PhD thesis: Design of bio-inspired variable impedance control laws for interaction with the environment in rhythmic tasks
Thesis abstract: This research project is positioned at the interface between Automatic control, Robotics and Human Movement Sciences (neurosciences). It aims at modeling the control of the human upper limb in a rhythmic sensorimotor task, namely the cyclic ball bouncing.
This modeling contributes on the one hand to the understanding of human movement and its analysis using automatic control tools, and on the other hand to the development of innovative bio-inspired control strategies for anthropomorphic robotic systems in interaction with the environment, for applications in co-manipulation and robotic assistance.
This research project is part of a scientific collaboration between researchers from L2S (CentraleSupélec, CNRS, Paris-Saclay university) and CIAMS (Paris-Saclay university). The two teams are partners in the thematic axis « Bio-inspired Artificial Human » of the ” Fédération Demenÿ-Vaucanson” research structure (http://fedev.universite-paris-saclay.fr/).
Duration: October 2022 – September 2025
Funding: Université Paris Saclay
Supervising team:
– Supervisor L2S : Pedro Rodriguez
– Co-Supervisor L2S : Maria Makarov
– Supervisor CIAMS : Isabelle Siegler
