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⟩

Elliot Chane-Sane, Pierre-Alexandre Léziart, Thomas Flayols, Olivier Stasse, Philippe Souères, et al.. CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. 2024. ⟨hal-04523167⟩

2023

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⟩

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⟩

Pré-publications, documents de travail

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

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⟩

2022

Articles dans une revue

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⟩

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⟩

Communications dans un congrès

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

Pré-publications, documents de travail

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⟩

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⟩

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

2021

Articles dans une revue

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

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⟩

2020

Articles dans une revue

Nicolas Mansard, Holger Stünitz, Hugues Raimbourg, Jacques Précigout. The role of deformation-reaction interactions to localize strain in polymineralic rocks: Insights from experimentally deformed plagioclase-pyroxene assemblages. Journal of Structural Geology, 2020, 134, 104008 (18 p.). ⟨10.1016/j.jsg.2020.104008⟩. ⟨insu-02476212⟩

Communications dans un congrès

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

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⟩

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⟩

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⟩

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⟩

2019

Communications dans un congrès

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⟩

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⟩

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⟩

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⟩

Pré-publications, documents de travail

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

2018

Articles dans une revue

Andrea del Prete, Steve Tonneau, Nicolas Mansard. Zero Step Capturability for Legged Robots in Multi Contact. IEEE Transactions on Robotics, 2018, 34 (4), pp.1021-1034. ⟨10.1109/TRO.2018.2820687⟩. ⟨hal-01574687v2⟩

Steve Tonneau, Pierre Fernbach, Andrea del Prete, Julien Pettré, Nicolas Mansard. 2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios. ACM Transactions on Graphics, 2018, 37 (5), pp.176. ⟨10.1145/3213773⟩. ⟨hal-01609055v2⟩

Justin Carpentier, Nicolas Mansard. Multi-contact Locomotion of Legged Robots. IEEE Transactions on Robotics, 2018, 34 (6), pp.1441-1460. ⟨10.1109/TRO.2018.2862902⟩. ⟨hal-01859108⟩

Steve Tonneau, Andrea del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, et al.. An efficient acyclic contact planner for multiped robots. IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩. ⟨hal-01267345v3⟩

Communications dans un congrès

Justin Carpentier, Nicolas Mansard. Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States. ⟨hal-01790971v2⟩

Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà. Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. European Control Conference (ECC 2018), KIOS Research and Innovation Center of Excellence, Jun 2018, Limassol, Cyprus. 8p. ⟨hal-01818697⟩

Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse. Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal. ⟨hal-01494676v3⟩

Nicolas Mansard, Andrea del Prete, Mathieu Geisert, Steve Tonneau, Olivier Stasse. Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p. ⟨hal-01591373⟩

Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard. Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. ⟨10.1109/HUMANOIDS.2018.8624925⟩. ⟨hal-01851596v2⟩

2017

Articles dans une revue

Mathieu Geisert, Andrea del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori. Regularized Hierarchical Differential Dynamic Programming. IEEE Transactions on Robotics, 2017, 33 (4), pp.819-833. ⟨hal-01356992v2⟩

Livres

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre (Dir.). Geometric and Numerical Foundations of Movements. Springer. Springer International Publishing, 117, 2017, Springer Tracts in Advanced Robotics, Bruno Siciliano; Oussama Khatib, 978-3-319-51546-5. ⟨10.1007/978-3-319-51547-2⟩. ⟨hal-01590779⟩

Communications dans un congrès

Justin Carpentier, Andrea del Prete, Steve Tonneau, Thomas Flayols, Florent Forget, et al.. Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project. RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p. ⟨hal-01543060⟩

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⟩

Justin Carpentier, Rohan Budhiraja, Nicolas Mansard. Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots. Robotics: Science and Systems, Jul 2017, Cambridge, MA, United States. 9p. ⟨hal-01526200⟩

Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro de Luca, et al.. Actuator Design of Compliant Walkers via Optimal Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p. ⟨hal-01483567v2⟩

2016

Articles dans une revue

Andrea del Prete, Nicolas Mansard, Oscar Efrain Ramos Ponce, Olivier Stasse, Francesco Nori. Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors. International Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044. ⟨hal-01136936v2⟩

Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond. Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach. IEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩. ⟨hal-01182734v3⟩

Andrea del Prete, Nicolas Mansard. Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Transactions on Robotics, 2016, 32 (5), pp. 1091-1105. ⟨10.1109/TRO.2016.2593027⟩. ⟨hal-01241974v2⟩

Communications dans un congrès

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⟩

Mathieu Geisert, Nicolas Mansard. Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. International Conference on Robotics and Automation (ICRA 2016), IEEE, May 2016, Stockholm, Sweden. pp. 2958-2964. ⟨hal-01213392v2⟩

Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, et al.. Dynamically balanced and plausible trajectory planning for human-like characters. 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, Feb 2016, Redmond, United States. pp.39-48, ⟨10.1145/2856400.2856405⟩. ⟨hal-01290368⟩

Steve Tonneau, Al-Ashqar Rami, Julien Pettré, Taku Komura, Nicolas Mansard. Character contact re-positioning under large environment deformation. Eurographics, eurographics, May 2016, Lisbonne, Portugal. ⟨hal-01207688⟩

Andrea del Prete, Steve Tonneau, Nicolas Mansard. Fast Algorithms to Test Robust Static Equilibrium for Legged Robots. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp. 1601-1607. ⟨hal-01201060v2⟩

Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond. A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, Dec 2016, San Francisco, United States. ⟨10.1109/SIMPAR.2016.7862383⟩. ⟨hal-01360450v2⟩

Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard. A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion. IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden. ⟨hal-01203507v2⟩

2015

Articles dans une revue

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre. Optimization as Motion Selection Principle in Robot Action. Communications of the ACM, 2015, 58 (5), pp.64-74. ⟨10.1145/2743132⟩. ⟨hal-01376752⟩

Oscar Efrain Ramos Ponce, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, et al.. Dancing Humanoid Robots: Systematic use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics and Automation Magazine, 2015, 22 (4), pp.16 - 26. ⟨10.1109/MRA.2015.2415048⟩. ⟨hal-01222238⟩

Communications dans un congrès

Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, et al.. A Reachability-based planner for sequences of acyclic contacts in cluttered environments. International Symposium on Robotics Research (ISSR 2015), Sep 2015, Sestri Levante, Italy. ⟨lirmm-01149666⟩

Andrea del Prete, Nicolas Mansard. Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics, Sciences and Systems 2015, Jul 2015, Rome, Italy. ⟨hal-01109375v2⟩

Francesco Romano, Andrea del Prete, Nicolas Mansard, Francesco Nori. Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach. 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Washington State Convention Center, Seattle, Washington, United States. ⟨hal-01121341⟩

J Koenemann, Andrea del Prete, Yuval Tassa, E Todorov, Olivier Stasse, et al.. Whole-body Model-Predictive Control applied to the HRP-2 Humanoid. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p. ⟨hal-01137021⟩

M Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, C Kirches, et al.. Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p. ⟨hal-01179667v2⟩

Justin Carpentier, Andrea del Prete, Nicolas Mansard, Jean-Paul Laumond. An analytical model of rolling contact and its application to the modeling of bipedal locomotion. IMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom. ⟨hal-01182733⟩

Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond. A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, ⟨10.1109/HUMANOIDS.2015.7363493⟩. ⟨hal-01175592v3⟩

2014

Articles dans une revue

Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre. Optimality in Robot Motion: Optimal Versus Optimized Motion. Communications of the ACM, 2014, 57 (9), pp.82 - 89. ⟨10.1145/2629535⟩. ⟨hal-01376749⟩

Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Hierarchical quadratic programming: Fast online humanoid-robot motion generation. The International Journal of Robotics Research, 2014, 33 (7), pp.1006-1028. ⟨10.1177/0278364914521306⟩. ⟨hal-00751924⟩

Oscar Efrain Ramos Ponce, Mauricio Garcia, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, et al.. Towards reactive vision-guided walking on rough terrain: an inverse-dynamics based approach. International Journal of Humanoid Robotics, 2014, 11 (2), pp.1441004. ⟨hal-00990082⟩

Communications dans un congrès

Oscar Efrain Ramos Ponce, Nicolas Mansard, Philippe Souères. Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control . IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041440⟩. ⟨hal-01074921⟩

Olivier Stasse, Andreas Orthey, Francesco Morsillo, Mathieu Geisert, Nicolas Mansard, et al.. Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041488⟩. ⟨hal-01122476⟩

Perle Geoffroy, Olivier Bordron, Nicolas Mansard, M Raison, Olivier Stasse, et al.. A two-stage suboptimal approximation for variable compliance and torque control. European Control Conference, Jun 2014, Strasbourg, France. pp.1151 - 1157, ⟨10.1109/ECC.2014.6862557⟩. ⟨hal-01114610⟩

Andrea del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale. Partial force control of constrained floating-base robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Sep 2014, Chicago, United States. pp.3227-3232, ⟨10.1109/IROS.2014.6943010⟩. ⟨hal-01988899⟩