2024

Pré-publications, documents de travail

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

Articles dans une revue

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⟩

Communications dans un congrès

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⟩

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⟩

Pré-publications, documents de travail

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

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

2022

Articles dans une revue

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⟩

2021

Communications dans un congrès

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⟩

Autres documents

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

2020

Communications dans un congrès

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⟩

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⟩

Autres documents

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

Pré-publications, documents de travail

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

2019

Communications dans un congrès

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⟩

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⟩

Pré-publications, documents de travail

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

2018

Communications dans un congrès

Mehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, et al.. Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement. ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩. ⟨hal-01746095⟩

Joseph Mirabel, Florent Lamiraux. Handling implicit and explicit constraints in manipulation planning. Robotics: Science and Systems 2018, Jun 2018, Pittsburg, United States. 9p. ⟨hal-01804774⟩

2017

Communications dans un congrès

Joseph Mirabel, Florent Lamiraux. Manipulation planning: addressing the crossed foliation issue. IEEE International Conference on Robotics and Automation 2017, May 2017, Singapour, Singapore. ⟨hal-01358767⟩

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⟩

Nirmal Giftsun, Andrea del Prete, Florent Lamiraux. Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain. ⟨hal-01533136⟩

2016

Articles dans une revue

Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. Continuous Legged Locomotion Planning. IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩. ⟨hal-01433866⟩

Mylène Campana, Florent Lamiraux, Jean-Paul Laumond. A gradient-based path optimization method for motion planning. Advanced Robotics, 2016, 30 (17-18), pp.1126-1144. ⟨10.1080/01691864.2016.1168317⟩. ⟨hal-01301233⟩

Communications dans un congrès

Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model. IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨hal-01285643⟩

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⟩

Pré-publications, documents de travail

Joseph Mirabel, Florent Lamiraux. Constraint Graphs: Unifying task and motion planning for Navigation and Manipulation Among Movable Obstacles. 2016. ⟨hal-01281348⟩

Joseph Mirabel, Florent Lamiraux. Manipulation planning: building paths on constrained manifolds. 2016. ⟨hal-01360409v3⟩

2015

Articles dans une revue

Mehdi Benallegue, Florent Lamiraux. Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. International Journal of Humanoid Robotics, 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, 12 (3), pp.15500255. ⟨10.1142/S0219843615500255⟩. ⟨hal-01169149v2⟩

Communications dans un congrès

Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux. Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. ⟨hal-01202155⟩

Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p. ⟨hal-01142399v2⟩

Andreas Orthey, Olivier Stasse, Florent Lamiraux. Motion Planning and Irreducible Trajectories. ICRA, May 2015, Seattle, United States. ⟨hal-01121025⟩

Pré-publications, documents de travail

Florent Lamiraux, Joseph Mirabel. HPP: a new software framework for manipulation planning. 2015. ⟨hal-01138118⟩

Mylène Campana, Florent Lamiraux, Jean-Paul Laumond. A simple path optimization method for motion planning. 2015. ⟨hal-01137844v2⟩

2014

Communications dans un congrès

Mehdi Benallegue, Florent Lamiraux. Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information. 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. ⟨hal-01079797⟩