Testing static equilibrium for legged robots, IEEE Transactions on Robotics, vol.24, pp.794-807, 2008. ,
Evaluating Direct Transcription and Nonlinear Optimization Methods for Robot Motion Planning, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.946-953, 2016. ,
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion, IEEE International Conference on Robotics and Automation (ICRA), 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01661847
Gait and Trajectory Optimization for Legged Systems through Phasebased End-Effector Parameterization, IEEE Robotics and Automation Letters, pp.1-1, 2018. ,
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization, IEEE Robotics and Automation Letters, pp.1-8, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01674935
On-line and On-board Planning and Perception for Quadrupedal Locomotion, IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015. ,
URL : https://hal.archives-ouvertes.fr/hal-01661837
Planning robust walking motion on uneven terrain via convex optimization, IEEE-RAS International Conference on Humanoid Robots, 2016. ,
On Time Optimisation of Centroidal Momentum Dynamics, 2017. ,
State estimation for force-controlled humanoid balance using simple models in the presence of modeling error, 2011 IEEE International Conference on Robotics and Automation, pp.3994-3999, 2011. ,
Smooth trajectory generation and push-recovery based on divergent component of motion, IEEE International Conference on Intelligent Robots and Systems (IROS), pp.4560-4567, 2017. ,
Estimation-based control for humanoid robots, 2018. ,
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4102-4109, 2017. ,
Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations, IEEE-RAS International Conference on Humanoid Robots, 2006. ,
URL : https://hal.archives-ouvertes.fr/inria-00390462
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds, Robotics: Science and Systems XI, 2015. ,
Perception-less terrain adaptation through whole body control and hierarchical optimization, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp.558-564, 2016. ,
Dynamic Locomotion and Whole-Body Control for Quadrupedal Robots, IEEE/RSJ Intenational Conference on Intelligent Robots and Systems (IROS), pp.3359-3365, 2017. ,
Robust rough-terrain locomotion with a quadrupedal robot, IEEE International Conference on Robotics and Automation (ICRA), 2018. ,
Continuous humanoid locomotion over uneven terrain using stereo fusion, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.881-888, 2015. ,
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots, IEEE Robotics and Automation Letters, vol.2, pp.1023-1030, 2017. ,
State estimation for legged robots: Consistent fusion of leg kinematics and IMU, vol.8, pp.17-24, 2013. ,
Decoupled state estimation for humanoids using full-body dynamics, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.195-201, 2014. ,
Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots, Robotics: Science and Systems XIII, 2017. ,
A reactive controller framework for quadrupedal locomotion on challenging terrain, Proceedings -IEEE International Conference on Robotics and Automation, pp.2554-2561, 2013. ,
Slip Detection and Recovery for Quadruped Robots, Proceedings in Advanced Robotics, vol.3, pp.185-199, 2018. ,
Reactive trotting with foot placement corrections through visual pattern classification, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.10, p.2015 ,
Rough terrain mapping and classification for foothold selection in a walking robot, Journal of Field Robotics, vol.28, issue.4, pp.497-528, 2011. ,
Motion planning for quadrupedal locomotion: coupled planning, terrain mapping and whole-body control, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01673438
High-slope terrain locomotion for torque-controlled quadruped robots, Autonomous Robots, vol.41, issue.1, pp.259-272, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01137225
Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. ,
Local reflex generation for obstacle negotiation in quadrupedal locomotion, Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013. ,
Design of HyQ -a Hydraulically and Electrically Actuated Quadruped Robot, J. of Systems and Control Eng, 2011. ,
RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages, vol.7, pp.36-54, 2016. ,
, , 2014.
, , 2018.
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain, IEEE International Conference on Robotics and Automation (ICRA), 2015. ,
URL : https://hal.archives-ouvertes.fr/hal-01661774
Model-based hydraulic impedance control for dynamic robots, IEEE Transactions on Robotics, vol.31, pp.1324-1336, 2015. ,
Application of Wrench based Feasibility Analysis to the ,
URL : https://hal.archives-ouvertes.fr/hal-02086079
, Online Trajectory Optimization of Legged Robots, RA-L), 2018.
3D robust stability polyhedron in multicontact, Submitted to IEEE Transactions On Robotics (TRO, 2017. ,
URL : https://hal.archives-ouvertes.fr/lirmm-01477362
Principles of animal locomotion, 2003. ,
Design of hyq -a hydraulically and electrically actuated quadruped robot, IMechE Part I: Journal of Systems and Control Engineering, vol.225, issue.6, pp.831-849, 2011. ,
Multisensory State Estimation and Mapping on Dynamic Quadruperd Robots, 2017. ,
A Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation, Robot Operating System (ROS) -The Complete Reference, vol.1, 2016. ,
Design of the hydraulically-actuated, torquecontrolled quadruped robot hyq2max, IEEE/ASME Transactions on Mechatronics, issue.99, pp.1-1, 2016. ,
On averaging rotations, Journal of Mathematical Imaging and Vision, vol.15, issue.1-2, pp.7-16, 2001. ,
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot, IEEE Robotics and Automation Magazine, vol.23, issue.1, pp.34-43, 2016. ,
From 3d point clouds to climbing stairs: A comparison of plane segmentation approaches for humanoids, 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp.93-98, 2011. ,
A Robust Quadruped Walking Gait for Traversing Rough Terrain, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1474-1479, 2007. ,
DOI : 10.1109/robot.2007.363192
Online payload identification for quadruped robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. ,
DOI : 10.1109/iros.2017.8206367
URL : https://hal.archives-ouvertes.fr/hal-01575033
Rigid Body Dynamics Algorithms, 2008. ,
DOI : 10.1007/978-1-4899-7560-7
Centroidal dynamics of a humanoid robot, Autonomous Robots, vol.35, pp.161-176, 2013. ,
DOI : 10.1007/s10514-013-9341-4
Ground reference points in legged locomotion: Definitions, biological trajectories and control implications, The International Journal of Robotics Research, vol.24, issue.12, pp.1013-1032, 2005. ,