Publications

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

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

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

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

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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

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

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

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

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

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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project
In RSS Workshop on Challenges in Dynamic Legged Locomotion, 2017

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

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On the centre of mass motion in human walking
In International Journal of Automation and Computing, 2017

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TALOS: A new humanoid research platform targeted for industrial applications
In IEEE-RAS International Conference on Humanoid Robots (ICHR), 2017

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A Simulation Framework for Simultaneous Design and Control of Passive Walkers
In International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2016

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Center of Mass Estimation for Polyarticulated System in Contact — A Spectral Approach
In IEEE Transactions on Robotics, 2016

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The Yoyo-Man
In International Journal of Robotics Research, 2016

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A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion
In IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016

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A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach
In IEEE-RAS International Conference on Humanoid Robots (ICHR), 2015

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An analytical model of rolling contact and its application to the modeling of bipedal locomotion
In IMA Conference on Mathematics of Robotics, 2015

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The Yoyo-Man
In International Symposium on Robotics Research (ISRR), 2015

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METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filtering
In IEEE-RAS International Conference on Humanoid Robots (ICHR), 2014

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