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Welcome!

I made this website to present a part of my work and myself. All that is presented here is in free access so anyone can get interest in, or used what i have done. Enjoy;

Short presentation

I am Vincent Samy, a current postdoc at the JRL¹, Tsukuba, Japan. During my PhD at LIRMM², I worked on safe falls for humanoid robots, or 'how to control the robot so that it does not smack the ground too hard'. As a fall is a relatively fast event (<1s), i have made a point of honor to develop on-line algorithms. The main contribution of my thesis is, without doubt, the adaptive qp that enables to tune the motor's PD-gains on-line in order to comply to the impact. I also used polytopes coupling with an MPC to predict forces the adaptive-qp should aim for. I changed field and I currently work on musculoskeletal models. The aim is to create a software for assisting workers during their tasks. The system watches the risk of physical health problem such as back pain.

Research outputs

Through my different experiences, i have been working on diverse subject. From the manipulability of hybrid actuator to humanoids control and more specifically, safe falls. I have worked in laboratories like the complex mechanical system engineering laboratory at Kobe university², Japan, the LIST³ at CEA⁴, France, ISIR⁵ of the Pierre et Marie Curry university, France, and the Lirmm. Now, I mostly implement libraries for researches on musculoskeletal models.

Github repository

Through the years i have developed different tool to help me for my work but also for fun. I drop on my github repository all libraries I can upload freely.

^{1. Joint Research Laboratory}
^{2. Laboratory of Informatics, Robotics and Microelectronics}
^{3. website}
^{4. Laboratory of Systems and Technologies Integration}
^{5. Alternative Energies and Atomic Energy Commission}
^{6. Robotics and Intelligent Systems Institute}