People

Philippe Soueres

Philippe Soueres

Research team

GEPETTO : Movement of Anthropomorphic Systems

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Latest publications

2023

Journal articles

Céline Pieters, Emmanuelle Danblon, Philippe Souères, Jean-Paul Laumond. Talking about moving machines. Interaction Studies, 2023, Interaction Studies, 23 (2), pp.322-340. ⟨10.1075/is.22005.pie⟩. ⟨hal-04269587⟩

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⟩

Proceedings

Pierre Moretto, Frédéric Guittard, Philippe Souères, Anthony Herrel, José de Jesus Castillo-Zamora, et al.. Mouvement Animal et Humain : Biomécanique, Biorobotique, Biomimétisme GDR 2088 Biomimétisme Bio-inspiration. Mouvement Animal et Humain, Biomécanique, Biorobotique, 2023, Mouvement Animal et Humain, Biomécanique, Biorobotique, Biomimétisme. ⟨hal-04320976v2⟩

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

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⟩

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⟩

Conference papers

A Puig-Pey, A Sanfeliu, C Leroux, P Dario, R Rasso, et al.. A New Methodological Approach to Analyze Human Roles in Human-Robot Interaction Scenarios. IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2022), May 2022, Long Beach, CA, United States. ⟨10.1109/ARSO54254.2022.9802978⟩. ⟨hal-03758090⟩

Preprints, Working Papers, ...

Céline Pieters, Emmanuelle Damblon, Philippe Souères, Jean-Paul Laumond. Talking about moving machines: an argumentative perspective. 2022. ⟨hal-03768385⟩

2021

Conference papers

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⟩

François Bailly, Justin Carpentier, Philippe Souères. Optimal Estimation of the Centroidal Dynamics of Legged Robots. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an, China. ⟨10.1109/ICRA48506.2021.9561993⟩. ⟨hal-03193940⟩

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⟩

Reports

François Bailly, Justin Carpentier, Philippe Souères. Computational details for : "Optimal Estimation of the Centroidal Dynamics of Legged Robots". [Research Report] Rapport LAAS n° 21072, LAAS-CNRS; Université de Montréal. 2021. ⟨hal-03180052v4⟩

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⟩

2020

Conference papers

Melya Boukheddimi, Rohan Budhiraja, Philippe Souères, Bruno Watier. Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria. The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics & Biomechatronics, Nov 2020, New York, United States. ⟨10.1109/BioRob49111.2020.9224427⟩. ⟨hal-02615813⟩

2019

Journal articles

François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères. Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion — A recursive approach. IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4155-4162. ⟨10.1109/LRA.2019.2931200⟩. ⟨hal-02058890v2⟩

Conference papers

Melya Boukheddimi, François Bailly, Philippe Souères, Bruno Watier. Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control. 44 congrès de la société de biomécanique, l’Université de Poitiers et le CHU de Poitiers., Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1714962⟩. ⟨hal-02147549⟩

Melya Boukheddimi, François Bailly, Philippe Souères, Bruno Watier. Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics. IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), Dec 2019, Dali, China. pp.2683-2688, ⟨10.1109/ROBIO49542.2019.8961426⟩. ⟨hal-02455162⟩

2018

Journal articles

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⟩

Galo Maldonado, Philippe Souères, Bruno Watier. Strategies of Parkour practitioners for executing soft precision landings. Journal of Sports Sciences, 2018, 36 (22), pp.2551-2557. ⟨10.1080/02640414.2018.1469226⟩. ⟨hal-02042616⟩

Galo Maldonado, François Bailly, Philippe Souères, Bruno Watier. On the coordination of highly dynamic human movements: an extension of the Uncontrolled Manifold approach applied to precision jump in parkour. Scientific Reports, 2018, 8 (1), pp.Article number: 12219. ⟨10.1038/s41598-018-30681-6⟩. ⟨hal-01863170⟩

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⟩

Book sections

Galo Maldonado, Philippe Souères, Bruno Watier. From Biomechanics to Robotics. Springer. Biomechanics of Anthropomorphic Systems, 2018, Star 124. ⟨hal-02002519⟩

Philippe Souères. Sur la nature subjective et incarnée de l’intelligence humaine et son rapport à l’omniprésence de l’intelligence numérique. Thierry Bosch & Jean-Claude Dunyach. Dimension Technosciences @venir, Rivière Blanche, pp.25-34, 2018, 978-1612277936. ⟨hal-02059473⟩

Conference papers

François Bailly, Justin Carpentier, Bertrand Pinet, Philippe Souères, Bruno Watier. A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoids. 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2018, Aug 2018, ENSCHEDE, Netherlands. ⟨hal-01569252⟩

François Bailly, Emmanuelle Pouydebat, Bruno Watier, Vincent Bels, Philippe Souères. Should mobile robots have a head ? A rationale based on behavior, automatic control and signal processing. International Conference on Biomimetic and Biohybrid Systems (Living Machines 2018), Jul 2018, Paris, France. 12p. ⟨hal-01803968⟩

Reports

Galo Maldonado, Philippe Souères, Bruno Watier. Whole-body musculo-skeletal model V1. [Technical Report] Rapport LAAS n° 18233, Université de Toulouse 3 Paul Sabatier; LAAS-CNRS. 2018. ⟨hal-01841355⟩

2017

Journal articles

Galo Maldonado, François Bailly, Philippe Souères, Bruno Watier. Angular momentum regulation strategies for highly dynamic landing in Parkour. Computer Methods in Biomechanics and Biomedical Engineering, 2017, 20 (sup1), pp.123-124. ⟨10.1080/10255842.2017.1382892⟩. ⟨hal-01636353⟩

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⟩

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⟩

Aiva Simaite, Aude Delagarde, Bertrand Tondu, Philippe Souères, Emmanuel Flahaut, et al.. Spray-coated carbon nanotube carpets for creeping reduction of conducting polymer based artificial muscles. Nanotechnology, 2017, 28 (2), pp.025502. ⟨10.1088/0957-4484/28/2/025502⟩. ⟨hal-01413022⟩

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⟩

Reports

François Bailly, Bertrand Pinet, Philippe Souères, Bruno Watier. Regulation of the distance between the center of mass and the minimum moment axis for stabilized locomotion in humans. LAAS-CNRS. 2017. ⟨hal-01494117v3⟩

2016

Journal articles

Christian Bergaud, Aiva Simaite, Fabien Mesnilgrente, Bertrand Tondu, Philippe Souères. Towards inkjet printable conducting polymer artificial muscles. Sensors and Actuators B: Chemical, 2016, 229, pp.425 - 433. ⟨10.1016/j.snb.2016.01.142⟩. ⟨hal-01764287⟩

Conference papers

Bertrand Tondu, Aiva Simaite, Philippe Souères, Christian Bergaud. First-Order Based Non-Linear Open-Loop Identification of a Ionic Polymer Bending Actuator and Derived Linear PI closed-loop Control. CIMTEC 2016, Jun 2016, Perugia, Italy. ⟨hal-02004975⟩

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⟩

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.. 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

Aiva Simaite, Bertrand Tondu, Philippe Souères, Christian Bergaud. Hybrid PVDF/PVDF- graft -PEGMA Membranes for Improved Interface Strength and Lifetime of PEDOT:PSS/PVDF/Ionic Liquid Actuators. ACS Applied Materials & Interfaces, 2015, 7 (36), pp.19966 - 19977. ⟨10.1021/acsami.5b04578⟩. ⟨hal-01764254⟩

Sylvain Argentieri, Patrick Danès, Philippe Souères. A Survey on Sound Source Localization in Robotics: from Binaural to Array Processing Methods. Computer Speech and Language, 2015, 34 (1), pp. 87-112. ⟨hal-01058575⟩

Yuancan Huang, Jian Li, Qiang Huang, Philippe Souères. Anthropomorphic Robotic Arm With Integrated Elastic Joints for TCM Remedial Massage. Robotica, 2015, 33 (2), pp.348-365. ⟨10.1017/S0263574714000228⟩. ⟨hal-02002543⟩

Paolo Salaris, Christian Vassallo, Philippe Souères, Jean-Paul Laumond. The geometry of confocal curves for passing through a door. IEEE Transactions on Robotics, 2015, 31 (5), pp. 1180-1193. ⟨10.1109/TRO.2015.2473457⟩. ⟨hal-01223495⟩

Galo Maldonado, H Bitard, Bruno Watier, Philippe Souères. Evidence of dynamic postural control performance in parkour landing. Computer Methods in Biomechanics and Biomedical Engineering, 2015, 18 (S1), pp.1994-1995. ⟨10.1080/10255842.2015.1069588⟩. ⟨hal-02002593⟩

Conference papers

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⟩

B. Bonnaud, L. Escande, Bertrand Tondu, Philippe Souères. Single Linear Integral Action Control for Closed-loop Positioning of a Biomimetic Actuator with Artificial Muscles. European Control Conference, Jul 2015, Linz, Austria. ⟨hal-02004969⟩

Paolo Salaris, Christian Vassallo, Philippe Souères, Jean-Paul Laumond. Image-based control relying on conic curves foliation for passing through a gate. IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139253⟩. ⟨hal-01179803⟩

Christian Bergaud, Aiva Simaite, Bertrand Tondu, Fabrice Mathieu, Philippe Souères. Simple casting based fabrication of PEDOT:PSS-PVDF-ionic liquid soft actuators. SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, Mar 2015, San Diego, United States. ⟨10.1117/12.2083936⟩. ⟨hal-01764277⟩

2014

Journal articles

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

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⟩

Oscar Efrain Ramos Ponce, Nicolas Mansard, Philippe Souères. Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control . IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041440⟩. ⟨hal-01074921⟩

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⟩

Yuancan Huang, Philippe Souères, Jian Li. Contact Dynamics and Coupled Stability of Massage Compliant Robotic Arm With Impedance Controller. IEEE International Conference on Robotics and Automation, IEEE, May 2014, Hong-Kong, China. ⟨hal-02002555⟩

Bertrand Tondu, Philippe Souères. A Weak Generalized Inverse Applied to Redundancy Solving of Serial Chain Robots. International Conference on Intelligent Autonomous Systems, Jul 2014, Padova, Italy. ⟨hal-02004970⟩