Real-time replanning using 3D environment for humanoid robot. - Leo Baudouin; Nicolas Perrin 001; Thomas Moulard; Florent Lamiraux; Olivier Stasse; Eiichi Yoshida (Humanoids, 2011)

Optimisation numérique pour la robotique et exécution de trajectoires référencées capteurs. (Numerical optimization for robotics and closed-loop trajectory execution). - Thomas Moulard (2012)

Real-time smooth task transitions for hierarchical inverse kinematics. - Gerardo Jarquín; Adrien Escande; Gustavo Arechavaleta; Thomas Moulard; Eiichi Yoshida; Vicente Parra-Vega (Humanoids, 2013)

A general tactile approach for grasping unknown objects with a humanoid robot. - Philipp Mittendorfer; Eiichi Yoshida; Thomas Moulard; Gordon Cheng (IROS, 2013)

Optimization-based motion retargeting integrating spatial and dynamic constraints for humanoid. - Thomas Moulard; Eiichi Yoshida; Shinichiro Nakaoka (ISR, 2013)

Integration of non-inclusive contacts in posture generation. - Stanislas Brossette; Adrien Escande; Joris Vaillant; François Keith; Thomas Moulard; Abderrahmane Kheddar (IROS, 2014)

Identification of HRP-2 foot's dynamics. - Yuya Mikami; Thomas Moulard; Eiichi Yoshida; Gentiane Venture (IROS, 2014)