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66 résultats
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Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical SystemsNonlinear Analysis: Hybrid Systems, 2024, 52, pp.101468. ⟨10.1016/j.nahs.2024.101468⟩
Article dans une revue
hal-03480419v4
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Analytical Derivatives of Rigid Body Dynamics AlgorithmsRobotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, United States
Communication dans un congrès
hal-01790971v2
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Differentiable Collision Detection: a Randomized Smoothing Approach2023
Pré-publication, Document de travail
hal-03780482v3
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Condensed semi-implicit dynamics for trajectory optimization in soft roboticsIEEE International Conference on Soft Robotics (RoboSoft), IEEE, Apr 2024, San Diego (CA), United States
Communication dans un congrès
hal-04466639v1
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TALOS: A new humanoid research platform targeted for industrial applicationsInternational Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès
hal-01485519v2
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Learning Obstacle Representations for Neural Motion PlanningCoRL 2020 - Conference on Robot Learning, Nov 2020, Cambridge MA / Virtual, United States. pp.355-364
Communication dans un congrès
hal-02944348v1
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Differentiable simulation for physical system identificationIEEE Robotics and Automation Letters, 2021, 6 (2), pp.3413-3420. ⟨10.1109/LRA.2021.3062323⟩
Article dans une revue
hal-03025616v3
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CosyPose: Consistent multi-view multi-object 6D pose estimationEuropean Conference on Computer Vision, Aug 2020, Glasgow, United Kingdom
Communication dans un congrès
hal-02950800v1
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The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivativesSII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France
Communication dans un congrès
hal-01866228v2
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Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged RobotsICRA 2019 - IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada
Communication dans un congrès
hal-01875031v3
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Center of Mass Estimation for Polyarticulated System in Contact - A Spectral ApproachIEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩
Article dans une revue
hal-01182734v3
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Online Learning and Control of Dynamical Systems from Sensory InputNeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems Year, Dec 2021, Sydney / Virtual, Australia
Communication dans un congrès
hal-03405911v2
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Optimal Estimation of the Centroidal Dynamics of Legged RobotsIEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi’an, China. ⟨10.1109/ICRA48506.2021.9561993⟩
Communication dans un congrès
hal-03193940v1
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Fondements calculatoires de la locomotion anthropomorpheRobotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2017. English. ⟨NNT : 2017TOU30376⟩
Thèse
tel-01841095v2
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Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot ManipulatorsMECC 2021 - 1st IFAC Modeling, Estimation and Control Conference, Oct 2021, Austin, United States
Communication dans un congrès
hal-03541487v1
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Differentiable Rendering with Perturbed OptimizersNeurIPS 2021 - Thirty-fifth Conference on Neural Information Processing Systems, Dec 2021, Sydney / Virtual, Australia
Communication dans un congrès
hal-03378451v1
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Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981586⟩
Communication dans un congrès
hal-03597630v5
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Constrained Articulated Body Dynamics Algorithms2024
Pré-publication, Document de travail
hal-04443056v1
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PROXDDP: Proximal Constrained Trajectory Optimization2023
Pré-publication, Document de travail
hal-04332348v1
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D projectRSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès
hal-01543060v1
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Risk-Sensitive Extended Kalman Filter2023
Pré-publication, Document de travail
hal-04107207v1
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A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, ⟨10.1109/HUMANOIDS.2015.7363493⟩
Communication dans un congrès
hal-01175592v3
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A hybrid collision model for safety collision controlIEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561730⟩
Communication dans un congrès
hal-03000951v1
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On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with TalosHumanoids 2022 - IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. ⟨10.1109/Humanoids53995.2022.10000208⟩
Communication dans un congrès
hal-03758989v2
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A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers2016 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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Equality Constrained Differential Dynamic ProgrammingICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China
Communication dans un congrès
hal-03184203v2
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Collision Detection Accelerated: An Optimization PerspectiveRSS 2022 - Robotics: Science and Systems, Jun 2022, New York, United States
Communication dans un congrès
hal-03662157v1
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Vision-based interface for grasping intention detection and grip selection : towards intuitive upper-limb assistive devicesCongrès annuel de la Société de Biomécanique, Oct 2023, Grenoble, France
Communication dans un congrès
hal-04141469v1
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The Yoyo-ManInternational Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy
Communication dans un congrès
hal-01175591v1
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On the centre of mass motion in human walkingInternational Journal of Automation and Computing, 2017, 14 (5), pp.542-551
Article dans une revue
hal-01377361v2
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