2022

Communications dans un congrès

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⟩

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⟩

2021

Communications dans un congrès

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⟩

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⟩

2020

Articles dans une revue

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⟩

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⟩

Communications dans un congrès

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⟩

2018

Articles dans une revue

Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx. Motion Planning in Irreducible Path Spaces. Robotics and Autonomous Systems, 2018, 109, pp.97-108. ⟨10.1016/j.robot.2018.08.012⟩. ⟨hal-01873197⟩

Communications dans un congrès

Pierre Fernbach, Steve Tonneau, Michel Taïx. CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. 7p., ⟨10.1109/IROS.2018.8593888⟩. ⟨hal-01726155v3⟩

2017

Communications dans un congrès

Nassime Blin, Michel Taïx, Philippe Fillatreau, Jean-Yves Fourquet. H-RRT-C : Haptic Motion Planning with Contact. IEEE RO-MAN2017 26th IEEE International Symposium on Robot and Human Interactive Communication, Aug 2017, Lisbonne, Portugal. ⟨10.1109/ROMAN.2017.8172436⟩. ⟨hal-01513794⟩

Pierre Fernbach, Steve Tonneau, Andrea del Prete, Michel Taïx. A Kinodynamic steering-method for legged multi-contact locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p. ⟨hal-01486933v2⟩

2016

Chapitres d’ouvrages

Francesco Leali, Michel Taïx. Robotics, Mechatronics and Product Engineering. Research in Interactive Design (Vol. 4)., Springer International Publishing, pp.551-591, 2016, 978-3-319-26119-5. ⟨hal-02002596⟩

Communications dans un congrès

Guilhem Saurel, Michel Taïx, Jean-Paul Laumond. transHumUs: A poetic experience in mobile robotics. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.2908-2914, ⟨10.1109/ICRA.2016.7487455⟩. ⟨hal-01206067v2⟩

Nassime Blin, Michel Taïx, Philippe Fillatreau, Jean-Yves Fourquet. Tuning Interaction in Motion Planning with Contact. IEEE RO-MAN 2016 25th IEEE International Symposium on Robot and Human Interactive Communication, Aug 2016, New-York, United States. 7p. ⟨hal-01513725⟩

Nassime Michel Blin, Michel Taïx, Philippe Fillatreau, Jean-Yves Fourquet. I-RRT-C : Interactive Motion Planning with Contact. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. pp.1000 - 1006, ⟨10.1109/IROS.2016.7759625⟩. ⟨hal-01297010⟩

Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx, Jean-Paul Laumond. Ballistic motion planning for jumping superheroes. Motion in Games Conference, Oct 2016, Burlingame, CA, United States. ⟨10.1145/2994258.2994279⟩. ⟨hal-01366796⟩

2015

Communications dans un congrès

Olivier Roussel, Andy Borum, Michel Taïx, Timothy Bretl. Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations. IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, United States. ⟨hal-01096543v2⟩

Yorian Delmas, Claire Labit-Bonis, Jérémy Ouanély, Yannick Traoré, Aurélien Veillard, et al.. WithU : un robot low-cost de téléprésence. 27ème conférence francophone sur l'Interaction Homme-Machine., Oct 2015, Toulouse, France. pp.d01. ⟨hal-01219899⟩

Olivier Roussel, Marc Renaud, Michel Taïx. Closed-forms of planar Kirchhoff elastic rods: application to inverse geometry. IMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom. 9p. ⟨hal-01153456v2⟩

Olivier Roussel, Michel Taïx, Benoit Michel, Etienne Ferré. Calcul automatique de trajectoires pour l’assemblage d’objets déformables. Colloque AIP-Primeca, Mar 2015, La Plagne, France. ⟨hal-01128943⟩

Rapports

Olivier Roussel, Marc Renaud, Michel Taïx. Closed-forms of Kirchhoff elastic rods shape and sensitivity in the planar case. [Research Report] LAAS-CNRS. 2015. ⟨hal-01133395v3⟩

Pré-publications, documents de travail

Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx. Irreducible Motion Planning by Exploiting Linear Linkage Structures. 2015. ⟨hal-01163259⟩

2014

Communications dans un congrès

Olivier Roussel, Michel Taïx. Deformable Linear Object manipulation planning with contacts. Robot Manipulation: What has been achieved and what remains to be done? Full day workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. ⟨hal-01159546⟩

Olivier Roussel, Michel Taïx, Timothy Bretl. Motion Planning for a Deformable Linear Object. European Workshop on Deformable Object Manipulation, Mar 2014, Lyon, France. pp.153-158. ⟨hal-00965184⟩

Olivier Roussel, Michel Taïx, Timothy Bretl. Efficient Motion Planning for Quasi-Static Elastic Rods Using Geometry Neighborhood Approximation. AIM 2014, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. ⟨hal-01016414⟩