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)

Ballistic motion planning for jumping superheroes. - Mylène Campana; Pierre Fernbach; Steve Tonneau; Michel Taïx; Jean-Paul Laumond (MIG, 2016)

A kinodynamic steering-method for legged multi-contact locomotion. - Pierre Fernbach; Steve Tonneau; Andrea Del Prete; Michel Taïx (IROS, 2017)

CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem. - Pierre Fernbach; Steve Tonneau; Michel Taïx (IROS, 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)

Modèles réduits fiables et efficaces pour la planification et l'optimisation de mouvement des robots à pattes en environnements contraints. (Efficient and accurate reduced models for motion planning and optimization for legged robots in constrained environments). - Pierre Fernbach (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 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)

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)

Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. - Kevin Giraud-Esclasse; Pierre Fernbach; Gabriele Buondonno; Carlos Mastalli; Olivier Stasse (SII, 2020)

Motion Planning for an Elastic Rod Using Contacts. - Olivier Roussel; Pierre Fernbach; Michel Taïx (IEEE Trans Autom. Sci. Eng., 2020)

C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios. - Pierre Fernbach; Steve Tonneau; Olivier Stasse; Justin Carpentier; Michel Taïx (IEEE Trans. Robotics, 2020)

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

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)

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)

FIGAROH: A Python Toolbox for Dynamic Identification and Geometric Calibration of Robots and Humans. - Thanh D. V. Nguyen; Vincent Bonnet; Maxime Sabbah; Maxime Gautier; Pierre Fernbach; Florent Lamiraux (Humanoids, 2023)

Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters. - Thanh D. V. Nguyen; Vincent Bonnet; Pierre Fernbach; Thomas Flayols; Florent Lamiraux (Humanoids, 2024)

NAS: N-step computation of All Solutions to the footstep planning problem. - Jiayi Wang; Saeid Samadi; Hefan Wang; Pierre Fernbach; Olivier Stasse; Sethu Vijayakumar; Steve Tonneau (Humanoids, 2024)

Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane. - Thanh D. V. Nguyen; Vincent Bonnet; Pierre Fernbach; David Daney; Florent Lamiraux (CoRR, 2025)