People

Olivier Stasse

Olivier Stasse

Research team

GEPETTO : Movement of Anthropomorphic Systems

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Selected publications

Latest publications

2023

Journal articles

Vincent Bonnet, Joseph Mirabel, David Daney, Florent Lamiraux, Maxime Gautier, et al.. Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot. Robotics and Autonomous Systems, 2023, 164, pp.104365. ⟨10.1016/j.robot.2023.104365⟩. ⟨hal-04222944⟩

Conference papers

Côme Perrot, Olivier Stasse. Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial Operations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10342428⟩. ⟨hal-04168681⟩

Thibaud Lasguignes, Guillaume Gobin, Olivier Stasse. LiDAR-based localization system for kidnapped robots. International Conference on Robotic Computing (IRC 2023), Dec 2023, Laguna Hills, CA, United States. ⟨hal-04363895⟩

2022

Journal articles

Isabelle Maroger, Olivier Stasse, Bruno Watier. Inverse Optimal Control to Model Human Trajectories During Locomotion. Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (5), pp.499-511. ⟨10.1080/10255842.2021.1962311⟩. ⟨hal-03142655v2⟩

Noelie Ramuzat, Olivier Stasse, Sebastien Boria. Benchmarking Whole Body controllers on the TALOS Humanoid Robot. Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩. ⟨hal-03614143⟩

Isabelle Maroger, Manon Silva, Hélène Pillet, Nicolas Turpin, Olivier Stasse, et al.. Walking paths during collaborative carriages do not follow the simple rules observed in the locomotion of single walking subjects. Scientific Reports, 2022, 12 (1), pp.15585. ⟨10.1038/s41598-022-19853-7⟩. ⟨hal-04336933⟩

Noelie Ramuzat, Sebastien Boria, Olivier Stasse. Passive Inverse Dynamics Control using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787 - 2794. ⟨10.1109/LRA.2022.3144767⟩. ⟨hal-03547136v2⟩

Conference papers

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⟩

Giulio Romualdi, Nahuel Alejandro Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse. Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03866027⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan. ⟨10.1109/Humanoids53995.2022.1000008⟩. ⟨hal-03839963⟩

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⟩

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⟩

Preprints, Working Papers, ...

Isabelle Maroger, Manon Silva, Héléne Pillet, Nicolas A Turpin, Olivier Stasse, et al.. Does a Shared Strategy Emerge from the Study of Walking Paths during Collaborative Carriages?. 2022. ⟨hal-03713196⟩

2021

Journal articles

Isabelle Maroger, Noelie Ramuzat, Olivier Stasse, Bruno Watier. Human Trajectory Prediction Model and its Coupling with a Walking Pattern Generator of a Humanoid Robot. IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361 - 6369. ⟨10.1109/LRA.2021.3092750⟩. ⟨hal-03292150⟩

Conference papers

Isabelle Maroger, Olivier Stasse, Bruno Watier. Metrics to Assess a Human Trajectory Prediction Model during Gait. 46ème congrès de la Société de Biomécanique, Oct 2021, Saint-Etienne, France. ⟨hal-03218959⟩

S Beaussant, S Lengagne, B Thuilot, Olivier Stasse. Delay Aware Universal Notice Network: Real world multi-robot transfer learning. Rencontres des Jeunes Chercheurs en Intelligence Artificielle (RJCIA'21) Plate-Forme Intelligence Artificielle (PFIA'21), Jul 2021, Bordeaux, France. pp.22-29. ⟨hal-03298723⟩

Samuel Beaussant, Sebastien Lengagne, Benoit Thuilot, Olivier Stasse. Delay Aware Universal Notice Network: Real world multi-robot transfer learning. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635917⟩. ⟨hal-03383498⟩

Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, et al.. Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩. ⟨hal-03420889⟩

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⟩

Joseph Mirabel, Florent Lamiraux, Thuc Long Ha, Alexis Nicolin, Olivier Stasse, et al.. Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control. 2021 IEEE International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨10.1109/CASE49439.2021.9551576⟩. ⟨hal-03308202⟩

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⟩

N Ramuzat, G Buondonno, S Boria, Olivier Stasse. Comparison of Position and Torque Whole Body Control Schemes on the Humanoid Robot TALOS. 20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩. ⟨hal-03145141v2⟩

Cyril Briand, Olivier Stasse, Michel Taïx, Thierry Germa, Fabien Marco, et al.. ROS : une solution middleware adaptée pour l'industrie du futur ?. 17ème colloque national S-mart AIP-PRIMECA, Université Polytechnique Hauts-de-France [UPHF], Mar 2021, LAVAL VIRTUAL WORLD, France. ⟨hal-03296139⟩

2020

Journal articles

Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx. C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios. IEEE Transactions on Robotics, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩. ⟨hal-01894869v4⟩

Book sections

Olivier Stasse, Ludovic Righetti. Whole-Body Manipulation. Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2020, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_187-1⟩. ⟨hal-03045448⟩

Conference papers

Isabelle Maroger, Olivier Stasse, Bruno Watier. Comparison of human experimental trajectories and simulations during gait. 45ème congrès de la Société de Biomécanique, Oct 2020, Metz, France. ⟨hal-02922581⟩

Alexis Nicolin, Joseph Mirabel, Sébastien Boria, Olivier Stasse, Florent Lamiraux. Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers. IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02466543⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9341118⟩. ⟨hal-02922573⟩

Kevin Giraud--Esclasse, Pierre Fernbach, Gabriele Buondonno, Carlos Mastalli, Olivier Stasse. Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots. SII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02383130⟩

Noélie Ramuzat, Florent Forget, V. Bonnet, S Boria, Olivier Stasse, et al.. Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid Robot. European Control Conference (ECC20), May 2020, Saint Petersburg, Russia. ⟨hal-02889421⟩

Autres documents

Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494737⟩

Preprints, Working Papers, ...

Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494731⟩

2019

Book sections

Olivier Stasse, Thomas Flayols. An overview of humanoid robots technologies. Biomechanics of Anthropomorphic Systems, Springer, pp.281-310, 2019, 978-3-319-93870-7. ⟨hal-01759061⟩

Conference papers

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⟩

Preprints, Working Papers, ...

Olivier Stasse. Program / simulation tools / ROS / Gazebo / OpenHRP. Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019. ⟨cel-02130166⟩

2018

Journal articles

Olivier Stasse, Kevin Giraud-Esclasse, Edouard Brousse, Maximilien Naveau, Rémi Régnier, et al.. Benchmarking the HRP-2 humanoid robot during locomotion. Frontiers in Robotics and AI, 2018, 5, ⟨10.3389/frobt.2018.00122⟩. ⟨hal-02001008⟩

Christian Vassallo, Anne-Hélène Olivier, Philippe Souères, Armel Crétual, Olivier Stasse, et al.. How do walkers behave when crossing the way of a mobile robot that replicates human interaction rules?. Gait & Posture, 2018, 60, pp.188-193. ⟨10.1016/j.gaitpost.2017.12.002⟩. ⟨hal-01717722⟩

Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx. Motion Planning in Irreducible Path Spaces. Robotics and Autonomous Systems, 2018, 109, pp.97-108. ⟨10.1016/j.robot.2018.08.012⟩. ⟨hal-01873197⟩

Book sections

Olivier Stasse. SLAM and Vision-based Humanoid Navigation. Humanoid Robotics: A Reference, pp.1739-1761, 2018, 978-94-007-6047-9. ⟨10.1007/978-94-007-6046-2_59⟩. ⟨hal-01674512⟩

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⟩

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⟩

2017

Journal articles

Christian Vassallo, Anne-Hélène Olivier, Philippe Souères, Armel Crétual, Olivier Stasse, et al.. How do walkers avoid a mobile robot crossing their way?. Gait & Posture, 2017, 51, pp.97-103. ⟨10.1016/j.gaitpost.2016.09.022⟩. ⟨hal-01371202⟩

Debora Clever, Monika Harant, Katja Mombaur, Maximilien Naveau, Olivier Stasse, et al.. COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2. IEEE Robotics and Automation Letters, 2017, 2 (2), pp.977-984. ⟨10.1109/LRA.2017.2657000⟩. ⟨hal-01459840⟩

Maximilien Naveau, Manuel Kudruss, Olivier Stasse, Christian Kirches, Katja Mombaur, et al.. A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control. IEEE Robotics and Automation Letters, 2017, 2 (1), pp.10-17. ⟨10.1109/LRA.2016.2518739⟩. ⟨hal-01261415⟩

Albert A Mukovskiy, Christian Vassallo, Maximilien Naveau, Olivier Stasse, Philippe Souères, et al.. Adaptive synthesis of dynamically feasible full-body movements for the humanoid robot HRP-2 by flexible combination of learned dynamic movement primitives. Robotics and Autonomous Systems, 2017, 91, pp.270-283. ⟨10.1016/j.robot.2017.01.010⟩. ⟨hal-01484935⟩

Book sections

Albert A Mukovskiy, Nick Taubert, Dominik Endres, Christian Vassallo, Maximilien Naveau, et al.. Modeling of coordinated human body motion by learning of structured dynamic representation. Geometric and Numerical Foundations of Movements, Springer, pp.237-267, 2017, Star 117. ⟨hal-02002507⟩

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⟩

Thomas Flayols, Andrea del Prete, Patrick Wensing, Alexis Mifsud, Mehdi Benallegue, et al.. Experimental Evaluation of Simple Estimators for Humanoid Robots. IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom. ⟨hal-01574819v2⟩

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⟩

2016

Journal articles

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⟩

Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. Continuous Legged Locomotion Planning. IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩. ⟨hal-01433866⟩

Conference papers

Ixchel G Ramirez-Alpizar, Maximilien Naveau, Christophe Benazeth, Olivier Stasse, Jean-Paul Laumond, et al.. Motion Generation for Pulling a Fire Hose by a Humanoid Robot. 16th IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS 2016), Nov 2016, Cancun, Mexico. ⟨hal-01388372⟩

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⟩

M Karklinsky, Maximilien Naveau, A Mukovskiy, Olivier Stasse, T Flash, et al.. Robust human-inspired power law trajectories for humanoid HRP-2 robot. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, Jun 2016, Singapour, Singapore. 8p., ⟨10.1109/BIOROB.2016.7523606⟩. ⟨hal-02002597⟩

Ganesh Kumar Hari Shankar Lal Das, Bertrand Tondu, Florent Forget, Jérôme Manhes, Olivier Stasse, et al.. Performing Explosive motion using a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control. MSC-2016 IEEE Multi-Conference on Systems and Control 2016, Sep 2016, Buenos Aires, Argentina. ⟨hal-01382328⟩

Ganesh Kumar Hari Shankar Lal Das, Bertrand Tondu, Florent Forget, Jérôme Manhes, Olivier Stasse, et al.. Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejon, South Korea. ⟨10.1109/IROS.2016.7759103⟩. ⟨hal-01432100⟩

2015

Journal articles

Oscar Efrain Ramos Ponce, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, et al.. Dancing Humanoid Robots: Systematic use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics and Automation Magazine, 2015, 22 (4), pp.16 - 26. ⟨10.1109/MRA.2015.2415048⟩. ⟨hal-01222238⟩

Quang-Cuong Pham, Olivier Stasse. Time-Optimal Path Parameterization for Redundantly-Actuated Robots (Numerical Integration Approach). IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.3257-3263. ⟨10.1109/TMECH.2015.2409479⟩. ⟨hal-01138098⟩

Conference papers

J Koenemann, Andrea del Prete, Yuval Tassa, E Todorov, Olivier Stasse, et al.. Whole-body Model-Predictive Control applied to the HRP-2 Humanoid. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p. ⟨hal-01137021⟩

Andreas Orthey, Olivier Stasse, Florent Lamiraux. Motion Planning and Irreducible Trajectories. ICRA, May 2015, Seattle, United States. ⟨hal-01121025⟩

M Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, C Kirches, et al.. Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p. ⟨hal-01179667v2⟩

Preprints, Working Papers, ...

Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx. Irreducible Motion Planning by Exploiting Linear Linkage Structures. 2015. ⟨hal-01163259⟩

Andreas Orthey, Vladimir Ivan, Maximilien Naveau, Yiming Yang, Olivier Stasse, et al.. Homotopic particle motion planning for humanoid robotics. 2015. ⟨hal-01137918⟩

2014

Journal articles

Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet, Claire Dune, Claudia Esteves, et al.. Vision-guided motion primitives for humanoid reactive walking: decoupled vs. coupled approaches. The International Journal of Robotics Research, 2014, 34 (4-5), pp.402-419. ⟨10.1177/0278364914550891⟩. ⟨hal-01113499⟩

Oscar Efrain Ramos Ponce, Mauricio Garcia, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, et al.. Towards reactive vision-guided walking on rough terrain: an inverse-dynamics based approach. International Journal of Humanoid Robotics, 2014, 11 (2), pp.1441004. ⟨hal-00990082⟩

Conference papers

Perle Geoffroy, Olivier Bordron, Nicolas Mansard, M Raison, Olivier Stasse, et al.. A two-stage suboptimal approximation for variable compliance and torque control. European Control Conference, Jun 2014, Strasbourg, France. pp.1151 - 1157, ⟨10.1109/ECC.2014.6862557⟩. ⟨hal-01114610⟩

Olivier Stasse, Andreas Orthey, Francesco Morsillo, Mathieu Geisert, Nicolas Mansard, et al.. Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041488⟩. ⟨hal-01122476⟩

Kai Henning Koch, Katja Mombaur, Olivier Stasse, Philippe Souères. Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles. IEEE International Conference on Humanoid Robotics (HUMANOIDS), Nov 2014, Madrid, Spain. 8p. ⟨hal-01113490⟩

Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet. Vision-driven walking pattern generation for humanoid reactive walking. International Conference on Robotics and Automation, May 2014, Hong-Kong, China. 7p. ⟨hal-00990088⟩

Maximilien Naveau, Justin Carpentier, Sébastien Barthelemy, Olivier Stasse, Philippe Souères. METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filtering. International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩. ⟨hal-01122475⟩