Submissions

Submitted to IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2018

Submitted to IEEE/SICE International Symposium on System Integration (SII), Paris, France, 2018

Submitted to IEEE-RAS International Conference on Humanoid Robots (ICHR), 2018

Selected Publications

In IEEE Transactions on Robotics, 2018

In Robotics: Science and Systems, 2018

In Université Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), 2017, 2017

In IEEE Transactions on Robotics, 2016

In International Journal of Robotics Research, 2016

Recent Publications

More Publications

  • Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots
    Submitted to IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2018

    Details PDF Open Access

  • The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
    Submitted to IEEE/SICE International Symposium on System Integration (SII), Paris, France, 2018

    Details PDF Open Access

  • Multi-contact Locomotion of Legged Robots
    In IEEE Transactions on Robotics, 2018

    Details PDF Open Access Video

  • Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics
    Submitted to IEEE-RAS International Conference on Humanoid Robots (ICHR), 2018

    Details PDF Open Access

  • A mechanical descriptor of human locomotion and its application to multi-contact walking in humanoids
    In IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2018

    Details PDF Open Access

  • Analytical Derivatives of Rigid Body Dynamics Algorithms
    In Robotics: Science and Systems, 2018

    Details PDF Open Access

  • Analytical Inverse of the Joint Space Inertia Matrix
    In LAAS Technical Report, 2018

    Details PDF Open Access

  • Actuator Design of Compliant Walkers via Optimal Control
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

    Details PDF Open Access

  • Computational foundations of anthropomorphic locomotion
    In Université Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), 2017, 2017

    Details PDF Open Access

  • Learning Feasibility Constraints for Multi-contact Locomotion of Legged Robots
    In Robotics: Science and Systems, 2017

    Details PDF Open Access Video