Movement of Anthropomorphic Systems

- gepetto -


The research activity of the Gepetto team is focused on the analysis and generation of movement of anthropomorphic systems. Created in 2006, it quickly became one of the leading teams in humanoid robotics, unanimously recognized for its expertise in movement generation.


Texte à modifier dans l’interface d’édition: champ 'sujet_chapo' de la page Equipe.

Motion planning and control in robotics

One of the main research activities of the Gepetto team consists of developing and testing new techniques and algorithms for automatic generation of movements as well as the control laws allowing them to be executed on physical robots.

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Latest publications

2024

Conference papers

Etienne Ménager, Alexandre Bilger, Wilson Jallet, Justin Carpentier, Christian Duriez. Condensed semi-implicit dynamics for trajectory optimization in soft robotics. IEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States. ⟨hal-04466639⟩

Preprints, Working Papers, ...

Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Model predictive control under hard collision avoidance constraint for a robotic arm. 2024. ⟨hal-04425002⟩

2023

Journal articles

Thibault Marsan, Yann Landon, Pablo Navarro, Bruno Watier. Performance criteria for para-athletes in fencing. Sports Biomechanics, 2023, pp.1-10. ⟨10.1080/14763141.2023.2294724⟩. ⟨hal-04383335⟩

Bruno Watier, Jérémie Begue, Hélène Pillet, Teddy Caderby. Instability during Stepping and Distance between the Center of Mass and the Minimal Moment Axis: Effect of Age and Speed. Applied Sciences, 2023, 13 (19), pp.10574. ⟨10.3390/app131910574⟩. ⟨hal-04239243⟩

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⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Use of adult anthropometric tables to estimate children body segment inertial parameters. International Biomechanics, 2023, 10 (1), pp.18-28. ⟨10.1080/23335432.2023.2268686⟩. ⟨hal-04313043⟩

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⟩

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⟩

Teddy Caderby, Angélique Lesport, Nicolas A Turpin, Georges Dalleau, Bruno Watier, et al.. Influence of aging on the control of the whole-body angular momentum during volitional stepping: An UCM-based analysis. Experimental Gerontology, 2023, 178, pp.112217. ⟨10.1016/j.exger.2023.112217⟩. ⟨hal-04134416⟩

Yue Zan, Mario Piedrahita-Bello, Seyed E Alavi, Gábor Molnár, Bertrand Tondu, et al.. Soft Actuators Based on Spin‐Crossover Particles Embedded in Thermoplastic Polyurethane. Advanced Intelligent Systems, 2023, 5 (6), pp.2200432. ⟨10.1002/aisy.202200432⟩. ⟨hal-04008039⟩

Books

Jean-Paul Laumond. La Robotique. : Entre science, technologie et imaginaire. Odile Jacob, 288p., 2023, 9782415006044. ⟨hal-04137269⟩

Conference papers

Thibault Marsan, Yann Landon, Bruno Watier. À la recherche d’un critère de performance pour les athlètes d’escrime fauteuil. para-escrime, performance, individualité, ACAPS, Oct 2023, Reims, France. ⟨hal-04275917⟩

Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez. Comparative metrics of advanced serial/parallel biped design and characterization of the main contemporary architectures. IEEE-RAS International Conference on Humanoid Robots 2023, Dec 2023, Austin (Texas), United States. ⟨10.1109/Humanoids57100.2023.10375224⟩. ⟨hal-04191553v2⟩

Bruno Watier, Hélène Pillet, Jérémie Begue, Teddy Caderby. A comparison of force plates data and derivative of momenta during stepping. 48ème Congrès de la Société de Biomécanique, Société de Biomécanique, Oct 2023, Grenoble, France. pp.S153-S155. ⟨hal-04263773⟩

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⟩

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⟩

Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier. Enforcing the consensus between Trajectory Optimization and Policy Learning for precise robot control. ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. ⟨hal-03780392v3⟩

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

Côme Perrot, Olivier Stasse. Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial Operations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10342428⟩. ⟨hal-04168681⟩

Thibaud Lasguignes, Guillaume Gobin, Olivier Stasse. LiDAR-based localization system for kidnapped robots. International Conference on Robotic Computing (IRC 2023), Dec 2023, Laguna Hills, CA, United States. ⟨hal-04363895⟩

Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, et al.. Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom. ⟨hal-03945110v2⟩

Dingdong Zhang, Franz Schweizer, Guillermo López Quesada, Samuel Bergdolt, Stefan Hengsbach, et al.. Isothermal pressure driven gas microflows in tapered microchannels with circular cross section: numerical and experimental investigations. 4th European Conference on Non-equilibrium Gas Flows – NEGF23, Mar 2023, Eindhoven, Netherlands. 172-176 (paper NEGF23-438617). ⟨hal-04070325⟩

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

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, ...

Quang Anh Le, Alexandre Thiault, Florent Lamiraux. States Path Finder: a general and efficient algorithm for prehensile manipulation planning. 2023. ⟨hal-03777018v2⟩

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⟩

Diane Bury, Joseph Mirabel, Florent Lamiraux, Marc Gouttefarde, Pierre-Elie Hervé. Exact collision detection along paths: Optimization and proof of convergence. 2023. ⟨hal-04056297⟩

Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El-Kazdadi, Nicolas Mansard, et al.. PROXDDP: Proximal Constrained Trajectory Optimization. 2023. ⟨hal-04332348⟩

Quentin Le Lidec, Wilson Jallet, Louis Montaut, Ivan Laptev, Cordelia Schmid, et al.. Contact Models in Robotics: a Comparative Analysis. 2023. ⟨hal-04067291⟩

Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, et al.. Stagewise Implementations of Sequential Quadratic Programming for Model-Predictive Control. 2023. ⟨hal-04330251⟩

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

Noelie Ramuzat, Sebastien Boria, Olivier Stasse. Passive Inverse Dynamics Control using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact. IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787 - 2794. ⟨10.1109/LRA.2022.3144767⟩. ⟨hal-03547136v2⟩

Isabelle Maroger, Manon Silva, Hélène Pillet, Nicolas Turpin, Olivier Stasse, et al.. Walking paths during collaborative carriages do not follow the simple rules observed in the locomotion of single walking subjects. Scientific Reports, 2022, 12 (1), pp.15585. ⟨10.1038/s41598-022-19853-7⟩. ⟨hal-04336933⟩

Mario Piedrahita-Bello, Yue Zan, Alejandro Enriquez-Cabrera, Gábor Molnár, Bertrand Tondu, et al.. Effect of the spin crossover filler concentration on the performance of composite bilayer actuators. Chemical Physics Letters, 2022, 793, pp.139438. ⟨10.1016/j.cplett.2022.139438⟩. ⟨hal-03608746⟩

Bertrand Tondu, Mario Piedrahita-Bello, L. Salmon, Gábor Molnár, Azzedine Bousseksou. Robust linear control of a bending molecular artificial muscle based on spin crossover molecules. Sensors and Actuators A: Physical , 2022, 335, pp.113359. ⟨10.1016/j.sna.2021.113359⟩. ⟨hal-03525817⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Spasticity model based on muscular activations using genetic algorithm. Computer Methods in Biomechanics and Biomedical Engineering, In press. ⟨hal-03778958⟩

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⟩

Zongmian Li, Jiri Sedlar, Justin Carpentier, Ivan Laptev, Nicolas Mansard, et al.. Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. International Journal of Computer Vision, 2022, 130 (2), pp.363-383. ⟨10.1007/s11263-021-01540-1⟩. ⟨hal-03420419⟩

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⟩

Noelie Ramuzat, Olivier Stasse, Sebastien Boria. Benchmarking Whole Body controllers on the TALOS Humanoid Robot. Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩. ⟨hal-03614143⟩

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⟩

Florent Lamiraux, Joseph Mirabel. Prehensile Manipulation Planning: Modeling, Algorithms and Implementation. IEEE Transactions on Robotics, 2022, 38 (4), pp.2370-2388. ⟨10.1109/TRO.2021.3130433⟩. ⟨hal-02995125v2⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Inverse Optimal Control to Model Human Trajectories During Locomotion. Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (5), pp.499-511. ⟨10.1080/10255842.2021.1962311⟩. ⟨hal-03142655v2⟩

Conference papers

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981586⟩. ⟨hal-03597630v5⟩

Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti. On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩. ⟨hal-03758989v2⟩

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⟩

Wilson Jallet, Nicolas Mansard, Justin Carpentier. Implicit Differential Dynamic Programming. International Conference on Robotics and Automation (ICRA 2022), IEEE Robotics and Automation Society, May 2022, Philadelphia, United States. ⟨10.1109/ICRA46639.2022.9811647⟩. ⟨hal-03351641v2⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan. ⟨10.1109/Humanoids53995.2022.1000008⟩. ⟨hal-03839963⟩

Ewen Louis Dantec, Michel Taix, Nicolas Mansard. First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. 2022 International Conference on Robotics and Automation (ICRA 2022), IEEE, May 2022, Philadelphie, PA, United States. ⟨hal-03419712v2⟩

H. Pillet, Jérémie Begue, Teddy Caderby, Bruno Watier. Body center of mass to Minimal Moment Axis distance is determinant of age-related evolution in stepping. ESMAC 2022, European Society for Movement Analysis in Adults and Children – ESMAC, Sep 2022, Dublin (Ireland), Ireland. pp.S165-S166, ⟨10.1016/j.gaitpost.2022.07.108⟩. ⟨hal-04063530⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. Gait cycle modeling in cerebral palsy condition. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. pp.442-449, ⟨10.1109/Humanoids53995.2022.9999744⟩. ⟨hal-03876921⟩

Nicolas Binaud, Bertrand Tondu, Victor Le Guennic. Conception et développement d’un robot hexapode autonome à muscles artificiels en matériau à mémoire de forme. 25ème Congrès Français de Mécanique, Aug 2022, Nantes, France. ⟨hal-03881806⟩

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⟩

Giulio Romualdi, Nahuel Alejandro Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse. Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan. ⟨hal-03866027⟩

Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier. ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. 6th Legged Robots Workshop, May 2022, Philadelphia, Pennsylvania, United States. ⟨hal-03680510v2⟩

Teddy Caderby, Angélique Lesport, Nicolas A Turpin, Georges Dalleau, Bruno Watier, et al.. Age effect on the stabilization of the whole-body angular momentum during stepping. SB 2022 : 47eme Congrès de la Société de Biomécanique, Société de Biomécanique; Association Tunisienne de la Promotion de la Recherche Appliquée, Oct 2022, Monastir, Tunisia. pp.S46-S48. ⟨hal-03862307⟩

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⟩

T Marsan, A Loiseau, Y Landon, Bruno Watier. Comparing the weapon speed of French elite para-fencers. 47ème congrès de la Société de Biomécanique, Oct 2022, Monastir, Tunisia. ⟨hal-04278539⟩

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, et al.. Real time footstep planning and control of the Solo quadruped robot in 3D environments. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981539⟩. ⟨hal-03594629⟩

Sabrina Otmani, Guilhem Michon, Bruno Watier. A complete framework for personalised modeling and control of children's cerebral palsy. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan. pp.194-201, ⟨10.1109/Humanoids53995.2022.10000230⟩. ⟨hal-03876922⟩

Adrien Loiseau, Thibault Marsan, Pablo Navarro, Bruno Watier, Yann Landon. Optimizing racing wheelchair design through coupled biomechanical-mechanical simulation. International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing, Jun 2022, Ischia (NA), Italy. ⟨hal-03887092⟩

Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse. Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States. ⟨hal-03356261v2⟩

Helene Pillet, Xavier Bonnet, Amandine Boos, Lucas Sedran, Bruno Watier. Seeking for a better Human-Prosthesis energetic gait efficiency by quantifying both propulsion power and instability control. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Nov 2022, Ginowan, Japan. pp.566-571, ⟨10.1109/Humanoids53995.2022.10000069⟩. ⟨hal-04239299⟩

Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti. Introducing Force Feedback in Model Predictive Control. IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9982003⟩. ⟨hal-03594295v2⟩

Preprints, Working Papers, ...

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

César Debeunne, Médéric Fourmy, Yann Labbé, Pierre-Alexandre Léziart, Guilhem Saurel, et al.. CosySlam: investigating object-level SLAM for detecting locomotion surfaces. 2022. ⟨hal-03351438v2⟩

Amit Parag, Vaishak Belle. Tractable Generative Modelling of Cosmological Numerical Simulations. 2022. ⟨hal-03744489⟩

Amit Parag, Nicolas Mansard. A Supervised Formulation of Reinforcement Learning: with super linear convergence properties. 2022. ⟨hal-03674092v2⟩

Alessandro Assirelli, Fanny Risbourg, Gianni Lunardi, Thomas Flayols, Nicolas Mansard. Whole-Body MPC without Foot References for the Locomotion of an Impedance-Controlled Robot. 2022. ⟨hal-03778738⟩

Noelie Ramuzat. On the semi-positive definition of the product of a positive diagonal matrix and a symmetric semi-positive definite matrix. 2022. ⟨hal-03434195v3⟩

Isabelle Maroger, Manon Silva, Héléne Pillet, Nicolas A Turpin, Olivier Stasse, et al.. Does a Shared Strategy Emerge from the Study of Walking Paths during Collaborative Carriages?. 2022. ⟨hal-03713196⟩

2021

Journal articles

Isabelle Maroger, Noelie Ramuzat, Olivier Stasse, Bruno Watier. Human Trajectory Prediction Model and its Coupling with a Walking Pattern Generator of a Humanoid Robot. IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361 - 6369. ⟨10.1109/LRA.2021.3092750⟩. ⟨hal-03292150⟩

Sabrina Otmani, Marco Marchitto, Guilhem Michon, Bruno Watier. Comparison of adults and children anthropometric tables: center of mass and moment of inertia. Computer Methods in Biomechanics and Biomedical Engineering, 2021, 24 (sup1), pp.S209-S211. ⟨10.1080/10255842.2021.1978758⟩. ⟨hal-03778950⟩

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⟩

Jérémie Begue, Nicolas Peyrot, Angélique Lesport, Nicolas A Turpin, Bruno Watier, et al.. Segmental contribution to whole-body angular momentum during stepping in healthy young and old adults. Scientific Reports, 2021, 11, pp.19969. ⟨10.1038/s41598-021-99519-y⟩. ⟨hal-03379975⟩

Anaïs Chaumeil, Sabrina Otmani, Bruno Watier. Comparison of muscles activity of two twins, one with cerebral palsy. Computer Methods in Biomechanics and Biomedical Engineering, 2021, 24 (sup1), pp.S1-S325. ⟨10.1080/10255842.2021.1978758⟩. ⟨hal-03778954⟩

José Elías Angulo-Cervera, Mario Piedrahita-Bello, Fabrice Mathieu, Thierry Leichle, Liviu Nicu, et al.. Investigation of the Effect of Spin Crossover on the Static and Dynamic Properties of MEMS Microcantilevers Coated with Nanocomposite Films of [Fe(Htrz)2(trz)](BF4)@P(VDF-TrFE). Magnetochemistry, 2021, 7 (8), pp.114. ⟨10.3390/magnetochemistry7080114⟩. ⟨hal-03329761⟩

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⟩

Mario Piedrahita-Bello, José Elias Angulo-Cervera, Alejandro Enriquez-Cabrera, Gábor Molnár, Bertrand Tondu, et al.. Colossal expansion and fast motion in spin-crossover@polymer actuators. Materials Horizons, 2021, 8 (11), pp.3055-3062. ⟨10.1039/d1mh00966d⟩. ⟨hal-03375327⟩

Conference papers

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⟩

N Ramuzat, G Buondonno, S Boria, Olivier Stasse. Comparison of Position and Torque Whole Body Control Schemes on the Humanoid Robot TALOS. 20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩. ⟨hal-03145141v2⟩

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⟩

Cyril Briand, Olivier Stasse, Michel Taïx, Thierry Germa, Fabien Marco, et al.. ROS : une solution middleware adaptée pour l'industrie du futur ?. 17ème colloque national S-mart AIP-PRIMECA, Université Polytechnique Hauts-de-France [UPHF], Mar 2021, LAVAL VIRTUAL WORLD, France. ⟨hal-03296139⟩

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⟩

Ewen Louis Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, et al.. Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩. ⟨hal-02995796v2⟩

Thibaud Lasguignes, Isabelle Maroger, Maurice Fallon, Milad Ramezani, Luca Marchionni, et al.. ICP Localization and Walking Experiments on a TALOS Humanoid Robot. 20th International Conference on Advanced Robotics (ICAR 2021)), Dec 2021, Ljubljana (en ligne), Slovenia. ⟨10.1109/ICAR53236.2021.9659474⟩. ⟨hal-03482225⟩

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⟩

Mederic Fourmy, Thomas Flayols, Nicolas Mansard, Joan Solà. Contact forces pre-integration for the whole body estimation of legged robots. IEEE International Conference on Robotics and Automation - ICRA 2021, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561037⟩. ⟨hal-02991717⟩

S Beaussant, S Lengagne, B Thuilot, Olivier Stasse. Delay Aware Universal Notice Network: Real world multi-robot transfer learning. Rencontres des Jeunes Chercheurs en Intelligence Artificielle (RJCIA'21) Plate-Forme Intelligence Artificielle (PFIA'21), Jul 2021, Bordeaux, France. pp.22-29. ⟨hal-03298723⟩

Hélène Pillet, Bruno Watier. Development of a wearable framework for the assessment of a mechanical-based indicator of falling risk in the field. JETSAN 2021 - Colloque en Télésanté et dispositifs biomédicaux - 8ème édition, Université Toulouse III - Paul Sabatier [UPS], May 2021, Toulouse, Blagnac, France. ⟨hal-03501243⟩

Joseph Mirabel, Florent Lamiraux, Thuc Long Ha, Alexis Nicolin, Olivier Stasse, et al.. Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control. 2021 IEEE International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨10.1109/CASE49439.2021.9551576⟩. ⟨hal-03308202⟩

Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard. A hybrid collision model for safety collision control. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561730⟩. ⟨hal-03000951⟩

Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti. High-Frequency Nonlinear Model Predictive Control of a Manipulator. IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560990⟩. ⟨hal-02993058v2⟩

Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, et al.. Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩. ⟨hal-03420889⟩

Samuel Beaussant, Sebastien Lengagne, Benoit Thuilot, Olivier Stasse. Delay Aware Universal Notice Network: Real world multi-robot transfer learning. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635917⟩. ⟨hal-03383498⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Metrics to Assess a Human Trajectory Prediction Model during Gait. 46ème congrès de la Société de Biomécanique, Oct 2021, Saint-Etienne, France. ⟨hal-03218959⟩

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard. Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems 2021, Jul 2021, Austin / Virtual, United States. ⟨hal-03271811⟩

Master thesis

Dinh Vinh Thanh Nguyen. Development of a Dynamic Identification Toolbox for Anthropometric Systems. Robotics [cs.RO]. 2021. ⟨hal-03371519v2⟩

Antoine Reot. Robotic task scheduling for industrial applications. Robotics [cs.RO]. 2021. ⟨hal-03348001⟩

Alexandre Thiault. Algorithmique de la manipulation en robotique. Automatique / Robotique. 2021. ⟨hal-03346831⟩

Guillaume Gobin. Localisation d'un robot humanoïde TALOS par information géométrique et visuelle combinée à l'apprentissage. Robotique [cs.RO]. 2021. ⟨hal-03369244⟩

Paul Rouanet. Fabrication et programmation d’un robot bipède Bolt. Robotique [cs.RO]. 2021. ⟨hal-03347986⟩

Other documents

Joseph Mirabel, Florent Lamiraux. Optimizing paths in manipulation planning. Rapport LAAS n° 21105. 2021. ⟨hal-03202250⟩

Reports

Bertrand Tondu. Towards an efficient inverse static model of a Festo actuator made of two antagonist muscles for hybrid control of its position and stiffness. [Research Report] Rapport LAAS n° 21096, LAAS - CNRS; INSA Toulouse. 2021. ⟨hal-03207623⟩

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

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⟩

M. Marchitto, S. Otmani, Bruno Watier. Gait analysis comparison of two twins: one healthy and one with spastic cerebral palsy. Computer Methods in Biomechanics and Biomedical Engineering, 2020, 23 (sup1), pp.S186-S188. ⟨10.1080/10255842.2020.1816301⟩. ⟨hal-03778935⟩

Sabrina Otmani, Marco Marchitto, Bruno Watier, Guilhem Michon. Comparison of adults and children anthropometric tables: mass segment distribution. Computer Methods in Biomechanics and Biomedical Engineering, 2020, 23 (sup1), pp.S209-S211. ⟨10.1080/10255842.2020.1813430⟩. ⟨hal-03778964⟩

M. Marchitto, S. Otmani, Bruno Watier. Ground reaction forces of two twins during gait: One healthy and one with spastic cerebral palsy. Gait & Posture, 2020, 81, pp.221-222. ⟨10.1016/j.gaitpost.2020.08.004⟩. ⟨hal-03778938⟩

Mario Piedrahita-Bello, José Elias Angulo-Cervera, Rémi Courson, Gábor Molnár, Laurent Malaquin, et al.. 4D printing with spin-crossover polymer composites. Journal of Materials Chemistry C, 2020, 18 (8), pp.6001-6005. ⟨10.1039/d0tc01532f⟩. ⟨hal-02570972⟩

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⟩

Nahime Al Abiad, Helene Pillet, Bruno Watier. A Mechanical Descriptor of Instability in Human Locomotion: Experimental Findings in Control Subjects and People with Transfemoral Amputation. Applied Sciences, 2020, 10 (3), pp.840. ⟨10.3390/app10030840⟩. ⟨hal-02464464⟩

Nils Hareng, Bruno Watier, Franck Multon. Prediction of plausible locomotion using nonlinear kinematic optimization. Computer Methods in Biomechanics and Biomedical Engineering, 2020, 23 (sup1), pp.1-3. ⟨10.1080/10255842.2020.1812849⟩. ⟨hal-03100642⟩

Nicolas Turpin, Bruno Watier. Cycling Biomechanics and Its Relationship to Performance. Applied Sciences, 2020, 10 (12), pp.4112. ⟨10.3390/app10124112⟩. ⟨hal-03113370⟩

Book sections

Olivier Stasse, Ludovic Righetti. Whole-Body Manipulation. Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2020, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_187-1⟩. ⟨hal-03045448⟩

Conference papers

Noélie Ramuzat, Florent Forget, V. 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. ⟨hal-02889421⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9341118⟩. ⟨hal-02922573⟩

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Tension Validation for Cable-Driven Parallel Robots. IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. pp.6558-6563, ⟨10.1109/IROS45743.2020.9341202⟩. ⟨hal-02900961⟩

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⟩

Alexis Nicolin, Joseph Mirabel, Sébastien Boria, Olivier Stasse, Florent Lamiraux. Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers. IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02466543⟩

Rohan Budhiraja, Amit Parag, Ewen Dantec, Justin Carpentier, Carlos Mastalli, et al.. Crocoddyl: Fast computation, Efficient solvers,Receding horizon and Learning. Journées Nationales de la Robotique Humanoïde, May 2020, Paris (virtual), France. ⟨hal-02898916⟩

Nicolas Mansard. Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning. JNRR, Jun 2020, on line, France. ⟨hal-03166249⟩

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⟩

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⟩

Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, et al.. Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩. ⟨hal-02294059⟩

Isabelle Maroger, Olivier Stasse, Bruno Watier. Comparison of human experimental trajectories and simulations during gait. 45ème congrès de la Société de Biomécanique, Oct 2020, Metz, France. ⟨hal-02922581⟩

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⟩

Master thesis

Thomas Peyrucain. Integration of SoT packages into ROS. Robotics [cs.RO]. 2020. ⟨hal-03144164⟩

Louise Scherrer. Reactive Walking for the Humanoid Robot Pyrène. Robotics [cs.RO]. 2020. ⟨hal-02964034⟩

Alexandre Kuenemann. Développement d’une interface graphique pour le logiciel de contrôle Stack-Of-Tasks. Automatique / Robotique. 2020. ⟨hal-02956133⟩

Other documents

Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494737⟩

Preprints, Working Papers, ...

Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494731⟩

2019

Journal articles

Sanghyun Kim, Keunwoo Jang, Suhan Park, Yisoo Lee, Sang Yup Lee, et al.. Continuous Task Transition Approach for Robot Controller based on Hierarchical Quadratic Programming. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.1603-1610. ⟨10.1109/LRA.2019.2896769⟩. ⟨hal-01996204⟩

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⟩

Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini. Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain. IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2553-2560. ⟨10.1109/LRA.2019.2908502⟩. ⟨hal-02086071⟩

Books

Jean-Paul Laumond, Gentiane Venture, Bruno Watier. Biomechanics of Anthropomorphic Systems. Springer. , 310p., 2019, Springer Tracts in Advanced Robotics 124, 978-3-319-93869-1. ⟨10.1007/978-3-319-93870-7⟩. ⟨hal-01994303⟩

Denis Vidal, Jean-Paul Laumond. Robots. Éditions de la Cité des sciences et de l’industrie, 48p., 2019, 978-2-86842-197. ⟨hal-02091694⟩

Book sections

Olivier Stasse, Thomas Flayols. An overview of humanoid robots technologies. Biomechanics of Anthropomorphic Systems, Springer, pp.281-310, 2019, 978-3-319-93870-7. ⟨hal-01759061⟩

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⟩

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⟩

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⟩

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.8097-8102, ⟨10.1109/IROS40897.2019.8967836⟩. ⟨hal-02294402⟩

Rohan Budhiraja, Justin Carpentier, Nicolas Mansard. Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. ⟨hal-01875031v3⟩

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⟩

Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Sola, Thomas Flayols. Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids 2019), Oct 2019, Toronto, Canada. ⟨10.1109/Humanoids43949.2019.9035005⟩. ⟨hal-02183498v4⟩

Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, et al.. The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France. ⟨hal-01866228v2⟩

Zongmian Li, Jiri Sedlar, Justin Carpentier, Ivan Laptev, Nicolas Mansard, et al.. Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019), Jun 2019, Long Beach, United States. pp.8632-8641, ⟨10.1109/CVPR.2019.00884⟩. ⟨hal-03411657⟩

Master thesis

Joaquim Ortiz de Haro. Simultaneous trajectory and contact optimization with an augmented Lagrangian algorithm. Robotics [cs.RO]. 2019. ⟨hal-02180282⟩

Preprints, Working Papers, ...

Olivier Stasse. Program / simulation tools / ROS / Gazebo / OpenHRP. Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019. ⟨cel-02130166⟩

Florent Lamiraux. Motion planning. Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019. ⟨cel-02130128⟩

Thomas Flayols, Andrea del Prete, Majid Khadiv, Nicolas Mansard, Ludovic Righetti. Balancing Legged Robots on Visco-Elastic Contacts. 2019. ⟨hal-02310082⟩

The Gepetto team is involved in numerous collaborative projects. The main ones are

- ANITI,

- Horizon Europe Agimus,

- ANR TIRREX,

- PEPR O2R,

- Human-centered robotics key challenge.

The team also reaches out to the socio-economic world via its common laboratories:

- ROB4FAM with Airbus,

- Dynamograde with Toward.

The Gepetto team capitalizes the results of its research into software and hardware platforms. The main ones are:

  • Software platforms
    • pinocchio, for the highly efficient calculation of the kinematics and dynamics of a kinematic chain,
    • Humanoid Path Planner (HPP), for the automatic generation of collision-free movements for various types of robots, and more particularly for manipulation applications,
    • croccodyl for predictive control.
  • Hardware platforms

THESIS / HDR

2023

Michel Aractingi, Thèse: Contrôle de la locomotion des robots quadrupèdes à partir de méthodes d’apprentissage

Gabriele Fadini, Thèse: Un cadre générique pour la co-conception des robots à pattes

Thibaud Lasguignes, Thèse: Reconnaissance d’objets visant à la locomotion et à la manipulation par un robot humanoide dans un environnement industriel

Ewen Dantec, Thèse: Application de méthodes de contrôle prédictif corps complet à la locomotion bipède

Amit Parag, Thèse: Une formulation supervisée de l'apprentissage par renforcement avec convergence superlinéaire

Fanny Risbourg, Thèse: Contributions à la commande prédictive pour la marche des quadrupèdes sur terrain 3D

2022

Sabrina Otmani, Thèse: Étude de la modélisation de la spasticité et de l’interaction patient-exosquelette dans le cadre de la paralysie cérébrale de l’enfant

Jason Chemin, Thèse: Apprentissage par renforcement d’une méthode de navigation pour la planification de contact de robots humanoïdes

Pierre-Alexandre Léziart, Thèse: Contrôle de la locomotion d'un robot quadrupède léger

Isabelle Maroger, Thèse: Transport de charges homme-robot

Mederic Fourmy, Thèse: Estimation d'état et localisation de robots à pattes : une approche étroitement couplée basée sur la maximisation a posteriori

Noelie Ramuzat, Thèse: Contrôle en force/couple pour des opérations industrielles

Alexis Nicolin, Thèse: Planification de tâches d'asservissement visuel en robotique

2020

Diane Bury, Thèse: Planification de tâches de manipulation pour robots parallèles à câbles

Céline Pieters, Thèse: Les mots de la robotique : une approche rhétorique

2019

Kevin Giraud--Esclasse, Thèse: Vers la génération d'un mouvement réactif basé sur un retour extéroceptif pour la locomotion généralisée de robots humanoïdes.

Rohan Budhiraja, Thèse: Locomotion Multi-corps : Structure du problème et résolution efficace

2018

Florent Forget, Thèse: Modélisation et contrôle d'actionneurs pour la robotique humanoïde

Dinesh Atchuthan, Thèse: Vers de nouvelles capacités de perception pour les robotes à jambes à l'aide de l'estimation d'états temps réel avec des centrales inertielles à bas coût

Pierre Fernbach, Thèse: Modèles réduits fiables et efficaces pour la planification et l'optimisation de mouvement des robots à pattes en environnements contraints

Thomas Flayols, Thèse: Exploitation du Retour de Force pour l'Estimation et le Contrôle des Robots Marcheurs

François Bailly, Thèse: Elements d'analyse et de description du mouvement humain et estimation d'état d'un robot humanoïde

Mathieu Geisert, Thèse: Contrôle optimal et apprentissage automatique pour robots humanoïdes et aériens

2017

Nirmal Giftsun, Thèse: Manipulation de l'incertitude et de la variabilité dans le contrôle des robots

Nassime Blin, Thèse: Planification interactive de mouvement avec contact

Galo Maldonado, Thèse: Analyse et génération des mouvements hautement dynamiques des systèmes anthropomorphes : application au Parkour

Alexis Mifsud, Thèse: Estimation et stabilisation de l'état d'un robot humanoïde compliant

Guilhem Saurel, Thèse: Génération de mouvement en robotique mobile et humanoïde

Justin Carpentier, Thèse: Computational foundations of anthropomorphic locomotion

Mylène Campana, Thèse: Planification de mouvements pour acteurs digitaux

Joseph Mirabel, Thèse: Planification de mouvement pour objets documentés

2016

Ganesh Kumar Hari Shankar Lal Das, Thèse: Conception, modélisation et contrôle d'actionneurs intrinsèquement conformes avec une considération spéciale sur la configuration anthropomorphe agoniste-antagoniste

Christian Vassallo, Thèse: Utilisation de modèles inspirés de l'humain pour guider la locomotion des robots

Maximilien Naveau, Thèse: Stratégie de marche avancée et inspirée de l'être humain pour les robots humanoïdes

2015

Bruno Watier, Habilitation à diriger des recherches: De l'analyse du mouvement in-vitro à la génération de mouvements des systèmes anthropomorphes

Olivier Roussel, Thèse: Planification de mouvement pour tiges élastiques

Andreas Orthey, Thèse: Exploiter la structure pour la planification de mouvement humanoïde

2014

Oscar Efrain Ramos Ponce, Thèse: Génération du mouvement du corps entier pour les robots humanoïdes avec la dynamique complets

DEPARTMENT

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