2026

Journal articles

Pietro Noah Crestaz, Ludovic de Matteis, Elliot Chane-Sane, Nicolas Mansard, Andrea del Prete. TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control. IEEE Robotics and Automation Letters, 2026, 11 (1), pp.498-505. ⟨10.1109/LRA.2025.3632612⟩. ⟨hal-05213269v2⟩

Preprints, Working Papers, ...

Joseph Amigo, Rooholla Khorrambakht, Nicolas Mansard, Ludovic Righetti. Coupled Local and Global World Models for Efficient First Order RL. 2026. ⟨hal-05375426v3⟩

Ege Gursoy, Nicolas Mansard, João Cavalcanti Santos, Vincent Bonnet. VCC: Verified Constraint Compilation for Test-Time Refinement of Manipulation Priors. 2026. ⟨hal-05640087⟩

Ege Gursoy, Nicolas Mansard. Sparse Sum-of-Squares Layers for Certified Learning. 2026. ⟨hal-05640079⟩

Ege Gursoy, Nicolas Mansard. TriScore: Post-Hoc Out-of-Distribution Detection with Energy, Boundary Probes, and Transform Consistency. 2026. ⟨hal-05630582⟩

Ege Gursoy, Maxime Sabbah, Arthur Haffemayer, João Cavalcanti Santos, Pietro Noah Crestaz, et al.. COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments. 2026. ⟨hal-05562503v2⟩

Arthur Haffemayer, Alexandre Chapin, Armand Jordana, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion. 2026. ⟨hal-05471028⟩

2025

Journal articles

Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, et al.. Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control. IEEE Transactions on Robotics, 2025, ⟨10.1109/TRO.2025.3595674⟩. ⟨hal-04330251v3⟩

Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, et al.. PROXDDP: Proximal Constrained Trajectory Optimization. IEEE Transactions on Robotics, 2025, 41, pp.2605 - 2624. ⟨10.1109/TRO.2025.3554437⟩. ⟨hal-04332348v3⟩

Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz-Haro, Justin Carpentier, et al.. Infinite-Horizon Value Function Approximation for Model Predictive Control. IEEE Robotics and Automation Letters, 2025, 10 (7), pp.7563 - 7570. ⟨10.1109/LRA.2025.3577875⟩. ⟨hal-04948407⟩

Conference papers

Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti. First Order Model-Based RL through Decoupled Backpropagation. CoRL 2025, Sep 2025, Seoul, South Korea. ⟨hal-05238724⟩

Arthur Haffemayer, Armand Jordana, Ludovic de Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, et al.. Collision Avoidance in Model Predictive Control using Velocity Damper. 2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, United States. pp.16140-16146, ⟨10.1109/ICRA55743.2025.11128856⟩. ⟨hal-04707324v3⟩

Rafael Kourdis, Maciej Stępień, Jérôme Manhes, Nicolas Mansard, Steve Tonneau, et al.. Very High Frequency Interpolation for Direct Torque Control. CoRL 2025 Workshop on Open-Source Hardware in the Era of Robot Learning, Sep 2025, Seoul, South Korea. ⟨hal-05287182⟩

Virgile Batto, Ludovic de Matteis, Nicolas Mansard. Extended URDF: Accounting for parallel mechanism in robot description. RAAD 2025 - 34th International Conference on Robotics in Alpe-Adria-Danube Region, Jun 2025, Belgrade, Serbia. ⟨hal-05018529v2⟩

Sabbah Maxime, Krzysztof Wojciechowski, Harold Soh, David Hsu, Ludovic Righetti, et al.. Optimal Motion Prediction for Human-to-Robot Handovers. IEEE International Conference on Robotics and Biomimetics (ROBIO) 2025, Dec 2025, Chengdu, China. ⟨hal-04970974v2⟩

Amit Parag, Nicolas Mansard, Ekrem Misimi. Optimizing Complex Control Systems with Differentiable Simulators: A Hybrid Approach to Reinforcement Learning and Trajectory Planning. 2025 IEEE International Conference on Robotics and Automation (ICRA), IEEE, May 2025, Atlanta, United States. pp.9214-9220, ⟨10.1109/ICRA55743.2025.11127746⟩. ⟨hal-05294931⟩

Ludovic de Matteis, Virgile Batto, Justin Carpentier, Nicolas Mansard. Optimal Control of Walkers with Parallel Actuation. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2025, Hangzhou, China. ⟨hal-04716938v3⟩

Preprints, Working Papers, ...

Victor Lutz, Ludovic de Matteis, Virgile Batto, Nicolas Mansard. Control of Humanoid Robots with Parallel Mechanisms using Differential Actuation Models. 2025. ⟨hal-04984842v2⟩

Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sébastien Kleff, Vincent Bonnet, et al.. Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring. 2025. ⟨hal-05320433⟩

Sébastien Kleff, Armand Jordana, Rooholla Khorrambakht, Nicolas Mansard, Ludovic Righetti. Force Feedback in Model-Predictive Control: A Soft Contact Approach. 2025. ⟨hal-04572399v2⟩

2024

Journal articles

Patrick Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, et al.. Optimization-Based Control for Dynamic Legged Robots. IEEE Transactions on Robotics, 2024, 40, pp.43-63. ⟨10.1109/TRO.2023.3324580⟩. ⟨hal-04948332⟩

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, et al.. Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access, 2024, 12, pp.689 - 698. ⟨10.1109/access.2023.3345157⟩. ⟨hal-04730351⟩

Conference papers

Elliot Chane-Sane, Pierre-Alexandre Léziart, Thomas Flayols, Olivier Stasse, Philippe Souères, et al.. CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2024, Abu Dhabi, Emirats Arabes Unis, United Arab Emirates. pp.13303-13310, ⟨10.1109/IROS58592.2024.10802334⟩. ⟨hal-04523167v2⟩

Mohamed Adjel, Maxime Sabbah, Raphael Dumas, Marta Mirkov, Nicolas Mansard, et al.. Lower Limbs Human Motion Estimation From Sparse Multi-Modal Measurements. IEEE RAS EMBS 10th International Conference on Biomedical Robotics and Biomechatronics, Sep 2024, Heidelberg, Germany. ⟨10.1109/BioRob60516.2024.10719802⟩. ⟨hal-04504752⟩

Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard. SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. Conference on Robot Learning, Nov 2024, Munich (Allemagne), Germany. ⟨10.48550/arXiv.2409.13678⟩. ⟨hal-04730062⟩

Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier. Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. Robotics: Science and Systems, Jul 2024, Delft, Netherlands. ⟨hal-04575334v3⟩

Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. Force Feedback Model-Predictive Control via Online Estimation. IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨10.1109/ICRA57147.2024.10611156⟩. ⟨hal-04564888⟩

Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, et al.. Model predictive control under hard collision avoidance constraints for a robotic arm. Ubiquitous Robots 2024, Korea Robotics Society, Jun 2024, New York (USA), United States. ⟨10.1109/UR61395.2024.10597485⟩. ⟨hal-04425002v2⟩

Other documents

Maxime Sabbah, Nicolas Mansard, Bruno Watier, Vincent Bonnet. Model Predictive Control for Physical Collaborative Box Lifting. IEEE ICRA 2024 Workshop : Innovations and Applications of Human Modeling in Physical Human-Robot Interaction, May 2024, Yokohama, Japan. 2024. ⟨hal-05125059⟩

Preprints, Working Papers, ...

Elliot Chane-Sane, Constant Roux, Olivier Stasse, Nicolas Mansard. Reinforcement Learning from Wild Animal Videos. 2025. ⟨hal-04948380⟩

Virgile Batto, Ludovic de Matteis, Thomas Flayols, Margot Vulliez, Nicolas Mansard. CLEO: Closed-Loop kinematics Evolutionary Optimization of bipedal structures. 2024. ⟨hal-04717159⟩

Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, et al.. Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. 2024. ⟨hal-04731043⟩

2023

Conference papers

Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, et al.. Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom. ⟨hal-03945110v2⟩

Aurélie Bonnefoy, Sabrina Otmani, Nicolas Mansard, Olivier Stasse, Guilhem Michon, et al.. Interaction and control of a human-exoskeleton system. 2023 International Symposium on Medical Robotics (ISMR), Apr 2023, Atlanta, United States. pp.1-7, ⟨10.1109/ISMR57123.2023.10130232⟩. ⟨hal-04942985⟩

Mohamed Adjel, Maxime Sabbah, Raphael Dumas, Nicolas Mansard, Samer Mohammed, et al.. Multi-modal Upper Limbs Human Motion Estimation From a Reduced Set of Affordable Sensors. IEEE IROS, Oct 2023, Detroit, United States. ⟨hal-04841804⟩

Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez. Comparative metrics of advanced serial/parallel biped design and characterization of the main contemporary architectures. IEEE-RAS International Conference on Humanoid Robots 2023, Dec 2023, Austin (Texas), United States. ⟨10.1109/Humanoids57100.2023.10375224⟩. ⟨hal-04191553v2⟩

Mohamed Adjel, Maxime Sabbah, Raphael Dumas, Nicolas Mansard, Samer Mohammed, et al.. Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. pp.10926-10932, ⟨10.1109/IROS55552.2023.10342040⟩. ⟨hal-04610568⟩

Preprints, Working Papers, ...

Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens, Nicolas Mansard, Josef Sivic, et al.. Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking. 2025. ⟨hal-04948398⟩

2022

Journal articles

Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, et al.. Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.9945 - 9952. ⟨10.1109/LRA.2022.3192581⟩. ⟨hal-03591735v2⟩

Ewen Louis Dantec, Michel Taix, Nicolas Mansard. First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.4448 - 4455. ⟨10.1109/LRA.2022.3149573⟩. ⟨hal-03419712v2⟩

Zongmian Li, Jiri Sedlar, Justin Carpentier, Ivan Laptev, Nicolas Mansard, et al.. Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. International Journal of Computer Vision, 2022, 130 (2), pp.363-383. ⟨10.1007/s11263-021-01540-1⟩. ⟨hal-03420419⟩

Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, et al.. A feasibility-driven approach to control-limited DDP. Autonomous Robots, 2022, 46 (8), pp.985-1005. ⟨10.1007/s10514-022-10061-w⟩. ⟨hal-04948345⟩

Conference papers

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, et al.. Real time footstep planning and control of the Solo quadruped robot in 3D environments. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981539⟩. ⟨hal-03594629⟩

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981586⟩. ⟨hal-03597630v5⟩

Nahuel A Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, et al.. Torque Controlled Locomotion of a Biped Robot with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03452196v2⟩

Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti. Introducing Force Feedback in Model Predictive Control. IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9982003⟩. ⟨hal-03594295v2⟩

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. 6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States. ⟨hal-03680510v2⟩

Ewen Louis Dantec, Maximilien Naveau, Nicolas Mansard, Pierre Fernbach, Nahuel Villa, et al.. Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. ⟨hal-03724019v2⟩

Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse. Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨hal-03356261v2⟩

Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩. ⟨hal-03758989v2⟩

Wilson Jallet, Nicolas Mansard, Justin Carpentier. Implicit Differential Dynamic Programming. International Conference on Robotics and Automation (ICRA 2022), IEEE Robotics and Automation Society, May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9811647⟩. ⟨hal-03351641v2⟩

Preprints, Working Papers, ...

Amit Parag, Nicolas Mansard. A Supervised Formulation of Reinforcement Learning: with super linear convergence properties. 2022. ⟨hal-03674092v2⟩

César Debeunne, Médéric Fourmy, Yann Labbé, Pierre-Alexandre Léziart, Guilhem Saurel, et al.. CosySlam: investigating object-level SLAM for detecting locomotion surfaces. 2022. ⟨hal-03351438v2⟩

Alessandro Assirelli, Fanny Risbourg, Gianni Lunardi, Thomas Flayols, Nicolas Mansard. Whole-Body MPC without Foot References for the Locomotion of an Impedance-Controlled Robot. 2022. ⟨hal-03778738⟩

2021

Journal articles

Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea del Prete, Steve Tonneau, et al.. Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961 - 5968. ⟨10.1109/LRA.2021.3088797⟩. ⟨hal-03435135⟩

Conference papers

Mederic Fourmy, Thomas Flayols, Nicolas Mansard, Joan Solà. Contact forces pre-integration for the whole body estimation of legged robots. IEEE International Conference on Robotics and Automation - ICRA 2021, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561037⟩. ⟨hal-02991717⟩

Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti. High-Frequency Nonlinear Model Predictive Control of a Manipulator. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560990⟩. ⟨hal-02993058v2⟩

Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, et al.. Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560976⟩. ⟨hal-03034022v2⟩

Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères. Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. 2021 IEEE International Conference on Robotics and Automation - ICRA, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561559⟩. ⟨hal-03052451v2⟩

Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, et al.. Learning to steer a locomotion contact planner. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an, China. ⟨10.1109/ICRA48506.2021.9561160⟩. ⟨hal-02998757v3⟩

Thibaud Lasguignes, Isabelle Maroger, Maurice Fallon, Milad Ramezani, Luca Marchionni, et al.. ICP Localization and Walking Experiments on a TALOS Humanoid Robot. 20th International Conference on Advanced Robotics (ICAR 2021)), Dec 2021, Ljubljana (en ligne), Slovenia. ⟨10.1109/ICAR53236.2021.9659474⟩. ⟨hal-03482225⟩

Gabriele Fadini, Thomas Flayols, Andrea del Prete, Nicolas Mansard, Philippe Souères. Computational design of energy-efficient legged robots: Optimizing for size and actuators. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xian, China. ⟨10.1109/ICRA48506.2021.9560988⟩. ⟨hal-02993624v2⟩

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard. Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States. ⟨hal-03271811⟩

Ewen Louis Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, et al.. Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩. ⟨hal-02995796v2⟩

Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard. A hybrid collision model for safety collision control. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561730⟩. ⟨hal-03000951⟩

2020

Journal articles

Thomas Flayols, Andrea del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti. Reactive Balance Control for Legged Robots under Visco-Elastic Contacts. Applied Sciences, 2020, 11 (1), pp.353. ⟨10.3390/app11010353⟩. ⟨hal-04948400⟩

Conference papers

Rohan Budhiraja, Amit Parag, Ewen Dantec, Justin Carpentier, Carlos Mastalli, et al.. Crocoddyl: Fast computation, Efficient solvers,Receding horizon and Learning. Journées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France. ⟨hal-02898916⟩

Nicolas Mansard. Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning. JNRR, Jun 2020, on line, France. ⟨hal-03166249⟩

Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, et al.. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩. ⟨hal-02294059⟩

Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, et al.. SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197371⟩. ⟨hal-02293234⟩

Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon. Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris (virtual), France. ⟨10.1109/ICRA40945.2020.9196727⟩. ⟨hal-02973174⟩

2019

Conference papers

Rohan Budhiraja, Justin Carpentier, Nicolas Mansard. Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. ⟨hal-01875031v3⟩

Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, et al.. The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France. ⟨hal-01866228v2⟩

Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Sola, Thomas Flayols. Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019), Oct 2019, Toronto, Canada. ⟨10.1109/Humanoids43949.2019.9035005⟩. ⟨hal-02183498v4⟩

Zongmian Li, Jiri Sedlar, Justin Carpentier, Ivan Laptev, Nicolas Mansard, et al.. Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), Jun 2019, Long Beach, United States. pp.8632-8641, ⟨10.1109/CVPR.2019.00884⟩. ⟨hal-03411657⟩

Preprints, Working Papers, ...

Thomas Flayols, Andrea del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti. Balancing Legged Robots on Visco-Elastic Contacts. 2019. ⟨hal-02310082⟩

2018

Journal articles

Justin Carpentier, Nicolas Mansard. Multi-contact Locomotion of Legged Robots. IEEE Transactions on Robotics, 2018, 34 (6), pp.1441-1460. ⟨10.1109/TRO.2018.2862902⟩. ⟨hal-01859108⟩

Steve Tonneau, Pierre Fernbach, Andrea del Prete, Julien Pettré, Nicolas Mansard. 2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios. ACM Transactions on Graphics, 2018, 37 (5), pp.176. ⟨10.1145/3213773⟩. ⟨hal-01609055v2⟩

Steve Tonneau, Andrea del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, et al.. An efficient acyclic contact planner for multiped robots. IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩. ⟨hal-01267345v3⟩

Andrea del Prete, Steve Tonneau, Nicolas Mansard. Zero Step Capturability for Legged Robots in Multi Contact. IEEE Transactions on Robotics, 2018, 34 (4), pp.1021-1034. ⟨10.1109/TRO.2018.2820687⟩. ⟨hal-01574687v2⟩

Conference papers

Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà. Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. European Control Conference (ECC 2018), KIOS Research and Innovation Center of Excellence, Jun 2018, Limassol, Cyprus. 8p. ⟨hal-01818697⟩

Justin Carpentier, Nicolas Mansard. Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States. ⟨hal-01790971v2⟩

Nicolas Mansard, Andrea del Prete, Mathieu Geisert, Steve Tonneau, Olivier Stasse. Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p. ⟨hal-01591373⟩

Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse. Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal. ⟨hal-01494676v3⟩

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard. Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩. ⟨hal-01851596v2⟩

2017

Journal articles

Mathieu Geisert, Andrea del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori. Regularized Hierarchical Differential Dynamic Programming. IEEE Transactions on Robotics, 2017, 33 (4), pp.819-833. ⟨hal-01356992v2⟩

Books

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre (Dir.). Geometric and Numerical Foundations of Movements. Springer. Springer International Publishing, 117, 2017, Springer Tracts in Advanced Robotics, Bruno Siciliano; Oussama Khatib, 978-3-319-51546-5. ⟨10.1007/978-3-319-51547-2⟩. ⟨hal-01590779⟩

Conference papers

Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, et al.. TALOS: A new humanoid research platform targeted for industrial applications. International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩. ⟨hal-01485519v2⟩

Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro de Luca, et al.. Actuator Design of Compliant Walkers via Optimal Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p. ⟨hal-01483567v2⟩

Justin Carpentier, Andrea del Prete, Steve Tonneau, Thomas Flayols, Florent Forget, et al.. Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project. RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p. ⟨hal-01543060⟩

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard. Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots. Robotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p. ⟨hal-01526200⟩

2016

Journal articles

Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond. Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach. IEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩. ⟨hal-01182734v3⟩

Andrea del Prete, Nicolas Mansard. Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Transactions on Robotics, 2016, 32 (5), pp. 1091-1105. ⟨10.1109/TRO.2016.2593027⟩. ⟨hal-01241974v2⟩

Andrea del Prete, Nicolas Mansard, Oscar Efrain Ramos Ponce, Olivier Stasse, Francesco Nori. Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors. International Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044. ⟨hal-01136936v2⟩

Conference papers

Mathieu Geisert, Nicolas Mansard. Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. International Conference on Robotics and Automation (ICRA 2016), IEEE, May 2016, Stockholm, Sweden. pp. 2958-2964. ⟨hal-01213392v2⟩

Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard. A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden. ⟨hal-01203507v2⟩

Andrea del Prete, Steve Tonneau, Nicolas Mansard. Fast Algorithms to Test Robust Static Equilibrium for Legged Robots. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp. 1601-1607. ⟨hal-01201060v2⟩

Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppälä, Mylène Campana, et al.. HPP: a new software for constrained motion planning. International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759083⟩. ⟨hal-01290850v2⟩

Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond. A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, Dec 2016, San Francisco, United States. ⟨10.1109/SIMPAR.2016.7862383⟩. ⟨hal-01360450v2⟩

Steve Tonneau, Al-Ashqar Rami, Julien Pettré, Taku Komura, Nicolas Mansard. Character contact re-positioning under large environment deformation. Eurographics, eurographics, May 2016, Lisbonne, Portugal. ⟨hal-01207688⟩

Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, et al.. Dynamically balanced and plausible trajectory planning for human-like characters. 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, Feb 2016, Redmond, United States. pp.39-48, ⟨10.1145/2856400.2856405⟩. ⟨hal-01290368⟩