combined experimental and computational investigation of the clove hitch knot. We develop a physical model for the clove hitch by tying an elastic rod onto a rigid cylinder. In the experiments, we characterize the mechanical performance, geome ...

ELSEVIER2022

Nonlocal Effects Reflect the Jamming Criticality in Frictionless Granular Flows Down Inclines

Matthieu Wyart, Hugo Robin Louis Perrin

The jamming transition is accompanied by a rich phenomenology such as hysteresis or nonlocal effects that is still not well understood. Here, we experimentally investigate a model frictionless granular layer flowing down an inclined plane as a way to disen ...

AMER PHYSICAL SOC2021

Multimode Hydraulically Amplified Electrostatic Actuators for Wearable Haptics

Herbert Shea, Ronan Julien Hinchet, Edouard Franck Vincent Gustave Leroy

The sense of touch is underused in today’s virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long ...

2020

Instability of Thin Concrete Walls with a Single Layer of Reinforcement under Cyclic Loading: Numerical Simulation and Improved Equivalent Boundary Element Model for Assessment

Katrin Beyer, João Saraiva Esteves Pacheco de Almeida, Angelica Rosso, Lisandro Arturo Jimenez Roa

Thin reinforced concrete walls may fail due to out-of-plane instability when subjected to seismic loading. While previous numerical studies on wall instability have focused on the behaviour of members with two layers of vertical reinforcement, this work ad ...

TAYLOR & FRANCIS LTD2020

Out-of-plane instability of thin reinforced concrete walls under seismic loading

Angelica Rosso

Out of plane instability of reinforced concrete walls is a failure mechanism observed rather recently following the earthquakes in Chile (2010) and New Zealand (2011). Global out of plane instability is a phenomenon that may occur in thin walls, subjected ...

EPFL2018

Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016

Roger Gassert, Olivier Lambercy, Mirko Meboldt

Powered exoskeletons are a promising approach to restore the ability to walk after spinal cord injury (SCI). However, current exoskeletons remain limited in their walking speed and ability to support tasks of daily living, such as stair climbing or overcom ...

2018

Management of turbidity current venting in reservoirs under different bed slopes

Anton Schleiss, Giovanni De Cesare, Sabine Chamoun

The lifetime and efficiency of dams is endangered by the process of sedimentation. To ensure the sustainable use of reservoirs, many sediment management techniques exist, among which venting of turbidity currents. Nevertheless, a number of practical questi ...

Elsevier2017

Full-Scale Cyclic Testing of Deep Slender Wide-Flange Steel Beam-Columns under Unidirectional and Bidirectional Lateral Drift Demands

Dimitrios Lignos, Ahmed Mohamed Ahmed Elkady

Deep and slender wide-flange steel beam-columns are commonly used in steel special moment frames (SMFs) in North America. These sections provide large moment-of-inertia required to satisfy the design code’s drift limits while keeping the column steel weigh ...

International Association of Earthquake Engineering2017

Experimental investigation into bond behavior of FRP-to-concrete under mixed-mode I/II loading

Ardalan Hosseini

The main purpose of the current study is to investigate bond behavior of fiber reinforced polymer (FRP)-to-concrete under mixed-mode I/II loading. To attain this end, 150 × 150 × 330 mm concrete prisms were cast and strengthened by carbon fiber reinforced ...

Elsevier2017

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