An Overview of Humanoid Robots Technologies. - Olivier Stasse; Thomas Flayols (Biomechanics of Anthropomorphic Systems, 2016)

Experimental evaluation of simple estimators for humanoid robots. - Thomas Flayols; Andrea Del Prete; Patrick M. Wensing; Alexis Mifsud; Mehdi Benallegue; Olivier Stasse (Humanoids, 2017)

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)

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)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - Felix Grimminger; Avadesh Meduri; Majid Khadiv; Julian Viereck; Manuel Wüthrich; Maximilien Naveau; Vincent Berenz; Steve Heim; Felix Widmaier; Thomas Flayols; Jonathan Fiene; Alexander Badri-Spröwitz; et al. (IEEE Robotics Autom. Lett., 2020)

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)

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)

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)

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)

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)

Simulation Aided Co-Design for Robust Robot Optimization. - Gabriele Fadini; Thomas Flayols; Andrea Del Prete; Philippe Souères (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)

A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. - Michel Aractingi; Pierre-Alexandre Léziart; Thomas Flayols; Julien Perez; Tomi Silander; Philippe Souères (Humanoids, 2023)

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)

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)

Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning. - Michel Aractingi; Pierre-Alexandre Léziart; Thomas Flayols; Julien Perez; Tomi Silander; Philippe Souères (CoRR, 2023)

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

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)

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)

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)

Co-designing versatile quadruped robots for dynamic and energy-efficient motions. - Gabriele Fadini; Shivesh Kumar; Rohit Kumar; Thomas Flayols; Andrea Del Prete; Justin Carpentier; Philippe Souères (Robotica, 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)

Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot. - Constant Roux; Elliot Chane-Sane; Ludovic De Matteïs; Thomas Flayols; Jérôme Manhes; Olivier Stasse; Philippe Souères (CoRR, 2025)