Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. - Olivier Stasse; F. Morsillo; Mathieu Geisert; Nicolas Mansard; Maximilien Naveau; Christian Vassallo (Humanoids, 2014)

Trajectory generation for quadrotor based systems using numerical optimal control. - Mathieu Geisert; Nicolas Mansard (ICRA, 2016)

Regularized Hierarchical Differential Dynamic Programming. - Mathieu Geisert; Andrea Del Prete; Nicolas Mansard; Francesco Romano; Francesco Nori (IEEE Trans. Robotics, 2017)

Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. - Nicolas Mansard; A. DelPrete; Mathieu Geisert; Steve Tonneau; Olivier Stasse (ICRA, 2018)

Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. - Mathieu Geisert; Thomas Yates; Asil Orgen; Pierre Fernbach; Ioannis Havoutis (TAROS (1), 2019)

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. - David Surovik; Oliwier Melon; Mathieu Geisert; Maurice F. Fallon; Ioannis Havoutis (CoRL, 2020)

Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. - Oliwier Melon; Mathieu Geisert; David Surovik; Ioannis Havoutis; Maurice F. Fallon (ICRA, 2020)

Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. - Siddhant Gangapurwala; Mathieu Geisert; Romeo Orsolino; Maurice F. Fallon; Ioannis Havoutis (ICRA, 2021)

Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. - Oliwier Melon; Romeo Orsolino; David Surovik; Mathieu Geisert; Ioannis Havoutis; Maurice F. Fallon (ICRA, 2021)

Rapid Stability Margin Estimation for Contact-Rich Locomotion. - Romeo Orsolino; Siddhant Gangapurwala; Oliwier Melon; Mathieu Geisert; Ioannis Havoutis; Maurice F. Fallon (IROS, 2021)

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (ICRA, 2022)

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control. - Siddhant Gangapurwala; Mathieu Geisert; Romeo Orsolino; Maurice F. Fallon; Ioannis Havoutis (IEEE Trans. Robotics, 2022)

VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation. - Alexander L. Mitchell; Wolfgang Merkt; Mathieu Geisert; Siddhant Gangapurwala; Martin Engelcke; Oiwi Parker Jones; Ioannis Havoutis; Ingmar Posner (IEEE Trans. Robotics, 2023)