Publications

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In this paper, we propose a framework to build a memory of motion to warm-start an optimal control solver for the locomotion task of …
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Synthesizing legged locomotion requires planning one or several steps ahead (literally): when and where, and with which effector should …
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This paper focuses on the motion planning problem of an extensible elastic rod in collision-free or contact space. The rod is assumed …
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We present a novel method for computing centroidal dynamic trajectories in multi-contact planning context. With dynamic motion it is …
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Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and …
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The automatic synthesis of movements for legged robots is one of the long standing challenge of robotics, and its resolution is a prior …
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We present a novel method for computing centroidal dynamic trajectories in multi-contact planning context. With dynamic motion it is …
PDF Video View on HAL

Synthesizing motions for legged characters in arbitrary environments is a long-standing problem that has recently received a lot of …
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We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going …
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Planning, adapting and executing multi-contact locomotion movements on legged robots in complex environments remains an open problem. …
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We present HPP, a software designed for complex classes of motion planning problems, such as navigation among movable objects, …
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We present a framework capable of automatically planning and animating dynamic multi-contact jumping trajectories for arbitrary legged …
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This paper addresses the problem of fault diagnosis in discrete-event system. The system under investigation is modelled as a labelled …
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