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2020 – today
- 2024
[j29]Gianni Lunardi
, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete:
Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access 12: 689-698 (2024)- [j28]Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete:
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40: 43-63 (2024) - [c90]Mohamed Adjel, Maxime Sabbah, Raphaël Dumas, Marta Mirkov, Nicolas Mansard, Samer Mohammed, Vincent Bonnet:
Lower Limbs Human Motion Estimation from Sparse Multi-Modal Measurements. BioRob 2024: 401-406 - [c89]Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
Force Feedback Model-Predictive Control via Online Estimation. ICRA 2024: 11503-11509 - [c88]Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard:
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. IROS 2024: 13303-13310 - [c87]Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, Vladimír Petrík, Florent Lamiraux, Nicolas Mansard:
Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm. UR 2024: 701-706 - [i21]Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard:
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. CoRR abs/2403.18765 (2024) - [i20]Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard:
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. CoRR abs/2405.09197 (2024) - [i19]Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard:
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRR abs/2409.13678 (2024) - [i18]Elliot Chane-Sane, Constant Roux, Olivier Stasse, Nicolas Mansard:
Reinforcement Learning from Wild Animal Videos. CoRR abs/2412.04273 (2024) - 2023
- [c86]Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez:
Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. Humanoids 2023: 1-7 - [c85]Kateryna Zorina, David Kovár, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík:
Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA 2023: 3764-3770 - [c84]Mohamed Adjel, Maxime Sabbah, Raphaël Dumas, Nicolas Mansard, Samer Mohammed, Bruno Watier, Vincent Bonnet:
Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. IROS 2023: 10926-10932 - [c83]Aurélie Bonnefoy, Sabrina Otmani, Nicolas Mansard, Olivier Stasse, Guilhem Michon, Bruno Watier:
Modelisation of a Human-Exoskeleton Interaction for Cerebral Palsy. ISMR 2023: 1-7 - [i17]Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau:
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR abs/2305.08926 (2023) - [i16]Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens, Nicolas Mansard, Josef Sivic, Vladimír Petrík:
Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking. CoRR abs/2311.05344 (2023) - 2022
- [j27]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A feasibility-driven approach to control-limited DDP. Auton. Robots 46(8): 985-1005 (2022) - [j26]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. Int. J. Comput. Vis. 130(2): 363-383 (2022) - [j25]Ewen Dantec, Michel Taïx, Nicolas Mansard:
First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. IEEE Robotics Autom. Lett. 7(2): 4448-4455 (2022) - [j24]Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères:
Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics Autom. Lett. 7(4): 9945-9952 (2022) - [c82]Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse:
Torque Controlled Locomotion of a Biped Robot with Link Flexibility. Humanoids 2022: 9-16 - [c81]Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti:
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids 2022: 512-517 - [c80]Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel A. Villa, Guilhem Saurel, Olivier Stasse, Michel Taïx, Nicolas Mansard:
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. Humanoids 2022: 638-644 - [c79]Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse:
Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. ICRA 2022: 1-7 - [c78]Wilson Jallet, Nicolas Mansard, Justin Carpentier:
Implicit Differential Dynamic Programming. ICRA 2022: 1455-1461 - [c77]Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau:
Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. IROS 2022: 12950-12956 - [c76]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. IROS 2022: 13371-13378 - [c75]Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti:
Introducing Force Feedback in Model Predictive Control. IROS 2022: 13379-13385 - [i15]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. CoRR abs/2210.02109 (2022) - [i14]Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse:
Torque Controlled Locomotion of a Biped Robot with Link Flexibility. CoRR abs/2210.15205 (2022) - [i13]Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier:
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. CoRR abs/2210.15409 (2022) - [i12]Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete:
Optimization-Based Control for Dynamic Legged Robots. CoRR abs/2211.11644 (2022) - 2021
- [j23]Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim:
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. IEEE Robotics Autom. Lett. 6(3): 5961-5968 (2021) - [c74]Thibaud Lasguignes, Isabelle Maroger, Maurice F. Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier:
ICP Localization and Walking Experiments on a TALOS Humanoid Robot. ICAR 2021: 800-805 - [c73]Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà:
Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. ICRA 2021: 1372-1378 - [c72]Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard:
A Hybrid Collision Model for Safety Collision Control. ICRA 2021: 1722-1728 - [c71]Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, Steve Tonneau:
Learning to steer a locomotion contact planner. ICRA 2021: 4430-4437 - [c70]Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères:
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. ICRA 2021: 5007-5013 - [c69]Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel, Nicolas Mansard:
Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. ICRA 2021: 5021-5027 - [c68]Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti:
High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA 2021: 7330-7336 - [c67]Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard:
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. ICRA 2021: 8202-8208 - [c66]Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères:
Computational design of energy-efficient legged robots: Optimizing for size and actuators. ICRA 2021: 9898-9904 - [c65]Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems 2021 - [i11]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. CoRR abs/2111.01591 (2021) - 2020
- [c64]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA 2020: 1357-1363 - [c63]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c62]Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete:
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. ICRA 2020: 6604-6610 - [i10]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR abs/2001.11751 (2020) - [i9]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR abs/2010.00411 (2020) - [i8]Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim:
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. CoRR abs/2011.09772 (2020)
2010 – 2019
- 2019
- [c61]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. CVPR 2019: 8640-8649 - [c60]Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Solà, Thomas Flayols:
Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. Humanoids 2019: 237-243 - [c59]Rohan Budhiraja, Justin Carpentier, Nicolas Mansard:
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA 2019: 6727-6733 - [c58]Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard:
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019: 614-619 - [i7]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video. CoRR abs/1904.02683 (2019) - [i6]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR abs/1904.05072 (2019) - [i5]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR abs/1909.04947 (2019) - [i4]Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete:
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. CoRR abs/1909.09044 (2019) - 2018
- [j22]Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard:
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. ACM Trans. Graph. 37(5): 176 (2018) - [j21]Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard:
An Efficient Acyclic Contact Planner for Multiped Robots. IEEE Trans. Robotics 34(3): 586-601 (2018) - [j20]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics 34(4): 1021-1034 (2018) - [j19]Justin Carpentier, Nicolas Mansard:
Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics 34(6): 1441-1460 (2018) - [c57]Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà:
Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. ECC 2018: 3031-3037 - [c56]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids 2018: 1-9 - [c55]Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse:
Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. ICINCO (2) 2018: 39-48 - [c54]Nicolas Mansard, A. DelPrete, Mathieu Geisert, Steve Tonneau, Olivier Stasse:
Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. ICRA 2018: 2986-2993 - [c53]Justin Carpentier, Nicolas Mansard:
Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems 2018 - 2017
- [j18]Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori:
Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics 33(4): 819-833 (2017) - [c52]Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro:
TALOS: A new humanoid research platform targeted for industrial applications. Humanoids 2017: 689-695 - [c51]Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond:
Actuator design of compliant walkers via optimal control. IROS 2017: 705-711 - [c50]Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems 2017 - [p1]Mehdi Benallegue, Jean-Paul Laumond, Nicolas Mansard:
Robot Motion Planning and Control: Is It More than a Technological Problem? Geometric and Numerical Foundations of Movements 2017: 1-10 - [e1]Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre:
Geometric and Numerical Foundations of Movements. Springer Tracts in Advanced Robotics 117, 2017, ISBN 978-3-319-51546-5 [contents] - 2016
- [j17]Steve Tonneau, Rami Ali Al-Ashqar, Julien Pettré, Taku Komura, Nicolas Mansard:
Character contact re-positioning under large environment deformation. Comput. Graph. Forum 35(2): 127-138 (2016) - [j16]Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori:
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. Int. J. Humanoid Robotics 13(1): 1550044:1-1550044:29 (2016) - [j15]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32(4): 810-822 (2016) - [j14]Andrea Del Prete, Nicolas Mansard:
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics 32(5): 1091-1105 (2016) - [c49]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Fast algorithms to test robust static equilibrium for legged robots. ICRA 2016: 1601-1607 - [c48]Mathieu Geisert, Nicolas Mansard:
Trajectory generation for quadrotor based systems using numerical optimal control. ICRA 2016: 2958-2964 - [c47]Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard:
A versatile and efficient pattern generator for generalized legged locomotion. ICRA 2016: 3555-3561 - [c46]Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppala, Mylène Campana, Nicolas Mansard, Florent Lamiraux:
HPP: A new software for constrained motion planning. IROS 2016: 383-389 - [c45]Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, Dinesh Manocha:
Dynamically balanced and plausible trajectory planning for human-like characters. I3D 2016: 39-48 - [c44]Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond:
A simulation framework for simultaneous design and control of passivity based walkers. SIMPAR 2016: 104-110 - [i3]Mathieu Geisert, Nicolas Mansard:
Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. CoRR abs/1602.01949 (2016) - 2015
- [j13]Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre:
Optimization as motion selection principle in robot action. Commun. ACM 58(5): 64-74 (2015) - [j12]Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, Layale Saab:
Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics Autom. Mag. 22(4): 16-26 (2015) - [c43]Manuel Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, Christian Kirches, Philippe Souères, Katja D. Mombaur:
Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. Humanoids 2015: 684-689 - [c42]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids 2015: 1121-1126 - [c41]Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori:
Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA 2015: 3590-3595 - [c40]Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard:
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS 2015: 3346-3351 - [c39]Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, Julien Pettré:
A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments. ISRR (2) 2015: 287-303 - [c38]Andrea Del Prete, Nicolas Mansard:
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems 2015 - 2014
- [j11]Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre:
Optimality in robot motion: optimal versus optimized motion. Commun. ACM 57(9): 82-89 (2014) - [j10]Oscar E. Ramos, Mauricio J. García Vazquez, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, Philippe Souères:
Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach. Int. J. Humanoid Robotics 11(2) (2014) - [j9]Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber:
Hierarchical quadratic programming: Fast online humanoid-robot motion generation. Int. J. Robotics Res. 33(7): 1006-1028 (2014) - [c37]P. Geoffroy, O. Bordron, Nicolas Mansard, Maxime Raison, Olivier Stasse, Timothy Bretl:
A two-stage suboptimal approximation for variable compliance and torque control. ECC 2014: 1151-1157 - [c36]Oscar E. Ramos, Nicolas Mansard, Philippe Souères:
Whole-body motion integrating the capture point in the operational space inverse dynamics control. Humanoids 2014: 707-712 - [c35]Olivier Stasse, F. Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau, Christian Vassallo:
Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. Humanoids 2014: 1014-1015 - [c34]Yuval Tassa, Nicolas Mansard, Emo Todorov:
Control-limited differential dynamic programming. ICRA 2014: 1168-1175 - [c33]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial force control of constrained floating-base robots. IROS 2014: 3227-3232 - [i2]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial Force Control of Constrained Floating-Base Robots. CoRR abs/1410.4426 (2014) - 2013
- [j8]Layale Saab, Oscar E. Ramos, François Keith, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet:
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. IEEE Trans. Robotics 29(2): 346-362 (2013) - 2012
- [j7]Jaemin Lee, Nicolas Mansard, Jaeheung Park:
Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control. IEEE Trans. Robotics 28(6): 1260-1277 (2012) - [j6]Sovannara Hak, Nicolas Mansard, Olivier Stasse, Jean-Paul Laumond:
Reverse Control for Humanoid Robot Task Recognition. IEEE Trans. Syst. Man Cybern. Part B 42(6): 1524-1537 (2012) - [c32]Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Philippe Souères:
Walking on non-planar surfaces using an inverse dynamic stack of tasks. Humanoids 2012: 829-834 - [c31]Sovannara Hak, Nicolas Mansard, Oscar E. Ramos, Layale Saab, Olivier Stasse:
Capture, recognition and imitation of anthropomorphic motion. ICRA 2012: 3539-3540 - [c30]Nicolas Mansard:
A dedicated solver for fast operational-space inverse dynamics. ICRA 2012: 4943-4949 - [c29]Layale Saab, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet, Manish N. Sreenivasa, Yoshihiko Nakamura:
Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. SyRoCo 2012: 479-484 - [i1]Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy:
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. CoRR abs/1201.5450 (2012) - 2011
- [c28]Oscar E. Ramos, Layale Saab, Sovannara Hak, Nicolas Mansard:
Dynamic motion capture and edition using a stack of tasks. Humanoids 2011: 224-230 - [c27]Layale Saab, Nicolas Mansard, François Keith, Jean-Yves Fourquet, Philippe Souères:
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. ICRA 2011: 1091-1096 - [c26]Jaemin Lee, Nicolas Mansard, Jaeheung Park:
Intermediate desired value approach for continuous transition among multiple tasks of robots. ICRA 2011: 1276-1282 - [c25]Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy:
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. ICVS 2011: 31-40 - [c24]François Keith, Pierre-Brice Wieber, Nicolas Mansard, Abderrahmane Kheddar:
Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations. IROS 2011: 3887-3892 - [c23]Layale Saab, Oscar E. Ramos, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet:
Generic dynamic motion generation with multiple unilateral constraints. IROS 2011: 4127-4133 - 2010
- [c22]Sovannara Hak, Nicolas Mansard, Olivier Stasse:
Humanoid robot task recognition from movement analysis. Humanoids 2010: 314-321 - [c21]Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber:
Fast resolution of hierarchized inverse kinematics with inequality constraints. ICRA 2010: 3733-3738 - [c20]Mitsuharu Morisawa, Fumio Kanehiro, Kenji Kaneko, Nicolas Mansard, Joan Solà, Eiichi Yoshida, Kazuhito Yokoi, Jean-Paul Laumond:
Combining suppression of the disturbance and reactive stepping for recovering balance. IROS 2010: 3150-3156
2000 – 2009
- 2009
- [j5]Nicolas Mansard, François Chaumette:
Directional Redundancy for Robot Control. IEEE Trans. Autom. Control. 54(6): 1179-1192 (2009) - [j4]Nicolas Mansard, Anthony Remazeilles, François Chaumette:
Continuity of Varying-Feature-Set Control Laws. IEEE Trans. Autom. Control. 54(11): 2493-2505 (2009) - [j3]Nicolas Mansard, Oussama Khatib, Oussama Kheddar:
A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks. IEEE Trans. Robotics 25(3): 670-685 (2009) - [c19]François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar:
From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping. ICAPS 2009 - [c18]Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar:
Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. Humanoids 2009: 284-289 - [c17]Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Joan Solà, Eiichi Yoshida, Nicolas Mansard, Kazuhito Yokoi, Jean-Paul Laumond:
Reactive stepping to prevent falling for humanoids. Humanoids 2009: 528-534 - [c16]Nicolas Mansard, Olivier Stasse, Paul Evrard, Abderrahmane Kheddar:
A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. ICAR 2009: 1-6 - [c15]François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar:
Optimization of tasks warping and scheduling for smooth sequencing of robotic actions. IROS 2009: 1609-1614 - [c14]Paul Evrard, Nicolas Mansard, Olivier Stasse, Abderrahmane Kheddar, Thomas Schauss, Carolina Weber, Angelika Peer, Martin Buss:
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. IROS 2009: 5635-5640 - [c13]François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar:
Optimized Time-Warping Tasks Scheduling for Smooth Sequencing. SyRoCo 2009: 161-166 - 2008
- [j2]Olivier Stasse, François Saïdi, Kazuhito Yokoi, Björn Verrelst, Bram Vanderborght, Andrew J. Davison, Nicolas Mansard, Claudia Esteves:
Integrating Walking and Vision to Increase Humanoid Autonomy. Int. J. Humanoid Robotics 5(2): 287-310 (2008) - [c12]Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, Abderrahmane Kheddar:
Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. ICRA 2008: 3200-3205 - [c11]Nicolas Mansard, Oussama Khatib:
Continuous control law from unilateral constraints. ICRA 2008: 3359-3364 - 2007
- [j1]Nicolas Mansard, François Chaumette:
Task Sequencing for High-Level Sensor-Based Control. IEEE Trans. Robotics 23(1): 60-72 (2007) - [c10]Olivier Stasse, Björn Verrelst, Andrew J. Davison, Nicolas Mansard, Bram Vanderborght, Claudia Esteves, François Saïdi, Kazuhito Yokoi:
Integrating Walking and Vision to Increase Humanoid Robot Autonomy. ICRA 2007: 2772-2773 - [c9]Nicolas Mansard, Olivier Stasse, François Chaumette, Kazuhito Yokoi:
Visually-Guided Grasping while Walking on a Humanoid Robot. ICRA 2007: 3041-3047 - 2006
- [c8]Nicolas Mansard, Manuel Lopes, José Santos-Victor, François Chaumette:
Jacobian Learning Methods for Tasks Sequencing in Visual Servoing. IROS 2006: 4284-4290 - [c7]Anthony Remazeilles, Nicolas Mansard, François Chaumette:
A Qualitative Visual Servoing to ensure the Visibility Constraint. IROS 2006: 4297-4303 - 2005
- [c6]Nicolas Mansard, François Chaumette:
Directional Redundancy: a New Approach of the Redundancy Formalism. CDC/ECC 2005: 5366-5371 - [c5]Nicolas Mansard, François Chaumette:
Visual Servoing Sequencing Able to Avoid Obstacles. ICRA 2005: 3143-3148 - [c4]Nicolas Mansard, François Chaumette:
A new redundancy formalism for avoidance in visual servoing. IROS 2005: 468-474 - [c3]Nicolas Mansard, Olivier Aycard, Carla Koike:
Hierarchy of behaviours application to the homing problem in indoor environment. ROBIO 2005: 593-598 - 2004
- [c2]Nicolas Mansard, François Chaumette:
Tasks sequencing for visual servoing. IROS 2004: 992-997 - [c1]Nicolas Mansard, Olivier Aycard, Carla Koike:
Hierarchy of behaviours Application to the homing problem in indoor environment. ROBIO 2004: 895-900
Coauthor Index
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