A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. The international journal of robotics research, pp.23-39, 2007. ,
Closed-form inverse kinematic joint solution for humanoid robots, Intelligent Robots and Systems (IROS) 2010 IEEE/RSJ International Conference on, pp.704-709 ,
Real-time gait planning for Rh-1 humanoid robot, using local axis gait algorithm, Humanoid Robots 7th IEEE-RAS International Conference on, pp.563-568, 2007. ,
DOI : 10.1109/ichr.2007.4813927
Dynamic lifting by whole body motion of humanoid robots, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.668-675, 2008. ,
DOI : 10.1109/IROS.2008.4651195
URL : https://hal.archives-ouvertes.fr/lirmm-00536305
Using local trajectory optimizers to speed up global optimization in dynamic programming Advances in neural information processing systems, pp.663-663, 1994. ,
Sethu Vijayakumaret al. Using humanoid robots to study human behavior, IEEE Intelligent Systems and their applications, pp.46-56, 2000. ,
Nonparametric representation of policies and value functions: A trajectory-based approach Advances in neural information processing systems, pp.1643-1650, 2003. ,
What happened at the DARPA robotics challenge, and why. submitted to the DRC Finals Special Issue of the Journal of Field Robotics, p.2016, 2016. ,
Safety Control of Industrial Robots Based on a Distributed Distance Sensor, IEEE Transactions on Control Systems Technology, vol.22, issue.6, pp.2127-2140 ,
DOI : 10.1109/TCST.2014.2300696
Task-priority formulations for the kinematic control of highly redundant articulated structures. Intelligent Robots and Systems, 1998. ,
Resolution of kinematic redundancy, Proceedings of Symposia in Applied Mathematics, pp.49-89, 1990. ,
DOI : 10.1090/psapm/041/1079565
Real-time 3D Collision Avoidance Method for Safe Human and Robot Coexistence, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.276-282, 2006. ,
DOI : 10.1109/IROS.2006.282068
Anti-collision systems for robotic applications based on laser Time-of-Flight sensors, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.278-284, 2010. ,
DOI : 10.1109/AIM.2010.5695851
Robot arm dynamics and control, 1974. ,
Ancient Automata and Mechanical Explanation, Phronesis, vol.48, issue.4, pp.344-369, 2003. ,
DOI : 10.1163/156852803772456083
Dynamic programming and optimal control, 1995. ,
Elastic Strips: A Framework for Motion Generation in Human Environments, The International Journal of Robotics Research, vol.3, issue.12, pp.1031-1052, 2002. ,
DOI : 10.1145/195826.195827
Soft motion trajectory planner for service manipulator robot, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2808-2813, 2008. ,
DOI : 10.1109/IROS.2008.4650608
From motion planning to trajectory control with bounded jerk for service manipulator robots, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.4505-4510, 2010. ,
Learningbased control strategy for safe human-robot interaction exploiting task and robot redundancies, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.249-254, 2010. ,
An on-line dynamic trajectory generator, The International Journal of Robotics Research, vol.3, issue.1, pp.68-72, 1984. ,
Optimal placement of spots in distributed proximity sensors for safe human-robot interaction, 2013 IEEE International Conference on Robotics and Automation, pp.5858-5863, 2013. ,
DOI : 10.1109/ICRA.2013.6631420
A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators Robotics and Automation, IEEE Transactions on, vol.11, issue.2, pp.286-292, 1995. ,
CB: a humanoid research platform for exploring neuroscience, Advanced Robotics, vol.21, issue.10, pp.1097-1114, 2007. ,
DOI : 10.1163/156855307781389356
Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator, IEEE Transactions on Control Systems Technology, vol.2, issue.2, pp.123-134, 1994. ,
DOI : 10.1109/87.294335
Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators, Cited in pages 19 and 62.) 16th International Conference on Humanoid Robots (Humanoids), pp.398-410, 1997. ,
DOI : 10.1109/70.585902
Robotic technologies for fast deployment of industrial robot systems, IECON 2016, 42nd Annual Conference of the IEEE Industrial Electronics Society, pp.6900-6907, 2016. ,
DOI : 10.1109/IECON.2016.7793823
TOMM: Tactile omnidirectional mobile manipulator, 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017. ,
DOI : 10.1109/ICRA.2017.7989284
Extending iTaSC to support inequality constraints and non-instantaneous task specification, pp.964-971, 2009. ,
Prioritized optimal control, Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.2540-2545 ,
Prioritized motion???force control of constrained fully-actuated robots: ???Task Space Inverse Dynamics???, Robotics and Autonomous Systems, vol.63, issue.62, pp.150-157, 2015. ,
DOI : 10.1016/j.robot.2014.08.016
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics, IEEE Transactions on Robotics, vol.32, issue.5, pp.2016-59 ,
DOI : 10.1109/TRO.2016.2593027
URL : https://hal.archives-ouvertes.fr/hal-01241974
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors, International Journal of Humanoid Robotics, vol.49, issue.6, pp.1550044-2016 ,
DOI : 10.1007/s12532-014-0071-1
Andrea Del Prete Joint Position and Velocity Bounds in Discrete- Time Acceleration / Torque Control of Robot Manipulators, Robotics and Automation Letters, vol.3, issue.46, p.34, 2018. ,
A framework for extreme locomotion planning, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.989-996, 2012. ,
Motion planning for cooperating mobile manipulators, Journal of robotic systems, vol.16, issue.10, pp.557-579, 1999. ,
Multiobjective compliance control of redundant manipulators: Hierarchy, control, and stability, 2013 IEEE/RSJ international conference on intelligent robots and systems, pp.3043-3050, 2013. ,
A sparse model predictive control formulation for walking motion generation, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2292-2299, 2011. ,
DOI : 10.1109/IROS.2011.6095035
Reactive Planning on a Collaborative Robot for Industrial Applications, Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, pp.450-457, 2015. ,
DOI : 10.5220/0005575804500457
URL : https://hal.archives-ouvertes.fr/hal-01355048
Korbinian Schmidet al. Overview of the torque-controlled humanoid robot TORO, Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, pp.916-923, 2014. ,
Hierarchical quadratic programming: Fast online humanoid-robot motion generation, The International Journal of Robotics Research, vol.3, issue.1, pp.1006-1028, 2014. ,
DOI : 10.1109/TRO.2011.2173852
URL : https://hal.archives-ouvertes.fr/hal-00751924
Hierarchical quadratic programming: Fast online humanoid-robot motion generation, The International Journal of Robotics Research, vol.3, issue.1, pp.0278364914521306-2014, 2014. ,
DOI : 10.1109/TRO.2011.2173852
URL : https://hal.archives-ouvertes.fr/hal-00751924
A local based approach for path planning of manipulators with a high number of degrees of freedom, Proceedings. 1987 IEEE International Conference on Robotics and Automation, pp.1152-1159, 1987. ,
DOI : 10.1109/ROBOT.1987.1087982
URL : https://hal.archives-ouvertes.fr/inria-00075933
Anthropomorphism and Human Likeness in the Design of Robots and Human-Robot Interaction, International Conference on Social Robotics, pp.199-208, 2012. ,
DOI : 10.1007/978-3-642-34103-8_20
A Depth Space Approach to Human-Robot Collision Avoidance, pp.30-32, 2012. ,
Safety of industrial robots: From conventional to collaborative applications, In Robotics; Proceedings of ROBOTIK, pp.1-5, 2012. ,
Sofiane Achiche and Emo Todorov. From inverse kinematics to optimal control, Advances in Robot Kinematics, pp.409-418, 2014. ,
Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture, 2013 IEEE International Conference on Robotics and Automation, pp.4000-4007, 2013. ,
DOI : 10.1109/ICRA.2013.6631141
Design and control of a biped walking and jogging robot, Proceedings of the 2nd International Conference on Climbing and Walking Robots (CLAWAR), pp.49-58, 1999. ,
Taskoriented whole body motion for humanoid robots, Humanoid Robots 5th IEEE-RAS International Conference on, pp.238-244, 2005. ,
Mechatronic design of NAO humanoid, 2009 IEEE International Conference on Robotics and Automation, pp.769-774, 2009. ,
DOI : 10.1109/ROBOT.2009.5152516
Multi-process control software for hubo2 plus robot, Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, pp.1-6, 2013. ,
The hard lessons of DARPA's robotics challenge, IEEE Spectrum, vol.52, issue.8, pp.11-13, 2015. ,
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3356-3363, 2008. ,
DOI : 10.1109/IROS.2008.4650764
Alin Albu-Schäffer and Gerd Hirzinger. Real-time reactive motion generation based on variable attractor dynamics and shaped velocities, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.3109-3116, 2010. ,
Study on Soft-Tissue Injury in Robotics, IEEE Robotics & Automation Magazine, vol.18, issue.4, pp.20-34, 2011. ,
DOI : 10.1109/MRA.2011.942996
Dynamic Motion Planning for Robots in Partially Unknown Environments*, IFAC Proceedings Volumes, pp.6842-6850, 2011. ,
DOI : 10.3182/20110828-6-IT-1002.02500
Antonio Bicchi and Alin Albu-Schäffer. On making robots understand safety: Embedding injury knowledge into control, 2012. ,
Analysis and Control of Articulated Robot Arms with Redundancy, IFAC, 8th Triennal World Congress, pp.1927-1932, 1981. ,
DOI : 10.1016/S1474-6670(17)63754-6
Online Walking Motion Generation with Automatic Footstep Placement, Advanced Robotics, vol.18, issue.5-6, pp.719-737, 2010. ,
DOI : 10.1002/rnc.1251
URL : http://hal.archives-ouvertes.fr/docs/00/46/41/25/PDF/paper.pdf
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.1447-1454, 2016. ,
DOI : 10.1109/ICRA.2016.7487279
Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid. arXiv preprint, p.2013, 2013. ,
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid, Autonomous Robots, vol.2, issue.3, pp.473-491, 2016. ,
DOI : 10.1007/978-3-540-36119-0_20
The development of Honda humanoid robot, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.1321-1326, 1998. ,
DOI : 10.1109/ROBOT.1998.677288
Honda humanoid robots development, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol.365, issue.1850, pp.11-19, 2007. ,
DOI : 10.1098/rsta.2006.1917
DLR's torque-controlled light Bibliography weight robot III-are we reaching the technological limits now? In Robotics and Automation, Proceedings. ICRA'02. IEEE International Conference on, pp.1710-1716, 2002. ,
A history of robots: from science fiction to surgical robotics, Journal of robotic surgery, vol.1, issue.2, pp.113-118, 2007. ,
Exploiting angular momentum to enhance bipedal center-of-mass control, 2009 IEEE International Conference on Robotics and Automation, pp.4423-4429, 2009. ,
DOI : 10.1109/ROBOT.2009.5152573
A recursive lagrangian formulation of maniputator dynamics and a comparative study of dynamics formulation complexity, IEEE Transactions on Systems, Man, and Cybernetics, vol.10, issue.11, pp.730-736, 1980. ,
STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION, 2012. ,
DOI : 10.1142/9789814415958_0062
Gravity compensation and full-body balancing for humanoid robots, Humanoid Robots 6th IEEE-RAS International Conference on, pp.214-221, 2006. ,
Building spined muscle-tendon humanoid, Robotics Research, pp.113-127, 2003. ,
New second-order and first-order algorithms for determining optimal control: A differential dynamic programming approach, Journal of Optimization Theory and Applications, vol.2, issue.6, pp.411-440, 1968. ,
Real-time smooth task transitions for hierarchical inverse kinematics, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp.528-533, 2013. ,
DOI : 10.1109/HUMANOIDS.2013.7030024
Robust compliant motion control of robot with nonlinear friction using time-delay estimation. Industrial Electronics, IEEE Transactions on, vol.55, issue.1, 2008. ,
The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains, Journal of Dynamic Systems, Measurement, and Control, vol.93, issue.3, 1969. ,
DOI : 10.1115/1.3426492
Biped walking pattern generation by using preview control of zero-moment point, Robotics and Automation (ICRA) IEEE International Conference on, 2003. ,
Biped walking pattern generation by using preview control of zero-moment point, Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, pp.1620-1626, 2003. ,
Resolved momentum control: Humanoid motion planning based on the linear and angular momentum, Intelligent Robots and Systems Proceedings. 2003 IEEE/RSJ International Conference on, pp.1644-1650, 2003. ,
STOMP: Stochastic trajectory optimization for motion planning, 2011 IEEE International Conference on Robotics and Automation, pp.4569-4574, 2011. ,
DOI : 10.1109/ICRA.2011.5980280
A New Approach to Linear Filtering and Prediction Problems, Series D, pp.35-45, 1960. ,
DOI : 10.1115/1.3662552
A Local Collision Avoidance Method for Non-strictly Convex Polyhedra, Robotics: Science and Systems IV, 2008. ,
DOI : 10.15607/RSS.2008.IV.020
Design of prototype humanoid robotics platform for HRP, IEEE/RSJ International Conference on Intelligent Robots and System, pp.2431-2436, 2002. ,
DOI : 10.1109/IRDS.2002.1041632
Humanoid robot HRP-2, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.1083-1090, 2004. ,
DOI : 10.1109/ROBOT.2004.1307969
Humanoid robot HRP-3, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2471-2478, 2008. ,
DOI : 10.1109/IROS.2008.4650604
Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4400-4407, 2011. ,
DOI : 10.1109/IROS.2011.6094465
Prioritizing linear equality and inequality systems: Application to local motion planning for redundant robots, 2009 IEEE International Conference on Robotics and Automation, pp.2939-2944, 2009. ,
DOI : 10.1109/ROBOT.2009.5152293
URL : https://hal.archives-ouvertes.fr/inria-00390581
Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task, IEEE Transactions on, pp.1-9, 2011. ,
Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task, IEEE Transactions on Robotics, vol.27, issue.4, pp.785-792, 2011. ,
DOI : 10.1109/TRO.2011.2142450
General Recognition Models Capable of Integrating Multiple Sensors for Different Domains, IEEE- RAS International Conference on Humanoid Robots 2016, 2016. ,
Staggered projections for frictional contact in multibody systems, ACM Transactions on Graphics, vol.27, issue.5, p.1, 2008. ,
DOI : 10.1145/1409060.1409117
On adaptive impedance control of robot manipulators Robotics and Automation, IEEE International Conference on, 1989. ,
WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS, International Journal of Humanoid Robotics, vol.19, issue.01, pp.29-43, 2004. ,
DOI : 10.1002/(SICI)1097-4563(199611)13:11<755::AID-ROB6>3.0.CO;2-U
Torque-position transformer for task control of position controlled robots, 2008 IEEE International Conference on Robotics and Automation, pp.1729-1734, 2008. ,
DOI : 10.1109/ROBOT.2008.4543450
Model predictive control for fast reaching in clutter, Autonomous Robots, vol.40, issue.3, pp.537-560, 2016. ,
Development of a humanoid biped walking robot platform KHR-1-initial design and its performance evaluation, feedback, vol.1, p.12, 2002. ,
Providing services using network-based humanoids in a home environment, IEEE Transactions on Consumer Electronics, vol.57, issue.4, pp.1628-1636, 2011. ,
DOI : 10.1109/TCE.2011.6131135
Team charli: Robocup 2012 humanoid adultsize league winner, RoboCup 2012: Robot Soccer World Cup XVI, pp.59-64, 2013. ,
Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.318-324, 2011. ,
DOI : 10.1109/IROS.2011.6094427
URL : http://www.calinon.ch/papers/Kormushev-IROS2011.pdf
Pre-collision safety strategies for human-robot interaction, Autonomous Robots, vol.31, issue.1, pp.149-164, 2007. ,
DOI : 10.1093/geronj/45.6.S229
Biped humanoid robot Mahru III, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.583-588, 2007. ,
DOI : 10.1109/ICHR.2007.4813930
Kinetostatic danger field-a novel safety assessment for human-robot interaction, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.2169-2174, 2010. ,
Safe human robot interaction via energy regulation control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.35-41, 2009. ,
DOI : 10.1109/IROS.2009.5354803
Toward safe close-proximity human-robot interaction with standard industrial robots, Automation Science and Engineering (CASE), 2014 IEEE International Conference on, pp.339-344, 2014. ,
Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.4612-4617, 2005. ,
DOI : 10.1109/ROBOT.2005.1570831
Generation of whole-body optimal dynamic multi-contact motions, The International Journal of Robotics Research, vol.6, issue.2, pp.1104-1119, 2013. ,
DOI : 10.1145/1276377.1276396
Continuous character control with low-dimensional embeddings, ACM Transactions on Graphics, vol.31, issue.4, pp.1-10 ,
DOI : 10.1145/2185520.2185524
Extracting general task structures to accelerate the learning of new tasks, IEEE-RAS International Conference on Humanoid Robots 2016, 2016. ,
Humanoid robot LOLA, Robotics and Automation ICRA'09. IEEE International Conference on, pp.775-780, 2009. ,
Sensitive skin, World Scientific, vol.18, 2000. ,
Robust Trajectory Optimization Under Frictional Contact with Iterative Learning, Robotics, Science and Systems (RSS), p.2015, 2015. ,
DOI : 10.1007/s10514-017-9629-x
A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks, IEEE Transactions on Robotics, vol.25, issue.3, pp.670-685, 2009. ,
DOI : 10.1109/TRO.2009.2020345
URL : https://hal.archives-ouvertes.fr/lirmm-00798676
A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: The stack of tasks, Advanced Robotics, 2009. ,
URL : https://hal.archives-ouvertes.fr/lirmm-00796736
Energy Based Control for Safe Human-Robot Physical Interaction, International Symposium on Experimental Robotics, pp.809-818, 2016. ,
DOI : 10.1109/ICRA.2011.5980567
URL : https://hal.archives-ouvertes.fr/hal-01398790
The iCub??humanoid robot: An open-systems platform for research in cognitive development, Neural Networks, vol.23, issue.8-9, pp.1125-1134, 2010. ,
DOI : 10.1016/j.neunet.2010.08.010
Design Considerations for Safe Human-robot Collaborative Workplaces, Procedia CIRP, vol.37, pp.248-253, 2015. ,
DOI : 10.1016/j.procir.2015.08.014
URL : https://doi.org/10.1016/j.procir.2015.08.014
Development of a software for motion optimization of robots - Application to the kick motion of the HRP-2 robot, 2006 IEEE International Conference on Robotics and Biomimetics, pp.299-304, 2006. ,
DOI : 10.1109/ROBIO.2006.340170
Inverse dynamics control of floating base systems using orthogonal decomposition, 2010 IEEE International Conference on Robotics and Automation, pp.3406-3412, 2010. ,
DOI : 10.1109/ROBOT.2010.5509646
Operational Space Control of Constrained and Underactuated Systems, Robotics: Science and Systems VII, 2011. ,
DOI : 10.15607/RSS.2011.VII.031
3D surface reconstruction for robotic body parts with artificial skins, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4505-4510, 2012. ,
DOI : 10.1109/IROS.2012.6385559
Uniform cellular design of artificial robotic skin, In Robotics; Proceedings of ROBOTIK, pp.1-5, 2012. ,
Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot, Advanced Robotics, vol.29, issue.1, pp.51-67, 2015. ,
DOI : 10.1109/TRO.2011.2106330
An advanced musculoskeletal humanoid Kojiro, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.294-299, 2007. ,
DOI : 10.1109/ICHR.2007.4813883
Full-Size humanoid robot TEO: Design attending mechanical robustness and energy consumption, Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, pp.325-330, 2011. ,
Balance control based on Capture Point error compensation for biped walking on uneven terrain, IEEE- RAS International Conference on Humanoid Robots, pp.734-740, 2012. ,
An attractor-based whole-body motion control (WBMC) system for humanoid robots, Humanoid Robots (Humanoids ), 2013 13th IEEE-RAS International Conference on, pp.42-49, 2013. ,
A Mathematical Introduction to Robotic Manipulation, 1994. ,
Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control, Journal of Dynamic Systems, Measurement, and Control, vol.108, issue.3, pp.163-171, 1986. ,
DOI : 10.1115/1.3143764
Task-Priority Based Redundancy Control of Robot Manipulators, The International Journal of Robotics Research, vol.6, issue.2, pp.3-15, 1987. ,
DOI : 10.1115/1.3426611
Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp.1-6, 2012. ,
DOI : 10.1109/HUMANOIDS.2012.6651491
WALK-MAN humanoid lower body design optimization for enhanced physical performance, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.1817-1824, 2016. ,
DOI : 10.1109/ICRA.2016.7487327
Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance, Journal of Robotics Research, vol.14, pp.418-423, 1995. ,
PETMAN: A Humanoid Robot for Testing Chemical Protective Clothing, Journal of the Robotics Society of Japan, vol.30, issue.4, pp.372-377, 2012. ,
DOI : 10.7210/jrsj.30.372
The experimental humanoid robot H7: a research platform for autonomous behaviour, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol.21, issue.7, pp.79-107, 2007. ,
DOI : 10.1098/rsta.2006.1921
Generating Whole-body Motion Keep Away From Joint Torque , Contact Force , Contact Moment Limitations enabling Steep Climbing with a Real Humanoid Robot, pp.1775-1781, 2014. ,
Andrea Del Prete and Daniele Pucci. iCub whole-body control through force regulation on rigid non-coplanar contacts, Frontiers in Robotics and AI, vol.2, pp.6-2015, 2015. ,
Explicit Analytic Solution for Inverse Kinematics of Bioloid Humanoid Robot, 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, pp.33-38, 2012. ,
DOI : 10.1109/SBR-LARS.2012.62
Reactive mobile manipulation using dynamic trajectory tracking, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.3473-3478, 2000. ,
DOI : 10.1109/ROBOT.2000.845267
Development of a new humanoid robot WABIAN-2, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.76-81, 2006. ,
DOI : 10.1109/ROBOT.2006.1641164
Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods, Mathematical Biosciences, vol.43, issue.1-2, pp.107-130, 1979. ,
DOI : 10.1016/0025-5564(79)90104-4
Centroidal momentum matrix of a humanoid robot: Structure and properties, Intelligent Robots and Systems IROS 2008. IEEE/RSJ International Conference on, pp.653-659, 2008. ,
Centroidal dynamics of a humanoid robot, Autonomous Robots, vol.35, issue.2-3, pp.161-176, 2013. ,
Alin Albu-Schäffer, Markus Grebenstein and Gerd Hirzinger. Development of a biped robot with torque controlled joints, Humanoid Robots (Humanoids) 10th IEEE- RAS International Conference on, pp.167-173, 2010. ,
Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot 3: HUBO), Humanoid Robots, 2005 5th IEEE-RAS International Conference on, pp.321-326, 2005. ,
Development of humanoid robot platform khr-2 (kaist humanoid robot 2), International Journal of Humanoid Robotics, vol.2, issue.04, pp.519-536, 2005. ,
The kinematics of manipulators under computer control, 1968. ,
A unifying framework for robot control with redundant DOFs, Autonomous Robots, vol.2003, issue.6, pp.1-12, 2007. ,
DOI : 10.1007/978-1-4471-1501-4
Capacitive skin sensors for robot impact monitoring, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.2992-2997, 2011. ,
Angular momentum regulation during human walking: biomechanics and control, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.2405-2411, 2004. ,
DOI : 10.1109/ROBOT.2004.1307421
URL : http://web.media.mit.edu/~marko/ALL/Int.Conf.RoboticsAutomation04.pdf
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion, The International Journal of Robotics Research, vol.20, issue.2, pp.129-143, 2001. ,
DOI : 10.1109/70.88120
Capture Point: A Step toward Humanoid Push Recovery, 2006 6th IEEE-RAS International Conference on Humanoid Robots, p.63, 2006. ,
DOI : 10.1109/ICHR.2006.321385
URL : http://www.cs.cmu.edu/~cga/legs/Pratt_Goswami_Humanoids2006.pdf
Design of a bipedal walking robot, Unmanned Systems Technology X, pp.69621-69622, 2008. ,
DOI : 10.1117/12.777973
Elastic bands: connecting path planning and control, [1993] Proceedings IEEE International Conference on Robotics and Automation, pp.802-807, 1993. ,
DOI : 10.1109/ROBOT.1993.291936
URL : http://robotics.stanford.edu/groups/manips/publications/files/icra93.ps
Valkyrie: NASA's first bipedal humanoid robot, Journal of Field Robotics, vol.32, issue.3, pp.397-419, 2015. ,
Inverse Kinematics of the General 6R Manipulator and Related Linkages, Journal of Mechanical Design, vol.115, issue.3, pp.502-508, 1993. ,
DOI : 10.1115/1.2919218
Wholebody Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control, Humanoid Robots (Humanoids), 2014 14th IEEE- RAS International Conference on, pp.2014-60, 2014. ,
Progressive clamping, Robotics and Automation IEEE International Conference on, pp.4414-4419, 2007. ,
Model predictive heuristic control, Automatica, vol.14, issue.5, pp.413-428, 1978. ,
DOI : 10.1016/0005-1098(78)90001-8
INVERSE DYNAMICS WITH OPTIMAL DISTRIBUTION OF GROUND REACTION FORCES FOR LEGGED ROBOTS, Emerging Trends in Mobile Robotics, pp.580-587, 2010. ,
DOI : 10.1142/9789814329927_0072
Control of legged robots with optimal distribution of contact forces, 2011. ,
Inverse dynamics control of floating-base robots with external constraints: A unified view, IEEE International Conference on Robotics and Automation, pp.1085-1090, 2011. ,
Optimal distribution of contact forces with inverse-dynamics control, The International Journal of Robotics Research, vol.32, issue.3, pp.280-298, 2013. ,
DOI : 10.1016/S0020-7462(01)00033-6
Optimal distribution of contact forces with inverse dynamics control, The International Journal of Robotics Research, 2013. ,
Constraints Compliant Control : constraints compatibility and the displaced configuration approach, IEEE/RSJ Intenational Conference on Intelligent Robots and Systems (IROS), p.2010, 2010. ,
Motion safety and constraints compatibility for multibody robots, Autonomous Robots, vol.11, issue.2, pp.333-349, 2012. ,
DOI : 10.1109/MRA.2004.1310938
Sensor fusion for human safety in industrial workcells, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3612-3619, 2012. ,
DOI : 10.1109/IROS.2012.6386034
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. Robotics and Automation, IEEE International Conference on, pp.1091-1096, 2011. ,
URL : https://hal.archives-ouvertes.fr/hal-00963612
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints, IEEE Transactions on Robotics, vol.29, issue.2, pp.346-362, 2013. ,
DOI : 10.1109/TRO.2012.2234351
URL : https://hal.archives-ouvertes.fr/lirmm-00831097
Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions, 2011 IEEE International Conference on Robotics and Automation, pp.1283-1290, 2011. ,
DOI : 10.1109/ICRA.2011.5980202
URL : https://hal.archives-ouvertes.fr/hal-00578073
Robot control: The task function approach, 1991. ,
Soft robotics, IEEE Robotics & Automation Magazine, vol.15, issue.3, pp.20-30, 2008. ,
DOI : 10.1109/MRA.2008.927979
Integration of active and passive compliance control for safe human-robot coexistence, Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp.259-264, 2009. ,
Modeling and Optimal Control of Human-Like Running, IEEE/ASME Transactions on Mechatronics, vol.15, issue.5, pp.783-792, 2010. ,
DOI : 10.1109/TMECH.2009.2035112
Solving the Inverse Kinematic Problem for Robotic Manipulators, RoManSy 6, pp.107-114, 1987. ,
DOI : 10.1007/978-1-4684-6915-8_9
Whole body motion controller with long-term balance constraints, 2014 IEEE-RAS International Conference on Humanoid Robots, p.2014, 2014. ,
DOI : 10.1109/HUMANOIDS.2014.7041399
URL : https://hal.archives-ouvertes.fr/hal-01418363
Instantaneous stiffness effects on impact forces in humanfriendly robots, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.2998-3003, 2011. ,
A general framework for managing multiple tasks in highly redundant robotic systemsRobots in Unstructured Environments', 91 ICAR, Advanced Robotics Fifth International Conference on, pp.1211-1216, 1991. ,
Real-time robot motion control with circulatory fields, Proceedings of IEEE International Conference on Robotics and Automation, pp.2737-2742, 1996. ,
DOI : 10.1109/ROBOT.1996.506576
Hume: A bipedal robot for human-centered hyperagility, Dynamic Walking conference, p.2012, 2012. ,
iTASC: a tool for multi-sensor integration in robot manipulation, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp.426-433, 2008. ,
Taming the robot: Better safety without higher fences, In ABB Review, pp.11-14, 2006. ,
Remarks on robot dynamics: canonical transformations and Riemannian geometry, Robotics and Automation, 1992. Proceedings ., 1992 IEEE International Conference on, pp.554-559, 1992. ,
Robot modeling and control, 2006. ,
CHIMP, the CMU Highly Intelligent Mobile Platform, Journal of Field Robotics, vol.23, issue.1, pp.209-228, 2015. ,
DOI : 10.1002/rob.20103
300 years of optimal control: from the brachystochrone to the maximum principle, IEEE Control Systems Magazine, vol.17, issue.3, pp.32-44, 1997. ,
Jorge Velazquezet al. Reem-B: An autonomous lightweight human-size humanoid robot, Humanoid Robots 8th IEEE-RAS International Conference on, pp.462-468, 2008. ,
Inverse kinematics for humanoid robots, Robotics and Automation Proceedings. ICRA'00. IEEE International Conference on, pp.294-299, 2000. ,
Inertial parameters identification and joint torques estimation with proximal force/torque sensing, 2015 IEEE International Conference on Robotics and Automation (ICRA), p.2015, 2015. ,
DOI : 10.1109/ICRA.2015.7139476
URL : https://hal.archives-ouvertes.fr/hal-01131610
Compliant humanoid coman: Optimal joint stiffness tuning for modal frequency control, Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp.673-678, 2013. ,
Dynamic Behavior of Spatial Linkages: Part 1???Exact Equations of Motion, Part 2???Small Oscillations About Equilibrium, Journal of Engineering for Industry, vol.91, issue.1, pp.251-258, 1969. ,
DOI : 10.1115/1.3591539
Real-Time Adaptive Motion Planning (RAMP) of Mobile Manipulators in Dynamic Environments With Unforeseen Changes, IEEE Transactions on Robotics, vol.24, issue.5, pp.1199-1212, 2008. ,
DOI : 10.1109/TRO.2008.2003277
Safe physical humanrobot interaction with industrial dual-arm robots, Robot Motion and Control (RoMoCo), 2013 9th Workshop on, pp.264-269, 2013. ,
DOI : 10.1109/romoco.2013.6614619
A projection-based sensor system for safe physical human-robot collaboration, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5359-5364, 2013. ,
DOI : 10.1109/IROS.2013.6697132
On the stability of anthropomorphic systems, Mathematical Biosciences, vol.15, issue.1-2, pp.1-37, 1972. ,
DOI : 10.1016/0025-5564(72)90061-2
Online Trajectory Generation : Basic Concepts for Instantaneous Reactions to Unforeseen Events, pp.94-111, 2010. ,
Global path planning using artificial potential fields, IEEE International Conference on, pp.316-321, 1989. ,
Automatic Testing Framework for Benchmarking Applications, Proceedings of ISR 2016: 47st International Symposium on Robotics, pp.1-6, 2016. ,
Generation of dynamic humanoid behaviors through task-space control with conic optimization, Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp.3103-3109, 2013. ,
Coordination of multiple dynamic programming policies for control of bipedal walking, p.2013, 2013. ,
Resolved motion rate control of manipulators and human prostheses. Man-Machine Systems, IEEE Transactions on, 1969. ,
On the stability of walking systems, Proceedings of the international workshop on humanoid and human friendly robotics, 2002. ,
URL : https://hal.archives-ouvertes.fr/inria-00390866
Modeling and Control of Legged Robots, p.63, 2015. ,
DOI : 10.1177/02783640122067570
Factory in a Day Project (FiaD), 2013, 2013. ,
Elastic roadmaps?motion generation for autonomous mobile manipulation, Autonomous Robots, vol.28, issue.32, pp.113-130, 2010. ,
Team THOR's Entry in the DARPA Robotics Challenge Trials 2013, Journal of Field Robotics, vol.3, issue.11, pp.315-335, 2015. ,
DOI : 10.1109/IRDS.2002.1041641
Task-driven support polygon reshaping for humanoids, Humanoid Robots 6th IEEE-RAS International Conference on, pp.208-213, 2006. ,
Minchul Park and S Oh. Network-based humanoids' Mahru'and'Ahra, Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence, pp.376-379, 2005. ,
Safety in human-robot collaborative manufacturing environments: Metrics and control, IEEE Transactions on Automation Science and Engineering, vol.13, issue.2, pp.882-893, 2016. ,
DOI : 10.1109/TASE.2015.2412256
CHOMP: Covariant Hamiltonian optimization for motion planning, The International Journal of Robotics Research, vol.11, issue.9-10, pp.9-10, 2013. ,
DOI : 10.1177/0278364910392608
URL : http://www.cs.cmu.edu/%7Esiddh/preprints/CHOMP12-ijrr.pdf