2022

Conference papers

Adria Roig, Sai Kishor Kothakota, Narcis Miguel, Pierre Fernbach, Enrico Mingo Hoffman, et al.. On the Hardware Design and Control Architecture of the Humanoid Robot Kangaroo. 6th Workshop on Legged Robots during the International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphie, PA, United States. ⟨hal-03669855v2⟩

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⟩

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⟩

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

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⟩

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⟩

Olivier Roussel, Pierre Fernbach, Michel Taïx. Motion Planning for an Elastic Rod using Contacts. IEEE Transactions on Automation Science and Engineering, 2020, 17 (2), pp.670-683. ⟨10.1109/TASE.2019.2941046⟩. ⟨hal-01954894⟩

Conference papers

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⟩

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⟩

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

Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis. Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner. Towards Autonomous Robotic Systems Conference (TAROS) 2019, Jul 2019, London, United Kingdom. ⟨10.1007/978-3-030-23807-0_23⟩. ⟨hal-02097212v3⟩

2018

Journal articles

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⟩

Conference papers

Pierre Fernbach, Steve Tonneau, Michel Taïx. CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. 7p., ⟨10.1109/IROS.2018.8593888⟩. ⟨hal-01726155v3⟩

PhD thesis, HDR

Pierre Fernbach. Modèles réduits fiables et efficaces pour la planification et l'optimisation de mouvement des robots à pattes en environnements contraints. Robotique [cs.RO]. Université Paul Sabatier - Toulouse III, 2018. Français. ⟨NNT : 2018TOU30232⟩. ⟨tel-01947204v3⟩

2017

Conference papers

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⟩

Pierre Fernbach, Steve Tonneau, Andrea del Prete, Michel Taïx. A Kinodynamic steering-method for legged multi-contact locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p. ⟨hal-01486933v2⟩

2016

Conference papers

Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx, Jean-Paul Laumond. Ballistic motion planning for jumping superheroes. Motion in Games Conference, Oct 2016, Burlingame, CA, United States. ⟨10.1145/2994258.2994279⟩. ⟨hal-01366796⟩

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. ⟨hal-01290850v2⟩

2015

Conference papers

Yannick Pencolé, Romain Pichard, Pierre Fernbach. Modular fault diagnosis in discrete-event systems with a CPN diagnoser. 9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, Sep 2015, Paris, France. ⟨hal-01196011⟩