Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. - Ewen Dantec; Rohan Budhiraja; Adria Roig; Teguh Santoso Lembono; Guilhem Saurel; Olivier Stasse; Pierre Fernbach; Steve Tonneau; Sethu Vijayakumar; Sylvain Calinon; Michel Taïx; Nicolas Mansard (ICRA, 2021)

Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. - Ewen Dantec; Maximilien Naveau; Pierre Fernbach; Nahuel A. Villa; Guilhem Saurel; Olivier Stasse; Michel Taïx; Nicolas Mansard (Humanoids, 2022)

Torque Controlled Locomotion of a Biped Robot with Link Flexibility. - Nahuel A. Villa; Pierre Fernbach; Maximilien Naveau; Guilhem Saurel; Ewen Dantec; Nicolas Mansard; Olivier Stasse (Humanoids, 2022)

Introducing Force Feedback in Model Predictive Control. - Sébastien Kleff; Ewen Dantec; Guilhem Saurel; Nicolas Mansard; Ludovic Righetti (IROS, 2022)

First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. - Ewen Dantec; Michel Taïx; Nicolas Mansard (IEEE Robotics Autom. Lett., 2022)

A whole-body predictive control approach to biped locomotion. (Application de méthodes de contrôle prédictif corps complet à la locomotion bipède). - Ewen Dantec (2023)

From centroidal to whole-body models for legged locomotion: a comparative analysis. - Ewen Dantec; Wilson Jallet; Justin Carpentier (Humanoids, 2024)

Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control. - Wilson Jallet; Ewen Dantec; Etienne Arlaud; Nicolas Mansard; Justin Carpentier (Robotics: Science and Systems, 2024)

Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. - Wilson Jallet; Ewen Dantec; Etienne Arlaud; Justin Carpentier; Nicolas Mansard (CoRR, 2024)