Nicolas Mansard

IEEE Robotics Autom. Lett., 2022

First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback.

[BibT_eX]

[DOI]

Ewen Dantec

Michel Taïx

IEEE Robotics Autom. Lett., 2022

Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos.

[BibT_eX]

[DOI]

Int. J. Comput. Vis., 2022

Optimization-Based Control for Dynamic Legged Robots.

[BibT_eX]

[DOI]

CoRR, 2022

ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond.

[BibT_eX]

[DOI]

CoRR, 2022

A feasibility-driven approach to control-limited DDP.

[BibT_eX]

[DOI]

Auton. Robots, 2022

Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments.

[BibT_eX]

[DOI]

Fanny Risbourg

Thomas Corbères

Steve Tonneau

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Introducing Force Feedback in Model Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Implicit Differential Dynamic Programming.

[BibT_eX]

[DOI]

Wilson Jallet

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Torque Controlled Locomotion of a Biped Robot with Link Flexibility.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Proximal and Sparse Resolution of Constrained Dynamic Equations.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

A Hybrid Collision Model for Safety Collision Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

High-Frequency Nonlinear Model Predictive Control of a Manipulator.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs.

[BibT_eX]

[DOI]

Médéric Fourmy

Joan Solà

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Computational design of energy-efficient legged robots: Optimizing for size and actuators.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos.

[BibT_eX]

[DOI]

Ewen Dantec

Adria Roig

Teguh Santoso Lembono

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Comparison of predictive controllers for locomotion and balance recovery of quadruped robots.

[BibT_eX]

[DOI]

Thomas Corbères

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning to steer a locomotion contact planner.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ICP Localization and Walking Experiments on a TALOS Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the 20th International Conference on Advanced Robotics, 2021

2020

A Direct-Indirect Hybridization Approach to Control-Limited DDP.

[BibT_eX]

[DOI]

CoRR, 2020

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion.

[BibT_eX]

[DOI]

Teguh Santoso Lembono

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.

[BibT_eX]

[DOI]

CoRR, 2019

The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives.

[BibT_eX]

[DOI]

Proceedings of the IEEE/SICE International Symposium on System Integration, 2019

Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video.

[BibT_eX]

[DOI]

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

2018

An Efficient Acyclic Contact Planner for Multiped Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Zero Step Capturability for Legged Robots in Multicontact.

[BibT_eX]

[DOI]

Steve Tonneau

IEEE Trans. Robotics, 2018

Multicontact Locomotion of Legged Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios.

[BibT_eX]

[DOI]

ACM Trans. Graph., 2018

Analytical Derivatives of Rigid Body Dynamics Algorithms.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIV, 2018

Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots.

[BibT_eX]

[DOI]

Florent Forget

Kevin Giraud-Esclasse

Rodolphe Gelin

Proceedings of the 15th International Conference on Informatics in Control, 2018

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet.

[BibT_eX]

[DOI]

Dinesh Atchuthan

Angel Santamaria-Navarro

Joan Solà

Proceedings of the 16th European Control Conference, 2018

2017

Robot Motion Planning and Control: Is It More than a Technological Problem?

[BibT_eX]

[DOI]

Mehdi Benallegue

Jean-Paul Laumond

Proceedings of the Geometric and Numerical Foundations of Movements, 2017

Regularized Hierarchical Differential Dynamic Programming.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2017

Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIII, 2017

Actuator design of compliant walkers via optimal control.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

TALOS: A new humanoid research platform targeted for industrial applications.

[BibT_eX]

[DOI]

Kevin Giraud-Esclasse

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2016

Character contact re-positioning under large environment deformation.

[BibT_eX]

[DOI]

Comput. Graph. Forum, 2016

A simulation framework for simultaneous design and control of passivity based walkers.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Simulation, 2016

Dynamically balanced and plausible trajectory planning for human-like characters.

[BibT_eX]

[DOI]

Proceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, 2016

HPP: A new software for constrained motion planning.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Fast algorithms to test robust static equilibrium for legged robots.

[BibT_eX]

[DOI]

Steve Tonneau

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Trajectory generation for quadrotor based systems using numerical optimal control.

[BibT_eX]

[DOI]

Mathieu Geisert

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A versatile and efficient pattern generator for generalized legged locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2015

Optimization as motion selection principle in robot action.

[BibT_eX]

[DOI]

Jean-Paul Laumond

Jean-Bernard Lasserre

Commun. ACM, 2015

Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2015

Whole-body model-predictive control applied to the HRP-2 humanoid.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Prioritized optimal control: A hierarchical differential dynamic programming approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

Hierarchical quadratic programming: Fast online humanoid-robot motion generation.

[BibT_eX]

[DOI]

Adrien Escande

Mauricio J. García Vazquez

Pierre-Brice Wieber

Int. J. Robotics Res., 2014

Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach.

[BibT_eX]

[DOI]

Oscar E. Ramos

Int. J. Humanoid Robotics, 2014

Optimality in robot motion: optimal versus optimized motion.

[BibT_eX]

[DOI]

Jean-Paul Laumond

Jean-Bernard Lasserre

Commun. ACM, 2014

Partial force control of constrained floating-base robots.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Control-limited differential dynamic programming.

[BibT_eX]

[DOI]

Yuval Tassa

Emo Todorov

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Airbus/future of aircraft factory HRP-2 as universal worker proof of concept.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Whole-body motion integrating the capture point in the operational space inverse dynamics control.

[BibT_eX]

[DOI]

Oscar E. Ramos

Philippe Souères

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

A two-stage suboptimal approximation for variable compliance and torque control.

[BibT_eX]

[DOI]

Proceedings of the 13th European Control Conference, 2014

2013

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2013

2012

Reverse Control for Humanoid Robot Task Recognition.

[BibT_eX]

[DOI]

IEEE Trans. Syst. Man Cybern. Part B, 2012

Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control.

[BibT_eX]

[DOI]

Jaemin Lee

Jaeheung Park

IEEE Trans. Robotics, 2012

Whole-Body Torques for Generating Complex Movements in Humans and Humanoids.

[BibT_eX]

[DOI]

Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012

A dedicated solver for fast operational-space inverse dynamics.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Capture, recognition and imitation of anthropomorphic motion.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Walking on non-planar surfaces using an inverse dynamic stack of tasks.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

2011

Generic dynamic motion generation with multiple unilateral constraints.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

RT-SLAM: A Generic and Real-Time Visual SLAM Implementation.

[BibT_eX]

[DOI]

Proceedings of the Computer Vision Systems - 8th International Conference, 2011

Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Intermediate desired value approach for continuous transition among multiple tasks of robots.

[BibT_eX]

[DOI]

Jaemin Lee

Jaeheung Park

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Dynamic motion capture and edition using a stack of tasks.

[BibT_eX]

[DOI]

Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011

2010

Combining suppression of the disturbance and reactive stepping for recovering balance.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Fast resolution of hierarchized inverse kinematics with inequality constraints.

[BibT_eX]

[DOI]

Adrien Escande

Pierre-Brice Wieber

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Humanoid robot task recognition from movement analysis.

[BibT_eX]

[DOI]

Sovannara Hak

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks.

[BibT_eX]

[DOI]

Oussama Khatib

Oussama Kheddar

IEEE Trans. Robotics, 2009

Continuity of Varying-Feature-Set Control Laws.

[BibT_eX]

[DOI]

Anthony Remazeilles

IEEE Trans. Autom. Control., 2009

Directional Redundancy for Robot Control.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2009

Optimized Time-Warping Tasks Scheduling for Smooth Sequencing.

[BibT_eX]

[DOI]

Proceedings of the 9th IFAC Symposium on Robot Control, SyRoCo 2009, Gifu, Japan, 2009

Optimization of tasks warping and scheduling for smooth sequencing of robotic actions.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks.

[BibT_eX]

[DOI]

Proceedings of the 14th International Conference on Advanced Robotics, 2009

Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction.

[BibT_eX]

[DOI]

Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, 2009

Reactive stepping to prevent falling for humanoids.

[BibT_eX]

[DOI]

Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, 2009

From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Automated Planning and Scheduling, 2009

2008

Integrating Walking and Vision to Increase Humanoid Autonomy.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2008

Real-time (self)-collision avoidance task on a hrp-2 humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Continuous control law from unilateral constraints.

[BibT_eX]

[DOI]

Oussama Khatib

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007

Task Sequencing for High-Level Sensor-Based Control.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2007

Integrating Walking and Vision to Increase Humanoid Robot Autonomy.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Visually-Guided Grasping while Walking on a Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006

A Qualitative Visual Servoing to ensure the Visibility Constraint.

[BibT_eX]

[DOI]

Anthony Remazeilles

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Jacobian Learning Methods for Tasks Sequencing in Visual Servoing.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

2005

A new redundancy formalism for avoidance in visual servoing.

[BibT_eX]

[DOI]

Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Visual Servoing Sequencing Able to Avoid Obstacles.

[BibT_eX]

[DOI]

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Directional Redundancy: a New Approach of the Redundancy Formalism.

[BibT_eX]

[DOI]

Proceedings of the 44th IEEE IEEE Conference on Decision and Control and 8th European Control Conference Control, 2005

2004

Hierarchy of behaviours Application to the homing problem in indoor environment.

[BibT_eX]

[DOI]

Olivier Aycard

Carla Koike

Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics, 2004

Tasks sequencing for visual servoing.

[BibT_eX]

[DOI]