2026

Journal articles

Filip Bečanović, Vincent Bonnet, Kosta Jovanović, Samer Mohammed, Raphaël Dumas. Inverse optimal control of muscle force sharing during pathological gait. Journal of Biomechanics, 2026, 201, pp.113256. ⟨10.1016/j.jbiomech.2026.113256⟩. ⟨hal-05562371⟩

Preprints, Working Papers, ...

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, 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⟩

2025

Journal articles

Mohamed Adjel, Raphael Dumas, Samer Mohammed, Vincent Bonnet. Influence of Visual-Inertial Sensor-To-Segment Calibration on Upper Limb Joint Angles Estimation from Multiple Inverse Kinematics Methods. IEEE Transactions on Automation Science and Engineering, 2025, 22 (11519-11528), pp.1-1. ⟨10.1109/TASE.2025.3535857⟩. ⟨hal-04504765⟩

Conference papers

Filip Becanovic, Vincent Bonnet, Kosta Jovanovic, Samer S. Mohammed, Raphael Dumas. Inverse optimal control reveals square of muscle power minimisation in post‐stroke gait. ISB 2025 - Congress of International Society of Biomechanics, Jul 2025, Stockhlom, Sweden. ⟨hal-05446232⟩

Wanchen Li, Kahina Chalabi, Maxime Sabbah, Thomas Bousquet, Robin Passama, et al.. Biomechanically consistent real-time action recognition for human-robot interaction. ROBIO 2025 - IEEE International Conference on Robotics and Biomimetics, Dec 2025, Chengdu, China. pp.2078-2085, ⟨10.1109/ROBIO66223.2025.11376245⟩. ⟨hal-05321887⟩

Mohamed Adjel, Vincent Bonnet. PriorFormer: A Transformer for Real-time Monocular 3D Human Pose Estimation with Versatile Geometric Priors. 2025 IEEE-RAS 24th International Conference on Humanoid Robots, Sep 2025, Seoul (Korea), South Korea. ⟨hal-05216049⟩

Maxime Sabbah, Filip Bečanović, Sarmad Mehrdad, Ludovic Righetti, Bruno Watier, et al.. Minimal Observations Inverse Reinforcement Learning for Predicting Human Box-Lifting Motions. International Conference on Humanoid Robots 2025, Sep 2025, Séoul, South Korea. ⟨hal-05191852⟩

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⟩

Preprints, Working Papers, ...

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⟩

Thanh D V Nguyen, Vincent Bonnet, Pierre Fernbach, David Daney, Florent Lamiraux. Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane. 2025. ⟨hal-05169055⟩

2024

Journal articles

Maxime Sabbah, Bruno Watier, Raphael Dumas, Maxime Gautier, Vincent Bonnet. Concurrent validity of embedded solutions for whole body dynamics analysis. IEEE Sensors Journal, 2024, 24 (24), pp.40524 - 40531. ⟨10.1109/JSEN.2024.3485475⟩. ⟨hal-04748281⟩

Conference papers

Thanh D V Nguyen, Vincent Bonnet, Pierre Fernbach, Thomas Flayols, Florent Lamiraux. Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters. IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769790⟩. ⟨hal-04769368⟩

Maxime Sabbah, Raphael Dumas, Zoe Pomarat, Lucas Robinet, Mohamed Adjel, et al.. Ground Reaction Forces and Moments Estimation from Embedded Insoles using Machine Learning Regression Models. IEEE RAS EMBS 10th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2024), Sep 2024, Heidelberg, Germany. ⟨10.1109/BioRob60516.2024.10719958⟩. ⟨hal-04557250⟩

Kahina Chalabi, Mohamed Adjel, Thomas Bousquet, Maxime Sabbah, Bruno Watier, et al.. Lower Limbs 3D Joint Kinematics Estimation From Force Plates Data and Machine Learning. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769846⟩. ⟨hal-04749046⟩

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⟩

Filip Becanovic, Kosta Jovanović, Vincent Bonnet. Reliability of Single-Level Equality-Constrained Inverse Optimal Control. 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), Nov 2024, Nancy, France. pp.623-630, ⟨10.1109/Humanoids58906.2024.10769923⟩. ⟨hal-04931691⟩

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⟩

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⟩

Filip Becanovic, Vincent Bonnet, Raphaël Dumas, Kosta Jovanovic, Samer Mohammed. Force Sharing Problem During Gait Using Inverse Optimal Control. IEEE Robotics and Automation Letters, 2023, 8 (2), pp 872-879. ⟨10.1109/LRA.2022.3217398⟩. ⟨hal-03953527⟩

Conference papers

Dinh Vinh Thanh Nguyen, Vincent Bonnet, Sabbah Maxime, Maxime Gautier, Pierre Fernbach, et al.. FIGAROH: a Python toolbox for dynamic identification and geometric calibration of robots and humans. IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin (TX), United States. ⟨10.1109/Humanoids57100.2023.10375232⟩. ⟨hal-04234676v2⟩

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⟩

Filip Becanovic, Vincent Bonnet, Raphaël Dumas, Kosta Jovanovic, Samer Mohammed. Force Sharing Problem During Gait Using Inverse Optimal Control. International Conference on Robotics and Automation (ICRA 2023), May 2023, London, United Kingdom. pp.872-879, ⟨10.1109/LRA.2022.3217398⟩. ⟨hal-04063981⟩

Wanchen Li, Robin Passama, Vincent Bonnet, Andrea Cherubini. A comparison of human skeleton extractors for real-time human-robot interaction. ARSO 2023 - 19th IEEE International Conference on Advanced Robotics and its Social Impacts, Jun 2023, Berlin, Germany. pp.159-165, ⟨10.1109/arso56563.2023.10187411⟩. ⟨hal-04371340⟩

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, ...

Avinash Kumar Singh, Mohamed Adjel, Vincent Bonnet, Robin Passama, Andrea Cherubini. A Framework for Recognizing Industrial Actions via Joint Angles. 2023. ⟨hal-03925161⟩

2022

Journal articles

Sacha Guitteny, Yoann Lafon, Vincent Bonnet, Rachid Aissaoui, Raphaël Dumas. Dynamic estimation of soft tissue stiffness for use in modeling socket, orthosis or exoskeleton interfaces with lower limb segments. Journal of Biomechanics, 2022, 134, pp.110987. ⟨10.1016/j.jbiomech.2022.110987⟩. ⟨hal-03592590⟩

Conference papers

Filip Becanovic, Jared Miller, Vincent Bonnet, Kosta Jovanovic, Samer Mohammed. Assessing the Quality of a Set of Basis Functions for Inverse Optimal Control via Projection onto Global Minimizers. IEEE 61st Conference on Decision and Control (CDC 2022), Dec 2022, Cancun, Mexico. pp.7598-7605, ⟨10.1109/CDC51059.2022.9993342⟩. ⟨hal-04063395⟩

2021

Journal articles

Randa Mallat, Vincent Bonnet, Raphaël Dumas, Mohamed Adjel, Gentiane Venture, et al.. Sparse Visual-Inertial Measurement Units Placement for Gait Kinematics Assessment. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021, 29, pp.1300-1311. ⟨10.1109/TNSRE.2021.3089873⟩. ⟨hal-03313483⟩

2020

Conference papers

Noélie Ramuzat, Florent Forget, Vincent 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. ⟨10.23919/ecc51009.2020.9143817⟩. ⟨hal-02889421⟩

2019

Conference papers

Vincent Bonnet, Maxime Gautier, Raphaël Dumas, Samer Mohammed, Thomas Robert, et al.. Overview on dynamic identification methods of floating base anthropomorphic structures. 44th Congress of the Société de Biomécanique, Oct 2019, Poitiers, France. pp.S471-S473, ⟨10.1080/10255842.2020.1714985⟩. ⟨hal-03673695⟩