Planning support contact-points for humanoid robots and experiments on HRP-2. - Adrien Escande; Abderrahmane Kheddar; Sylvain Miossec (IROS, 2006)

Continuous gradient proximity distance for humanoids free-collision optimized-postures. - Adrien Escande; Sylvain Miossec; Abderrahmane Kheddar (Humanoids, 2007)

Towards autonomous object reconstruction for visual search by the humanoid robot HRP-2. - Olivier Stasse; Diane Larlus; Baptiste Lagarde; Adrien Escande; François Saïdi; Abderrahmane Kheddar; Kazuhito Yokoi; Frédéric Jurie (Humanoids, 2007)

A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot. - Torea Foissotte; Olivier Stasse; Adrien Escande; Abderrahmane Kheddar (Humanoids, 2008)

Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. - Olivier Stasse; Adrien Escande; Nicolas Mansard; Sylvain Miossec; Paul Evrard; Abderrahmane Kheddar (ICRA, 2008)

Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2. - Adrien Escande; Abderrahmane Kheddar; Sylvain Miossec; Sylvain Garsault (ISER, 2008)

Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes. - Mehdi Benallegue; Adrien Escande; Sylvain Miossec; Abderrahmane Kheddar (ICRA, 2009)

Potential field guide for humanoid multicontacts acyclic motion planning. - Karim Bouyarmane; Adrien Escande; Florent Lamiraux; Abderrahmane Kheddar (ICRA, 2009)

A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot. - Torea Foissotte; Olivier Stasse; Adrien Escande; Pierre-Brice Wieber; Abderrahmane Kheddar (ICRA, 2009)

Contact planning for acyclic motion with task constraints and experiment on HRP-2 humanoid. - Adrien Escande; Abderrahmane Kheddar (IROS, 2009)

Contact planning for acyclic motion with tasks constraints. - Adrien Escande; Abderrahmane Kheddar (IROS, 2009)

Planning contact supports for acyclic motion with task constraints and experiment on HRP-2. - Adrien Escande; Abderrahmane Kheddar (SyRoCo, 2009)

Fast resolution of hierarchized inverse kinematics with inequality constraints. - Adrien Escande; Nicolas Mansard; Pierre-Brice Wieber (ICRA, 2010)

Autonomous 3D Object Modeling by a Humanoid Using an Optimization-Driven Next-Best-View Formulation. - Torea Foissotte; Olivier Stasse; Pierre-Brice Wieber; Adrien Escande; Abderrahmane Kheddar (Int. J. Humanoid Robotics, 2010)

A new optimization based approach for push recovery in case of multiple noncoplanar contacts. - Darine Mansour; Alain Micaelli; Adrien Escande; Pierre Lemerle (Humanoids, 2011)

Interactive dynamics and balance of a virtual character during manipulation tasks. - Mingxing Liu; Alain Micaelli; Paul Evrard; Adrien Escande; Claude Andriot (ICRA, 2011)

An energy based two level prioritized control for virtual humans. - Mingxing Liu; Alain Micaelli; Paul Evrard; Adrien Escande; Claude Andriot (ROBIO, 2011)

A hierarchical framework for realizing dynamically-stable motions of humanoid robot in obstacle-cluttered environments. - Zhaopeng Qiu; Adrien Escande; Alain Micaelli; Thomas Robert 002 (Humanoids, 2012)

Task-driven Posture Optimization for Virtual Characters. - Mingxing Liu; Alain Micaelli; Paul Evrard; Adrien Escande (Symposium on Computer Animation, 2012)

Interactive Virtual Humans: A Two-Level Prioritized Control Framework With Wrench Bounds. - Mingxing Liu; Alain Micaelli; Paul Evrard; Adrien Escande; Claude Andriot (IEEE Trans. Robotics, 2012)

Real-time smooth task transitions for hierarchical inverse kinematics. - Gerardo Jarquín; Adrien Escande; Gustavo Arechavaleta; Thomas Moulard; Eiichi Yoshida; Vicente Parra-Vega (Humanoids, 2013)

Point-cloud multi-contact planning for humanoids: Preliminary results. - Stanislas Brossette; Joris Vaillant; François Keith; Adrien Escande; Abderrahmane Kheddar (RAM, 2013)

Planning contact points for humanoid robots. - Adrien Escande; Abderrahmane Kheddar; Sylvain Miossec (Robotics Auton. Syst., 2013)

Model preview control in multi-contact motion-application to a humanoid robot. - Herve Audren; Joris Vaillant; Abderrahmane Kheddar; Adrien Escande; Kenji Kaneko; Eiichi Yoshida (IROS, 2014)

Integration of non-inclusive contacts in posture generation. - Stanislas Brossette; Adrien Escande; Joris Vaillant; François Keith; Thomas Moulard; Abderrahmane Kheddar (IROS, 2014)

Hierarchical quadratic programming: Fast online humanoid-robot motion generation. - Adrien Escande; Nicolas Mansard; Pierre-Brice Wieber (Int. J. Robotics Res., 2014)

A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients. - Adrien Escande; Sylvain Miossec; Mehdi Benallegue; Abderrahmane Kheddar (IEEE Trans. Robotics, 2014)

Humanoid posture generation on non-Euclidean manifolds. - Stanislas Brossette; Adrien Escande; Gregoire Duchemin; Benjamin Chrétien; Abderrahmane Kheddar (Humanoids, 2015)

Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots. - Benjamin Chrétien; Adrien Escande; Abderrahmane Kheddar (IROS, 2015)

Identification of dynamics of humanoids: Systematic exciting motion generation. - Jovana Jovic; Franck Philipp; Adrien Escande; Ko Ayusawa; Eiichi Yoshida; Abderrahmane Kheddar; Gentiane Venture (IROS, 2015)

Parametrization of Catmull-Clark subdivision surfaces for posture generation. - Adrien Escande; Stanislas Brossette; Abderrahmane Kheddar (ICRA, 2016)

Identification of fully physical consistent inertial parameters using optimization on manifolds. - Silvio Traversaro; Stanislas Brossette; Adrien Escande; Francesco Nori (IROS, 2016)

Multi-contact vertical ladder climbing with an HRP-2 humanoid. - Joris Vaillant; Abderrahmane Kheddar; Hervé Audren; François Keith; Stanislas Brossette; Adrien Escande; Karim Bouyarmane; Kenji Kaneko; Mitsuharu Morisawa; Pierre Gergondet; Eiichi Yoshida; Shuuji Kajita; et al. (Auton. Robots, 2016)

GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming. - Benjamin Chrétien; Adrien Escande; Abderrahmane Kheddar (IEEE Trans. Parallel Distributed Syst., 2016)

Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization. - Jovana Jovic; Adrien Escande; Ko Ayusawa; Eiichi Yoshida; Abderrahmane Kheddar; Gentiane Venture (IEEE Trans. Robotics, 2016)

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing. - Anastasia Bolotnikova; Kevin Chappellet; Antonio Paolillo; Adrien Escande; Gholamreza Anbarjafari; Adolfo Suarez-Roos; Patrice Rabaté; Abderrahmane Kheddar (CASE, 2017)

Nut fastening with a humanoid robot. - Kai Pfeiffer; Adrien Escande; Abderrahmane Kheddar (IROS, 2017)

Toward a Human(oid) Motion Planner. - Eiichi Yoshida; Ko Ayusawa; Yusuke Yoshiyasu; Adrien Escande; Abderrahmane Kheddar (ISRR, 2017)

Optimization-Based Inverse Model of Soft Robots With Contact Handling. - Eulalie Coevoet; Adrien Escande; Christian Duriez (IEEE Robotics Autom. Lett., 2017)

Design of optimized soft soles for humanoid robots. - Giovanni De Magistris; Sylvain Miossec; Adrien Escande; Abderrahmane Kheddar (Robotics Auton. Syst., 2017)

Geometric and Numerical Aspects of Redundancy. - Pierre-Brice Wieber; Adrien Escande; Dimitar Dimitrov 001; Alexander Sherikov (Geometric and Numerical Foundations of Movements, 2017)

Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Humanoids, 2018)

Robust Humanoid Control Using a QP Solver with Integral Gains. - Rafael Cisneros Limón; Mehdi Benallegue; Abdelaziz Benallegue; Mitsuharu Morisawa; Herve Audren; Pierre Gergondet; Adrien Escande; Abderrahmane Kheddar; Fumio Kanehiro (IROS, 2018)

Quotient-Space Motion Planning. - Andreas Orthey; Adrien Escande; Eiichi Yoshida (IROS, 2018)

Capturability-based Analysis, Optimization and Control of 3D Bipedal Walking. - Stéphane Caron; Adrien Escande; Leonardo Lanari; Bastien Mallein (CoRR, 2018)

Singularity Resolution in Equality and Inequality Constrained Hierarchical Task-Space Control by Adaptive Nonlinear Least Squares. - Kai Pfeiffer; Adrien Escande; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2018)

Multicontact Postures Computation on Manifolds. - Stanislas Brossette; Adrien Escande; Abderrahmane Kheddar (IEEE Trans. Robotics, 2018)

Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. - Mitsuharu Morisawa; Mehdi Benallegue; Rafael Cisneros Limón; Iori Kumagai; Adrien Escande; Kenji Kaneko; Fumio Kanehiro (IROS, 2019)

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming. - Eulalie Coevoet; Adrien Escande; Christian Duriez (RoboSoft, 2019)

Cable Installation by a Humanoid Integrating Dual-arm Manipulation and Walking. - Yili Qin; Adrien Escande; Eiichi Yoshida (SII, 2019)

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. - Abderrahmane Kheddar; Máximo A. Roa; Pierre-Brice Wieber; François Chaumette; Fabien Spindler; Giuseppe Oriolo; Leonardo Lanari; Adrien Escande; Kevin Chappellet; Fumio Kanehiro; Patrice Rabaté; Stéphane Caron; et al. (IEEE Robotics Autom. Mag., 2019)

Vision-based Belt Manipulation by Humanoid Robot. - Yili Qin; Adrien Escande; Arnaud Tanguy; Eiichi Yoshida (IROS, 2020)

An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. - Rafael Cisneros Limón; Mitsuharu Morisawa; Mehdi Benallegue; Adrien Escande; Fumio Kanehiro (Adv. Robotics, 2020)

Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

Capturability-Based Pattern Generation for Walking With Variable Height. - Stéphane Caron; Adrien Escande; Leonardo Lanari; Bastien Mallein (IEEE Trans. Robotics, 2020)

On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. - Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue; Arnaud Tanguy; Adrien Escande; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 2021)

NIPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs. - Kai Pfeiffer; Adrien Escande; Ludovic Righetti (CoRR, 2021)

Online Object Searching by a Humanoid Robot in an Unknown Environment. - Masato Tsuru 002; Adrien Escande; Arnaud Tanguy; Kevin Chappellet; Kensuke Harada (IEEE Robotics Autom. Lett., 2021)

Special issue on online motion planning and model predictive control. - Yuichi Tazaki; Kensuke Harada; Masaki Murooka; Adrien Escande (Adv. Robotics, 2023)

Dual-Arm Mobile Manipulation Planning of a Long Deformable Object in Industrial Installation. - Yili Qin; Adrien Escande; Fumio Kanehiro; Eiichi Yoshida (IEEE Robotics Autom. Lett., 2023)

The Hierarchical Newton's Method for Numerically Stable Prioritized Dynamic Control. - Kai Pfeiffer; Adrien Escande; Pierre Gergondet; Abderrahmane Kheddar (IEEE Trans. Control. Syst. Technol., 2023)

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap. - Masato Tsuru 002; Adrien Escande; Iori Kumagai; Masaki Murooka; Kensuke Harada (Sensors, 2023)

Motion Accuracy and Computational Effort in QP-based Robot Control. - Sélim Chefchaouni; Mehdi Benallegue; Adrien Escande; Pierre-Brice Wieber (Humanoids, 2024)

Direct 3D model-based object tracking with event camera by motion interpolation. - Y. Kang; Guillaume Caron; R. Ishikawa; Adrien Escande; Kevin Chappellet; Ryusuke Sagawa; Takeshi Oishi (ICRA, 2024)

Motion Accuracy and Computational Effort in QP-based Robot Control. - Sélim Chefchaouni; Adrien Escande; Pierre-Brice Wieber (CoRR, 2024)

Optimization-Based Control for Dynamic Legged Robots. - Patrick M. Wensing; Michael Posa; Yue Hu 001; Adrien Escande; Nicolas Mansard; Andrea Del Prete (IEEE Trans. Robotics, 2024)

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. - Rafael Cisneros Limón; Antonin Dallard; Mehdi Benallegue; Kenji Kaneko; Hiroshi Kaminaga; Pierre Gergondet; Arnaud Tanguy; Rohan Pratap Singh; Leyuan Sun; Yang Chen 026; Carole Fournier; Guillaume Lorthioir; et al. (Int. J. Soc. Robotics, 2025)