2024

Preprints, Working 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. ⟨hal-04523167⟩

2023

Journal articles

Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, et al.. Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning. Scientific Reports, 2023, 13 (11945), pp.12. ⟨10.1038/s41598-023-38259-7⟩. ⟨hal-03761331v2⟩

Conference papers

Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, et al.. A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. IEEE-RAS Humanoids 2023, IEEE-RAS, Dec 2023, Austin, TX, United States. ⟨10.1109/Humanoids57100.2023.10375148⟩. ⟨hal-04174932v2⟩

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⟩

Preprints, Working Papers, ...

Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, et al.. Co-designing versatile quadruped robots for dynamic and energy-efficient motions. 2023. ⟨hal-04162737⟩

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⟩

Gabriele Fadini, Thomas Flayols, Andrea del Prete, Philippe Souères. Simulation aided co-design for robust robot optimization. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11306 - 11313. ⟨10.1109/LRA.2022.3200142⟩. ⟨hal-03592085v3⟩

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⟩

Preprints, Working Papers, ...

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

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⟩

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⟩

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⟩

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⟩

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⟩

Preprints, Working Papers, ...

Michel Aractingi, Pierre-Alexandre Leziart, Thomas Flayols, Julien Perez, Tomi Silander, et al.. Learning to Adapt the Trotting Gait of the Solo Quadruped. 2021. ⟨hal-03409682⟩

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

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⟩

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

PhD thesis, HDR

Thomas Flayols. Exploitation du Retour de Force pour l'Estimation et le Contrôle des Robots Marcheurs. Automatique / Robotique. INSA de Toulouse, 2018. Français. ⟨NNT : 2018ISAT0025⟩. ⟨tel-01975078v2⟩

2017

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⟩