Task efficient contact configurations for arbitrary virtual creatures. - Steve Tonneau; Julien Pettré; Franck Multon (Graphics Interface, 2014)

Using task efficient contact configurations to animate creatures in arbitrary environments. - Steve Tonneau; Julien Pettré; Franck Multon (Comput. Graph., 2014)

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)

Motion planning and synthesis for virtual characters in constrained environments. (Synthèse de mouvement pour des personnages virtuels en environnements contraints). - Steve Tonneau (2015)

A versatile and efficient pattern generator for generalized legged locomotion. - Justin Carpentier; Steve Tonneau; Maximilien Naveau; Olivier Stasse; 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)

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

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

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

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)

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)

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)

Automatic Gait Pattern Selection for Legged Robots. - Jiayi Wang; Iordanis Chatzinikolaidis; Carlos Mastalli; Wouter Wolfslag; Guiyang Xin; Steve Tonneau; Sethu Vijayakumar (IROS, 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)

Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. - Jiayi Wang; Sanghyun Kim; Sethu Vijayakumar; Steve Tonneau (HUMANOIDS, 2021)

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)

Co-Designing Robots by Differentiating Motion Solvers. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (CoRR, 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)

Optimal Control via Combined Inference and Numerical Optimization. - Daniel Layeghi; Steve Tonneau; Michael N. Mistry (ICRA, 2022)

Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem. - Steve Tonneau (ICRA, 2022)

A Versatile Co-Design Approach For Dynamic Legged Robots. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (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)

Learning to Guide Online Multi-Contact Receding Horizon Planning. - Jiayi Wang; Teguh Santoso Lembono; Sanghyun Kim; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (IROS, 2022)

Differentiable Optimal Control via Differential Dynamic Programming. - Traiko Dinev; Carlos Mastalli; Vladimir Ivan; Steve Tonneau; Sethu Vijayakumar (CoRR, 2022)

Editorial: Creating Lifelike Digital Humans. - Fabien Danieau; Philippe Guillotel; Ludovic Hoyet; Steve Tonneau; Yajie Zhao (Frontiers Virtual Real., 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)

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. - Jaehyun Shim; Carlos Mastalli; Thomas Corbères; Steve Tonneau; Vladimir Ivan; Sethu Vijayakumar (ICRA, 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)

Neural Lyapunov and Optimal Control. - Daniel Layeghi; Steve Tonneau; Michael N. Mistry (CoRR, 2023)

Online Multi-Contact Receding Horizon Planning via Value Function Approximation. - Jiayi Wang; Sanghyun Kim; Teguh Santoso Lembono; Wenqian Du 004; Jaehyun Shim; Saeid Samadi; Ke Wang 055; Vladimir Ivan; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (CoRR, 2023)

Inverse-Dynamics MPC via Nullspace Resolution. - Carlos Mastalli; Saroj Prasad Chhatoi; Thomas Corbères; Steve Tonneau; Sethu Vijayakumar (IEEE Trans. Robotics, 2023)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation. - Victor Leve; João Moura 003; Namiko Saito; Steve Tonneau; Sethu Vijayakumar (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)

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)

Online Multicontact Receding Horizon Planning via Value Function Approximation. - Jiayi Wang; Sanghyun Kim; Teguh Santoso Lembono; Wenqian Du 001; Jaehyun Shim; Saeid Samadi; Ke Wang 055; Vladimir Ivan; Sylvain Calinon; Sethu Vijayakumar; Steve Tonneau (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)