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Number of documents

64


Journal articles16 documents

  • Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. Continuous Legged Locomotion Planning. IEEE Transactions on Robotics, IEEE, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩. ⟨hal-01433866⟩
  • Mylène Campana, Florent Lamiraux, Jean-Paul Laumond. A gradient-based path optimization method for motion planning. Advanced Robotics, Taylor & Francis, 2016, 30 (17-18), pp.1126-1144. ⟨10.1080/01691864.2016.1168317⟩. ⟨hal-01301233⟩
  • Mehdi Benallegue, Florent Lamiraux. Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. International Journal of Humanoid Robotics, World Scientific Publishing, 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, 12 (3), pp.15500255. ⟨10.1142/S0219843615500255⟩. ⟨hal-01169149v2⟩
  • Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Alireza Nakhaei, Michel Taïx, et al.. Dynamic Walking and Whole-Body Motion Planning for Humanoid Robots: an Integrated Approach. The International Journal of Robotics Research, SAGE Publications, 2013, 32 (9-10), pp.1089-1103. ⟨hal-00654175v2⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Humanoid motion generation and swept volumes: theoretical bounds for safe steps. Advanced Robotics, Taylor & Francis, 2013, 27 (14), pp.1045 - 1058. ⟨10.1080/01691864.2013.805468⟩. ⟨hal-01113510⟩
  • Nicolas Perrin, Olivier Stasse, Léo Baudouin, Florent Lamiraux, Eiichi Yoshida. Fast humanoid robot collision-free footstep planning using swept volume approximations. IEEE Transactions on Robotics, IEEE, 2012, 28 (2), p.427-439. ⟨hal-00662550⟩
  • Nicolas Perrin, Olivier Stasse, Léo Baudouin, Florent Lamiraux, Eiichi Yoshida. Fast humanoid robot collision-free footstep planning using swept volume approximations. IEEE Transactions on Robotics, IEEE, 2012, 28 (2), pp.0-0. ⟨hal-00662545⟩
  • Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber. Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks. IEEE Transactions on Robotics, IEEE, 2011, 27 (4), pp.785-792. ⟨10.1109/TRO.2011.2142450⟩. ⟨hal-00486755v2⟩
  • Abed Malti, Florent Lamiraux, Michel Taïx. A General Framework for Planning Landmark-Based Motions for Mobile Robots. Advanced Robotics, Taylor & Francis, 2011, 25 (11-12), pp.1427-1450 ⟨10.1163/016918611X579457⟩. ⟨hal-01537687⟩
  • Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, et al.. Pivoting based manipulation by a humanoid robot. Autonomous Robots, Springer Verlag, 2010, 28 (1), pp.77-88. ⟨10.1007/s10514-009-9143-x⟩. ⟨hal-01972688⟩
  • Olivier Stasse, Rudolf Ruland, Florent Lamiraux, Abderrahmane Kheddar, Kazuhito Yokoi, et al.. Integration of humanoid robots in collaborative working environment: a case study on motion generation. Intelligent Service Robotics, Springer Verlag, 2009, 2 (3), pp.153-160. ⟨10.1007/s11370-009-0045-8⟩. ⟨hal-00451346⟩
  • Javier Minguez, Luis Montesano, Florent Lamiraux. Metric-Based Iterative Closest Point Scan Matching for Sensor Displacement Estimation. IEEE Transactions on Robotics, IEEE, 2006, 22 (5), pp.1047-1054. ⟨10.1109/TRO.2006.878961⟩. ⟨hal-02295157⟩
  • Florent Lamiraux, David Bonnafous, Olivier Lefebvre. Reactive Path Deformation for Nonholonomic Mobile Robots. IEEE Transactions on Robotics, IEEE, 2004, 20 (6), pp.967-977. ⟨10.1109/TRO.2004.829459⟩. ⟨hal-02294191⟩
  • Florent Lamiraux, Jean Paul Laumond. Smooth motion planning for car-like vehicles. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2001, 17 (4), pp.498-502. ⟨10.1109/70.954762⟩. ⟨hal-02962892⟩
  • Florent Lamiraux, Lydia Kavraki. Planning paths for elastic objects under manipulation constraints. The International Journal of Robotics Research, SAGE Publications, 2001, 20 (3), pp.188-208. ⟨hal-02962879⟩
  • Florent Lamiraux, S Sekhavat, Jean-Paul Laumond. Motion Planning and Control for Hilare Pulling a Trailer. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 1999, 15 (4), pp.640-652. ⟨10.1109/70.781968⟩. ⟨hal-02295152⟩

Conference papers35 documents

  • Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Tension Validation for Cable-Driven Parallel Robots. International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨hal-02900961⟩
  • Alexis Nicolin, Joseph Mirabel, Sébastien Boria, Olivier Stasse, Florent Lamiraux. Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers. IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States. ⟨hal-02466543⟩
  • Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, et al.. The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France. ⟨hal-01866228v2⟩
  • Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux. Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ, Nov 2019, Macau, China. ⟨hal-02294402⟩
  • Joseph Mirabel, Florent Lamiraux. Handling implicit and explicit constraints in manipulation planning. Robotics: Science and Systems 2018, Jun 2018, Pittsburg, United States. 9p. ⟨hal-01804774⟩
  • Mehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, et al.. Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement. ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩. ⟨hal-01746095⟩
  • Joseph Mirabel, Florent Lamiraux. Manipulation planning: addressing the crossed foliation issue. IEEE International Conference on Robotics and Automation 2017, May 2017, Singapour, Singapore. ⟨hal-01358767⟩
  • Nirmal Giftsun, Andrea del Prete, Florent Lamiraux. Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground. International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain. ⟨hal-01533136⟩
  • Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, et al.. TALOS: A new humanoid research platform targeted for industrial applications. International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩. ⟨hal-01485519v2⟩
  • Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model. IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨hal-01285643⟩
  • Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppälä, Mylène Campana, et al.. HPP: a new software for constrained motion planning. International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. ⟨hal-01290850v2⟩
  • Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p. ⟨hal-01142399v2⟩
  • Andreas Orthey, Olivier Stasse, Florent Lamiraux. Motion Planning and Irreducible Trajectories. ICRA, May 2015, Seattle, United States. ⟨hal-01121025⟩
  • Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux. Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. ⟨hal-01202155⟩
  • Mehdi Benallegue, Florent Lamiraux. Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information. 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. ⟨hal-01079797⟩
  • Antonio El Khoury, Florent Lamiraux, Michel Taïx. Optimal Motion Planning for Humanoid Robots. IEEE International Conference on Robotics and Automation ( ICRA ), May 2013, Karlsruhe, Germany. 7p. ⟨hal-00715419v3⟩
  • Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida. RobOptim: an Optimization Framework for Robotics. Robomec, May 2013, Tsukuba, Japan. 4p. ⟨hal-00802083⟩
  • Thomas Moulard, Florent Lamiraux, Olivier Stasse. Trajectory Following for Legged Robots. International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662. ⟨hal-00601291v3⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Youn Kim, Dinesh Manocha. Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box. IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0. ⟨hal-00668794⟩
  • Duong Dang, Jean-Paul Laumond, Florent Lamiraux. Experiments on whole-body manipulation and locomotion with footstep real-time optimization. IEEE-RAS International Conference on Humanoid Robots, Nov 2012, Osaka, Japan. 6p. ⟨hal-00727600v2⟩
  • Antonio El Khoury, Michel Taïx, Florent Lamiraux. Path Optimization for Humanoid Walk Planning: an Efficient Approach. Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, Jul 2011, Noordwijkerhout, Netherlands. pp.179 - 184. ⟨hal-00572375v3⟩
  • Léo Baudouin, Nicolas Perrin, Thomas Moulard, Florent Lamiraux, Olivier Stasse, et al.. Real-time Replanning Using 3D Environment for Humanoid Robot. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589. ⟨hal-00601300⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction. IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨hal-00593659⟩
  • Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Michel Taïx, Jean-Paul Laumond. Small-Space Controllability of a Walking Humanoid Robot. Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, Oct 2011, Bled, Slovenia. pp.739 - 744, ⟨10.1109/Humanoids.2011.6100807⟩. ⟨hal-00602384v2⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Weakly collision-free paths for continuous humanoid footstep planning. International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩. ⟨hal-00639026⟩
  • Dang Duong, Florent Lamiraux, Jean-Paul Laumond. A framework for manipulation and locomotion with realtime footstep replanning. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. pp.676 - 681, ⟨10.1109/Humanoids.2011.6100889⟩. ⟨hal-00697564⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Approximation of Feasibility Tests for Reactive Walk on HRP-2. IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6. ⟨hal-00455454⟩
  • Sébastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond. Manipulation of Documented Objects by a Walking Humanoid Robot. 10th IEEE-RAS International Conference on Humanoid Robots, Dec 2010, Nashville, United States. pp. 518-523. ⟨hal-00518187⟩
  • Karim Bouyarmane, Adrien Escande, Florent Lamiraux, Abderrahmane Kheddar. Potential Field Guide for Humanoid Multicontacts Acyclic Motion Planning. ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1165-1170. ⟨lirmm-00776642⟩
  • Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber, Fumio Kanehiro, Eiichi Yoshida, et al.. Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots. ICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.2939-2944, ⟨10.1109/ROBOT.2009.5152293⟩. ⟨inria-00390581⟩
  • Sébastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond. Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance. IEEE International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.1-6. ⟨hal-00450897⟩
  • Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, et al.. Regrasp planning for pivoting manipulation by a humanoid robot. 2009 IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. ⟨hal-01976059⟩
  • Olivier Stasse, Neo Ee Sian, Florent Lamiraux, Takeshi Sakaguchi, Abderrahmane Kheddar, et al.. Architectures and models for humanoid robots in collaborative working environments. ISR'08: International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359. ⟨lirmm-00798785⟩
  • Mathieu Hillion, Florent Lamiraux. Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation. IEEE International Conference on Robotics and Automation, Apr 2007, Roma, Italy. ⟨hal-00125707⟩
  • Olivier Lefebvre, Florent Lamiraux, Cédric Pradalier, Thierry Fraichard. Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots. Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France. pp.4277--4282. ⟨inria-00182068⟩

Book sections1 document

  • Florent Lamiraux, Olivier Lefebvre. Sensor-based trajectory deformation: application to reactive navigation of nonholonomic robots. Chesi, Graziano; Hashimoto, Koichi. Visual Servoing via Advanced Numerical Methods, Springer, p.315-334, 2010, Lecture Notes in Control and Information Sciences n° 401. ⟨hal-00451341⟩

Preprints, Working Papers, ...9 documents

  • Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494731⟩
  • Joseph Mirabel, Florent Lamiraux. Constraint Graphs: Unifying task and motion planning for Navigation and Manipulation Among Movable Obstacles. 2016. ⟨hal-01281348⟩
  • Joseph Mirabel, Florent Lamiraux. Manipulation planning: building paths on constrained manifolds. 2016. ⟨hal-01360409v3⟩
  • Mylène Campana, Florent Lamiraux, Jean-Paul Laumond. A simple path optimization method for motion planning. 2015. ⟨hal-01137844v2⟩
  • Florent Lamiraux, Joseph Mirabel. HPP: a new software framework for manipulation planning. 2015. ⟨hal-01138118⟩
  • Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, et al.. A Continuous Approach to Legged Locomotion Planning. 2013. ⟨hal-00805981⟩
  • Thomas Moulard, Pablo Fernández Alcantarilla, Florent Lamiraux, Olivier Stasse, Frank Dellaert. Reliable Indoor Navigation on Humanoid Robots using Vision-Based Localization. 2012. ⟨hal-00733666⟩
  • Thomas Moulard, Florent Lamiraux, Pierre-Brice Wieber. Collision-free walk planning for humanoid robots using numerical optimization. 2010. ⟨hal-00486997⟩
  • Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Adaptive sampling-based approximation of the sign of multivariate real-valued functions. 2010. ⟨hal-00544891⟩

Habilitation à diriger des recherches1 document

  • Florent Lamiraux. Algorithmique et commande du mouvement en robotique. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2004. ⟨tel-00010407⟩

Lectures1 document

  • Florent Lamiraux. Motion planning. Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019. ⟨cel-02130128⟩

Videos1 document

  • Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494737⟩