Tasks sequencing for visual servoing. - Nicolas Mansard; François Chaumette (IROS, 2004)

Directional Redundancy: a New Approach of the Redundancy Formalism. - Nicolas Mansard; François Chaumette (CDC/ECC, 2005)

Visual Servoing Sequencing Able to Avoid Obstacles. - Nicolas Mansard; François Chaumette (ICRA, 2005)

A new redundancy formalism for avoidance in visual servoing. - Nicolas Mansard; François Chaumette (IROS, 2005)

Hierarchy of behaviours application to the homing problem in indoor environment. - Nicolas Mansard; Olivier Aycard; Carla Koike (ROBIO, 2005)

Jacobian Learning Methods for Tasks Sequencing in Visual Servoing. - Nicolas Mansard; Manuel Lopes 001; José Santos-Victor; François Chaumette (IROS, 2006)

A Qualitative Visual Servoing to ensure the Visibility Constraint. - Anthony Remazeilles; Nicolas Mansard; François Chaumette (IROS, 2006)

Visually-Guided Grasping while Walking on a Humanoid Robot. - Nicolas Mansard; Olivier Stasse; François Chaumette; Kazuhito Yokoi (ICRA, 2007)

Integrating Walking and Vision to Increase Humanoid Robot Autonomy. - Olivier Stasse; Björn Verrelst; Andrew J. Davison; Nicolas Mansard; Bram Vanderborght; Claudia Esteves; François Saïdi; Kazuhito Yokoi (ICRA, 2007)

Task Sequencing for High-Level Sensor-Based Control. - Nicolas Mansard; François Chaumette (IEEE Trans. Robotics, 2007)

Continuous control law from unilateral constraints. - Nicolas Mansard; Oussama Khatib (ICRA, 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)

Integrating Walking and Vision to Increase Humanoid Autonomy. - Olivier Stasse; François Saïdi; Kazuhito Yokoi; Björn Verrelst; Bram Vanderborght; Andrew J. Davison; Nicolas Mansard; Claudia Esteves (Int. J. Humanoid Robotics, 2008)

From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping. - François Keith; Nicolas Mansard; Sylvain Miossec; Abderrahmane Kheddar (ICAPS, 2009)

Reactive stepping to prevent falling for humanoids. - Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Joan Solà; Eiichi Yoshida; Nicolas Mansard; Kazuhito Yokoi; Jean-Paul Laumond (Humanoids, 2009)

Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. - Olivier Stasse; Paul Evrard; Nicolas Perrin 001; Nicolas Mansard; Abderrahmane Kheddar (Humanoids, 2009)

A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. - Nicolas Mansard; Olivier Stasse; Paul Evrard; Abderrahmane Kheddar (ICAR, 2009)

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. - Paul Evrard; Nicolas Mansard; Olivier Stasse; Abderrahmane Kheddar; Thomas Schauss; Carolina Weber; Angelika Peer; Martin Buss (IROS, 2009)

Optimization of tasks warping and scheduling for smooth sequencing of robotic actions. - François Keith; Nicolas Mansard; Sylvain Miossec; Abderrahmane Kheddar (IROS, 2009)

Optimized Time-Warping Tasks Scheduling for Smooth Sequencing. - François Keith; Nicolas Mansard; Sylvain Miossec; Abderrahmane Kheddar (SyRoCo, 2009)

Directional Redundancy for Robot Control. - Nicolas Mansard; François Chaumette (IEEE Trans. Autom. Control., 2009)

Continuity of Varying-Feature-Set Control Laws. - Nicolas Mansard; Anthony Remazeilles; François Chaumette (IEEE Trans. Autom. Control., 2009)

A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks. - Nicolas Mansard; Oussama Khatib; Oussama Kheddar (IEEE Trans. Robotics, 2009)

Humanoid robot task recognition from movement analysis. - Sovannara Hak; Nicolas Mansard; Olivier Stasse (Humanoids, 2010)

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

Combining suppression of the disturbance and reactive stepping for recovering balance. - Mitsuharu Morisawa; Fumio Kanehiro; Kenji Kaneko; Nicolas Mansard; Joan Solà; Eiichi Yoshida; Kazuhito Yokoi; Jean-Paul Laumond (IROS, 2010)

Dynamic motion capture and edition using a stack of tasks. - Oscar E. Ramos; Layale Saab; Sovannara Hak; Nicolas Mansard (Humanoids, 2011)

Intermediate desired value approach for continuous transition among multiple tasks of robots. - Jaemin Lee; Nicolas Mansard; Jaeheung Park (ICRA, 2011)

Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. - Layale Saab; Nicolas Mansard; François Keith; Jean-Yves Fourquet; Philippe Souères (ICRA, 2011)

RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. - Cyril Roussillon; Aurélien Gonzalez; Joan Solà; Jean-Marie Codol; Nicolas Mansard; Simon Lacroix; Michel Devy (ICVS, 2011)

Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations. - François Keith; Pierre-Brice Wieber; Nicolas Mansard; Abderrahmane Kheddar (IROS, 2011)

Generic dynamic motion generation with multiple unilateral constraints. - Layale Saab; Oscar E. Ramos; Nicolas Mansard; Philippe Souères; Jean-Yves Fourquet (IROS, 2011)

Walking on non-planar surfaces using an inverse dynamic stack of tasks. - Oscar E. Ramos; Nicolas Mansard; Olivier Stasse; Philippe Souères (Humanoids, 2012)

Capture, recognition and imitation of anthropomorphic motion. - Sovannara Hak; Nicolas Mansard; Oscar E. Ramos; Layale Saab; Olivier Stasse (ICRA, 2012)

A dedicated solver for fast operational-space inverse dynamics. - Nicolas Mansard (ICRA, 2012)

Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. - Layale Saab; Nicolas Mansard; Philippe Souères; Jean-Yves Fourquet; Manish N. Sreenivasa; Yoshihiko Nakamura (SyRoCo, 2012)

Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control. - Jaemin Lee; Nicolas Mansard; Jaeheung Park (IEEE Trans. Robotics, 2012)

Reverse Control for Humanoid Robot Task Recognition. - Sovannara Hak; Nicolas Mansard; Olivier Stasse; Jean-Paul Laumond (IEEE Trans. Syst. Man Cybern. Part B, 2012)

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. - Layale Saab; Oscar E. Ramos; François Keith; Nicolas Mansard; Philippe Souères; Jean-Yves Fourquet (IEEE Trans. Robotics, 2013)

A two-stage suboptimal approximation for variable compliance and torque control. - P. Geoffroy; O. Bordron; Nicolas Mansard; Maxime Raison; Olivier Stasse; Timothy Bretl (ECC, 2014)

Whole-body motion integrating the capture point in the operational space inverse dynamics control. - Oscar E. Ramos; Nicolas Mansard; Philippe Souères (Humanoids, 2014)

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)

Control-limited differential dynamic programming. - Yuval Tassa; Nicolas Mansard; Emo Todorov (ICRA, 2014)

Partial force control of constrained floating-base robots. - Andrea Del Prete; Nicolas Mansard; Francesco Nori; Giorgio Metta; Lorenzo Natale (IROS, 2014)

Optimality in robot motion: optimal versus optimized motion. - Jean-Paul Laumond; Nicolas Mansard; Jean-Bernard Lasserre (Commun. ACM, 2014)

Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach. - Oscar E. Ramos; Mauricio J. García Vazquez; Nicolas Mansard; Olivier Stasse; Jean-Bernard Hayet; Philippe Souères (Int. J. Humanoid Robotics, 2014)

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

A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (Humanoids, 2015)

Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. - Manuel Kudruss; Maximilien Naveau; Olivier Stasse; Nicolas Mansard; Christian Kirches; Philippe Souères; Katja D. Mombaur (Humanoids, 2015)

Prioritized optimal control: A hierarchical differential dynamic programming approach. - Francesco Romano; Andrea Del Prete; Nicolas Mansard; Francesco Nori (ICRA, 2015)

Whole-body model-predictive control applied to the HRP-2 humanoid. - Jonas Koenemann; Andrea Del Prete; Yuval Tassa; Emanuel Todorov; Olivier Stasse; Maren Bennewitz; Nicolas Mansard (IROS, 2015)

A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments. - Steve Tonneau; Nicolas Mansard; Chonhyon Park; Dinesh Manocha; Franck Multon; Julien Pettré (ISRR (2), 2015)

Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. - Andrea Del Prete; Nicolas Mansard (Robotics: Science and Systems, 2015)

Optimization as motion selection principle in robot action. - Jean-Paul Laumond; Nicolas Mansard; Jean-Bernard Lasserre (Commun. ACM, 2015)

Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. - Oscar E. Ramos; Nicolas Mansard; Olivier Stasse; Christophe Benazeth; Sovannara Hak; Layale Saab (IEEE Robotics Autom. Mag., 2015)

A versatile and efficient pattern generator for generalized legged locomotion. - Justin Carpentier; Steve Tonneau; Maximilien Naveau; Olivier Stasse; Nicolas Mansard (ICRA, 2016)

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

Fast algorithms to test robust static equilibrium for legged robots. - Andrea Del Prete; Steve Tonneau; Nicolas Mansard (ICRA, 2016)

HPP: A new software for constrained motion planning. - Joseph Mirabel; Steve Tonneau; Pierre Fernbach; Anna-Kaarina Seppala; Mylène Campana; Nicolas Mansard; Florent Lamiraux (IROS, 2016)

Dynamically balanced and plausible trajectory planning for human-like characters. - Chonhyon Park; Jae Sung Park; Steve Tonneau; Nicolas Mansard; Franck Multon; Julien Pettré; Dinesh Manocha (I3D, 2016)

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

Character contact re-positioning under large environment deformation. - Steve Tonneau; Rami Ali Al-Ashqar; Julien Pettré; Taku Komura; Nicolas Mansard (Comput. Graph. Forum, 2016)

Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. - Andrea Del Prete; Nicolas Mansard; Oscar E. Ramos; Olivier Stasse; Francesco Nori (Int. J. Humanoid Robotics, 2016)

Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (IEEE Trans. Robotics, 2016)

Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. - Andrea Del Prete; Nicolas Mansard (IEEE Trans. Robotics, 2016)

TALOS: A new humanoid research platform targeted for industrial applications. - Olivier Stasse; Thomas Flayols; Rohan Budhiraja; Kevin Giraud-Esclasse; Justin Carpentier; Joseph Mirabel; Andrea Del Prete; Philippe Souères; Nicolas Mansard; Florent Lamiraux; Jean-Paul Laumond; Luca Marchionni; et al. (Humanoids, 2017)

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)

Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. - Justin Carpentier; Rohan Budhiraja; Nicolas Mansard (Robotics: Science and Systems, 2017)

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

Robot Motion Planning and Control: Is It More than a Technological Problem? - Mehdi Benallegue; Jean-Paul Laumond; Nicolas Mansard (Geometric and Numerical Foundations of Movements, 2017)

Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. - Dinesh Atchuthan; Angel Santamaria-Navarro; Nicolas Mansard; Olivier Stasse; Joan Solà (ECC, 2018)

Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. - Rohan Budhiraja; Justin Carpentier; Carlos Mastalli; Nicolas Mansard (Humanoids, 2018)

Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. - Florent Forget; Kevin Giraud-Esclasse; Rodolphe Gelin; Nicolas Mansard; Olivier Stasse (ICINCO (2), 2018)

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)

Analytical Derivatives of Rigid Body Dynamics Algorithms. - Justin Carpentier; Nicolas Mansard (Robotics: Science and Systems, 2018)

2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. - Steve Tonneau; Pierre Fernbach; Andrea Del Prete; Julien Pettré; Nicolas Mansard (ACM Trans. Graph., 2018)

Multicontact Locomotion of Legged Robots. - Justin Carpentier; Nicolas Mansard (IEEE Trans. Robotics, 2018)

Zero Step Capturability for Legged Robots in Multicontact. - Andrea Del Prete; Steve Tonneau; Nicolas Mansard (IEEE Trans. Robotics, 2018)

An Efficient Acyclic Contact Planner for Multiped Robots. - Steve Tonneau; Andrea Del Prete; Julien Pettré; Chonhyon Park; Dinesh Manocha; Nicolas Mansard (IEEE Trans. Robotics, 2018)

Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. - Zongmian Li; Jirí Sedlár; Justin Carpentier; Ivan Laptev; Nicolas Mansard; Josef Sivic (CVPR, 2019)

Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. - Mederic Fourmy; Dinesh Atchuthan; Nicolas Mansard; Joan Solà; Thomas Flayols (Humanoids, 2019)

Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. - Rohan Budhiraja; Justin Carpentier; Nicolas Mansard (ICRA, 2019)

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)

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. - Teguh Santoso Lembono; Carlos Mastalli; Pierre Fernbach; Nicolas Mansard; Sylvain Calinon (ICRA, 2020)

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)

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. - Steve Tonneau; Daeun Song; Pierre Fernbach; Nicolas Mansard; Michel Taïx; Andrea Del Prete (ICRA, 2020)

A Direct-Indirect Hybridization Approach to Control-Limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (CoRR, 2020)

ICP Localization and Walking Experiments on a TALOS Humanoid Robot. - Thibaud Lasguignes; Isabelle Maroger; Maurice F. Fallon; Milad Ramezani; Luca Marchionni; Olivier Stasse; Nicolas Mansard; Bruno Watier (ICAR, 2021)

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)

Computational design of energy-efficient legged robots: Optimizing for size and actuators. - Gabriele Fadini; Thomas Flayols; Andrea Del Prete; Nicolas Mansard; Philippe Souères (ICRA, 2021)

Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. - Médéric Fourmy; Thomas Flayols; Pierre-Alexandre Léziart; Nicolas Mansard; Joan Solà (ICRA, 2021)

High-Frequency Nonlinear Model Predictive Control of a Manipulator. - Sébastien Kleff; Avadesh Meduri; Rohan Budhiraja; Nicolas Mansard; Ludovic Righetti (ICRA, 2021)

Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. - Pierre-Alexandre Léziart; Thomas Flayols; Felix Grimminger; Nicolas Mansard; Philippe Souères (ICRA, 2021)

A Hybrid Collision Model for Safety Collision Control. - Thibault Noël; Thomas Flayols; Joseph Mirabel; Justin Carpentier; Nicolas Mansard (ICRA, 2021)

Proximal and Sparse Resolution of Constrained Dynamic Equations. - Justin Carpentier; Rohan Budhiraja; Nicolas Mansard (Robotics: Science and Systems, 2021)

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. - Daeun Song; Pierre Fernbach; Thomas Flayols; Andrea Del Prete; Nicolas Mansard; Steve Tonneau; Young J. Kim (IEEE Robotics Autom. Lett., 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)

On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. - Sébastien Kleff; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (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)

Implicit Differential Dynamic Programming. - Wilson Jallet; Nicolas Mansard; Justin Carpentier (ICRA, 2022)

Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. - Amit Parag; Sébastien Kleff; Léo Saci; Nicolas Mansard; Olivier Stasse (ICRA, 2022)

Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. - Wilson Jallet; Antoine Bambade; Nicolas Mansard; Justin Carpentier (IROS, 2022)

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

Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. - Fanny Risbourg; Thomas Corbères; Pierre-Alexandre Léziart; Thomas Flayols; Nicolas Mansard; Steve Tonneau (IROS, 2022)

A feasibility-driven approach to control-limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Henrique Ferrolho; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (Auton. Robots, 2022)

ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. - Wilson Jallet; Antoine Bambade; Nicolas Mansard; Justin Carpentier (CoRR, 2022)

Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. - Zongmian Li; Jirí Sedlár; Justin Carpentier; Ivan Laptev; Nicolas Mansard; Josef Sivic (Int. J. Comput. Vis., 2022)

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

Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. - Pierre-Alexandre Léziart; Thomas Corbères; Thomas Flayols; Steve Tonneau; Nicolas Mansard; Philippe Souères (IEEE Robotics Autom. Lett., 2022)

Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. - Virgile Batto; Thomas Flayols; Nicolas Mansard; Margot Vulliez (Humanoids, 2023)

Multi-Contact Task and Motion Planning Guided by Video Demonstration. - Kateryna Zorina; David Kovár; Florent Lamiraux; Nicolas Mansard; Justin Carpentier; Josef Sivic; Vladimír Petrík (ICRA, 2023)

Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. - Mohamed Adjel; Maxime Sabbah; Raphaël Dumas; Nicolas Mansard; Samer Mohammed; Bruno Watier; Vincent Bonnet (IROS, 2023)

Modelisation of a Human-Exoskeleton Interaction for Cerebral Palsy. - Aurélie Bonnefoy; Sabrina Otmani; Nicolas Mansard; Olivier Stasse; Guilhem Michon; Bruno Watier (ISMR, 2023)

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (CoRR, 2023)

Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking. - Mederic Fourmy; Vojtech Priban; Jan Kristof Behrens; Nicolas Mansard; Josef Sivic; Vladimír Petrík (CoRR, 2023)

Lower Limbs Human Motion Estimation from Sparse Multi-Modal Measurements. - Mohamed Adjel; Maxime Sabbah; Raphaël Dumas; Marta Mirkov; Nicolas Mansard; Samer Mohammed; Vincent Bonnet (BioRob, 2024)

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. - Elliot Chane-Sane; Joseph Amigo; Thomas Flayols; Ludovic Righetti; Nicolas Mansard (CoRL, 2024)

Force Feedback Model-Predictive Control via Online Estimation. - Armand Jordana; Sébastien Kleff; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (ICRA, 2024)

CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. - Elliot Chane-Sane; Pierre-Alexandre Leziart; Thomas Flayols; Olivier Stasse; Philippe Souères; Nicolas Mansard (IROS, 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)

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)

Reference-Free Model Predictive Control for Quadrupedal Locomotion. - Gianni Lunardi; Thomas Corbères; Carlos Mastalli; Nicolas Mansard; Thomas Flayols; Steve Tonneau; Andrea Del Prete (IEEE Access, 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)

Reinforcement Learning from Wild Animal Videos. - Elliot Chane-Sane; Constant Roux; Olivier Stasse; Nicolas Mansard (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)

Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. - Thomas Corbères; Carlos Mastalli; Wolfgang Merkt; Jaehyun Shim; Ioannis Havoutis; Maurice F. Fallon; Nicolas Mansard; Thomas Flayols; Sethu Vijayakumar; Steve Tonneau (IEEE Access, 2025)

ProxDDP: Proximal Constrained Trajectory Optimization. - Wilson Jallet; Antoine Bambade; Etienne Arlaud; Sarah El Kazdadi; Nicolas Mansard; Justin Carpentier (IEEE Trans. Robotics, 2025)

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control. - Armand Jordana; Sébastien Kleff; Avadesh Meduri; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (IEEE Trans. Robotics, 2025)

Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models. - Victor Lutz; Ludovic De Matteïs; Virgile Batto; Nicolas Mansard (CoRR, 2025)

Optimal Control of Walkers with Parallel Actuation. - Ludovic De Matteïs; Virgile Batto; Justin Carpentier; Nicolas Mansard (CoRR, 2025)

Extended URDF: Accounting for parallel mechanism in robot description. - Virgile Batto; Ludovic De Matteïs; Nicolas Mansard (CoRR, 2025)

Multi-step manipulation task and motion planning guided by video demonstration. - Kateryna Zorina; David Kovár; Mederic Fourmy; Florent Lamiraux; Nicolas Mansard; Justin Carpentier; Josef Sivic; Vladimír Petrík (CoRR, 2025)

Infinite-Horizon Value Function Approximation for Model Predictive Control. - Armand Jordana; Sébastien Kleff; Arthur Haffemayer; Joaquim Ortiz de Haro; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (IEEE Robotics Autom. Lett., 2025)