transHumUs: A poetic experience in mobile robotics. - Guilhem Saurel; Michel Taïx; Jean-Paul Laumond (ICRA, 2016)

A simulation framework for simultaneous design and control of passivity based walkers. - Guilhem Saurel; Justin Carpentier; Nicolas Mansard; Jean-Paul Laumond (SIMPAR, 2016)

Actuator design of compliant walkers via optimal control. - Gabriele Buondonno; Justin Carpentier; Guilhem Saurel; Nicolas Mansard; Alessandro De Luca 001; Jean-Paul Laumond (IROS, 2017)

The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. - Justin Carpentier; Guilhem Saurel; Gabriele Buondonno; Joseph Mirabel; Florent Lamiraux; Olivier Stasse; Nicolas Mansard (SII, 2019)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Sethu Vijayakumar; Nicolas Mansard (CoRR, 2019)

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. - Carlos Mastalli; Rohan Budhiraja; Wolfgang Merkt; Guilhem Saurel; Bilal Hammoud; Maximilien Naveau; Justin Carpentier; Ludovic Righetti; Sethu Vijayakumar; Nicolas Mansard (ICRA, 2020)

Learning to steer a locomotion contact planner. - Jason Chemin; Pierre Fernbach; Daeun Song; Guilhem Saurel; Nicolas Mansard; Steve Tonneau (ICRA, 2021)

Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. - Thomas Corbères; Thomas Flayols; Pierre-Alexandre Léziart; Rohan Budhiraja; Philippe Souères; Guilhem Saurel; Nicolas Mansard (ICRA, 2021)

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)

Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm. - Arthur Haffemayer; Armand Jordana; Médéric Fourmy; Krzysztof Wojciechowski; Guilhem Saurel; Vladimír Petrík; Florent Lamiraux; Nicolas Mansard (UR, 2024)