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Locomotion control of a lightweight quadruped robot

 Pierre-Alexandre Léziart
Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2022. English. ⟨NNT : 2022TOU30205⟩
Thèse tel-03936109v2
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A Hierarchical Scheme for Adapting Learned Quadruped Locomotion

 Michel Aractingi , Pierre-Alexandre Léziart , Thomas Flayols , Julien Perez , Tomi Silander , et al.
IEEE-RAS Humanoids 2023, IEEE-RAS, Dec 2023, Austin, TX, United States. ⟨10.1109/Humanoids57100.2023.10375148⟩
Communication dans un congrès hal-04174932v2
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Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning

 Michel Aractingi , Pierre-Alexandre Léziart , Thomas Flayols , Julien Perez , Tomi Silander , et al.
Scientific Reports, 2023, 13 (11945), pp.12. ⟨10.1038/s41598-023-38259-7⟩
Article dans une revue hal-03761331v2
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FlexiFingers: Multi-Finger Interaction in VR Combining Passive Haptics and Pseudo-Haptics

 Merwan Achibet , Benoît Le Gouis , Maud Marchal , Pierre-Alexandre Léziart , Ferran Argelaguet Sanz , et al.
IEEE Symposium on 3D User Interfaces, Mar 2017, Los Angeles, United States
Communication dans un congrès hal-01625154v1
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Learning to Adapt the Trotting Gait of the Solo Quadruped

 Michel Aractingi , Pierre-Alexandre Leziart , Thomas Flayols , Julien Perez , Tomi Silander , et al.
2021
Pré-publication, Document de travail hal-03409682v1
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Real time footstep planning and control of the Solo quadruped robot in 3D environments

 Fanny Risbourg , Thomas Corbères , Pierre-Alexandre Léziart , Thomas Flayols , Nicolas Mansard , et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨10.1109/IROS47612.2022.9981539⟩
Communication dans un congrès hal-03594629v1
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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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Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12

 Pierre-Alexandre Léziart , Thomas Flayols , Felix Grimminger , Nicolas Mansard , Philippe Souères
2021 IEEE International Conference on Robotics and Automation - ICRA, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561559⟩
Communication dans un congrès hal-03052451v2
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Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers

 Pierre-Alexandre Léziart , Thomas Corbères , Thomas Flayols , Steve Tonneau , Nicolas Mansard , et al.
IEEE Robotics and Automation Letters, 2022, 7 (4), pp.9945 - 9952. ⟨10.1109/LRA.2022.3192581⟩
Article dans une revue hal-03591735v2
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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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CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

 Pierre-Alexandre Léziart , Elliot Chane-Sane , Thomas Flayols , Olivier Stasse , Philippe Souères , et al.
2024
Pré-publication, Document de travail hal-04523167v1
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