Dr. Yvan Michellod (2004 – 2009)

PhD Overactuated systems coordination (Thèse EPFL, no 4299, 2008)

(current email)

Research projects

Publications on EPFL-Infoscience

Journal Articles


A. Terrier; M. Aeberhard; Y. Michellod; P. Müllhaupt; D. Gillet et al. : A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization; Medical Engineering and Physics. 2010. DOI : 10.1016/j.medengphy.2010.07.006.


Y. Michellod; P. Mullhaupt; D. Gillet : Trajectory Tracking through Overactuation for an Optical Delay Line; IEEE/ASME Transactions on Mechatronics. 2007.

Conference Papers


M. Aeberhard; Y. Michellod; P. Mullhaupt; A. Terrier; D. P. Pioletti et al. : Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system. 2008. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008.
M. Stalder; Y. Michellod; P. Mullhaupt; D. Gillet : Dedicated controller design for a dual-stage opto-mechatronic system. 2008. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2-5 July 2008.
Y. Michellod; P. Mullhaupt; D. Gillet : On Achieving Periodic Joint-Motion for Redundant Robots. 2008. IFAC World Congress, Seoul, 6-11 July, 2008.
F. Weibel; Y. Michellod; P. Mullhaupt; D. Gillet : Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference. 2008. American Control Conference, Seattle, June 2008.


D. Gillet; C. Salzmann; Y. Michellod; D. Perritaz : Hands-on Introduction to Automatic Control with focus on Teleoperation and Real-Time Interaction. 2006. Advances in Control Education (ACE) 2006, Madrid, 21– 23 June 2006.
Y. Michellod; P. Mullhaupt; D. Gillet : Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology. 2006. 2006 IEEE International Conference on Robotics, Automation & Mechatronics (RAM), Bangkok, Thailand, June 7-9, 2006.


R. Launhardt; T. Henning; D. Queloz; H. Quirrenbach; E. Bakker et al. : Towards High-Precision Ground-Based Astrometry: Differential Delay Lines for [email protected]. 2004. Astrometry in the Age of the Next Generation of Large Telescopes (Astrometry’04), Lowell Observatory, Flagstaff, 18 - 20 October 2004.



Y. Michellod : Overactuated systems coordination. Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4299.