2025

Conference papers

Rafael Kourdis, Maciej Stępień, Jérôme Manhes, Nicolas Mansard, Steve Tonneau, et al.. Very High Frequency Interpolation for Direct Torque Control. CoRL 2025 Workshop on Open-Source Hardware in the Era of Robot Learning, Sep 2025, Seoul, South Korea. ⟨hal-05287182⟩

Constant Roux, Elliot Chane-Sane, Ludovic de Matteïs, Thomas Flayols, Jérôme Manhes, et al.. Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot. 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.843-850, ⟨10.1109/Humanoids65713.2025.11203104⟩. ⟨hal-05198560⟩

Preprints, Working Papers, ...

Dorian Verdel, Jonathan Eden, Hector Cervantes-Culebro, Carsten Mehring, Mattia Pinardi, et al.. A predictive coding framework for safe and versatile control of supernumerary robotic limbs. 2025. ⟨hal-04830213v2⟩

2024

Journal articles

Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea del Prete, et al.. Co-designing versatile quadruped robots for dynamic and energy-efficient motions. Robotica, 2024, 42 (6), pp.2004-2025. ⟨10.1017/S0263574724000730⟩. ⟨hal-04162737⟩

Conference 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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2024, Abu Dhabi, Emirats Arabes Unis, United Arab Emirates. pp.13303-13310, ⟨10.1109/IROS58592.2024.10802334⟩. ⟨hal-04523167v2⟩

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⟩

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⟩

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⟩

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

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

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⟩

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⟩

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-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⟩

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⟩

2018

Journal articles

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⟩

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⟩

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⟩

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, 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⟩

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⟩

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

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⟩

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⟩

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⟩

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⟩

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⟩