Olivier Stasse and Rajesh Subburaman, from the Gepetto team, were finalists for the best oral presentation at the IEEE International Conference on Humanoid Robotics in Nancy from 22 to 24 October.

Their presentation focused on Whole Body Predictive Control (WBMPC), a powerful tool for generating complex robotic movements.

Their paper proposed a detailed study to understand the impact of delay on WBMPC and suggested an effective solution to manage it. In this regard, a full body control task is formulated as an optimal control problem and solved using a solver based on the "Differential Dynamic Programming (DDP) technique".

Extensive numerical studies were carried out to understand the nature of the problem and design a numerically efficient solution. The latter was verified experimentally with the TALOS humanoid robot.