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The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

 Justin Carpentier , Guilhem Saurel , Gabriele Buondonno , Joseph Mirabel , Florent Lamiraux , et al.
SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France
Communication dans un congrès hal-01866228v2
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A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers

 Guilhem Saurel , Justin Carpentier , Nicolas Mansard , Jean-Paul Laumond
2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, Dec 2016, San Francisco, United States. ⟨10.1109/SIMPAR.2016.7862383⟩
Communication dans un congrès hal-01360450v2
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transHumUs: A poetic experience in mobile robotics

 Guilhem Saurel , Michel Taïx , Jean-Paul Laumond
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.2908-2914, ⟨10.1109/ICRA.2016.7487455⟩
Communication dans un congrès hal-01206067v2
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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

 Carlos Mastalli , Rohan Budhiraja , Wolfgang Merkt , Guilhem Saurel , Bilal Hammoud , et al.
ICRA 2020 IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. ⟨10.1109/ICRA40945.2020.9196673⟩
Communication dans un congrès hal-02294059v1
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Introducing Force Feedback in Model Predictive Control

 Sébastien Kleff , Ewen Dantec , Guilhem Saurel , Nicolas Mansard , Ludovic Righetti
IEEE International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9982003⟩
Communication dans un congrès hal-03594295v2
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Actuator Design of Compliant Walkers via Optimal Control

 Gabriele Buondonno , Justin Carpentier , Guilhem Saurel , Nicolas Mansard , Alessandro de Luca , et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès hal-01483567v2
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Comparison of predictive controllers for locomotion and balance recovery of quadruped robots

 Thomas Corbères , Thomas Flayols , Pierre-Alexandre Léziart , Rohan Budhiraja , Philippe Souères , et al.
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560976⟩
Communication dans un congrès hal-03034022v2
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Learning to steer a locomotion contact planner

 Jason Chemin , Pierre Fernbach , Daeun Song , Guilhem Saurel , Nicolas Mansard , et al.
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an, China. ⟨10.1109/ICRA48506.2021.9561160⟩
Communication dans un congrès hal-02998757v3
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Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot

 Ewen Louis Dantec , Maximilien Naveau , Nicolas Mansard , Pierre Fernbach , Nahuel Villa , et al.
2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan
Communication dans un congrès hal-03724019v2
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Torque Controlled Locomotion of a Biped Robot with Link Flexibility

 Nahuel A Villa , Pierre Fernbach , Maximilien Naveau , Guilhem Saurel , Ewen Dantec , et al.
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan
Communication dans un congrès hal-03452196v2
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Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

 Ewen Louis Dantec , Rohan Budhiraja , Adria Roig , Teguh Lembono , Guilhem Saurel , et al.
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
Communication dans un congrès hal-02995796v2
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Génération de mouvement en robotique mobile et humanoïde

 Guilhem Saurel
Automatique / Robotique. INSA de Toulouse, 2017. Français. ⟨NNT : 2017ISAT0036⟩
Thèse tel-02166202v1
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CosySlam: investigating object-level SLAM for detecting locomotion surfaces

 César Debeunne , Médéric Fourmy , Yann Labbé , Pierre-Alexandre Léziart , Guilhem Saurel , et al.
2022
Pré-publication, Document de travail hal-03351438v2
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