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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller

 Nicolas Mansard , Andrea del Prete , Mathieu Geisert , Steve Tonneau , Olivier Stasse
IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p
Communication dans un congrès hal-01591373v1
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Fast Algorithms to Test Robust Static Equilibrium for Legged Robots

 Andrea del Prete , Steve Tonneau , Nicolas Mansard
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp. 1601-1607
Communication dans un congrès hal-01201060v2

Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization

 Daeun Song , Pierre Fernbach , Thomas Flayols , Andrea del Prete , Steve Tonneau , et al.
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5961 - 5968. ⟨10.1109/LRA.2021.3088797⟩
Article dans une revue hal-03435135v1
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An efficient acyclic contact planner for multiped robots

 Steve Tonneau , Andrea del Prete , Julien Pettré , Chonhyon Park , Dinesh Manocha , et al.
IEEE Transactions on Robotics, 2018, 34 (3), pp.586-601. ⟨10.1109/TRO.2018.2819658⟩
Article dans une revue hal-01267345v3
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CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem

 Pierre Fernbach , Steve Tonneau , Michel Taïx
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. 7p., ⟨10.1109/IROS.2018.8593888⟩
Communication dans un congrès hal-01726155v3
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Zero Step Capturability for Legged Robots in Multi Contact

 Andrea del Prete , Steve Tonneau , Nicolas Mansard
IEEE Transactions on Robotics, 2018, 34 (4), pp.1021-1034. ⟨10.1109/TRO.2018.2820687⟩
Article dans une revue hal-01574687v2
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Motion planning and synthesis for virtual characters in constrained environments

 Steve Tonneau
Computer science. INSA de Rennes, 2015. English. ⟨NNT : 2015ISAR0004⟩
Thèse tel-01144630v1

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain

 Steve Tonneau , Daeun Song , Pierre Fernbach , Nicolas Mansard , Michel Taïx , et al.
IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197371⟩
Communication dans un congrès hal-02293234v1
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A Kinodynamic steering-method for legged multi-contact locomotion

 Pierre Fernbach , Steve Tonneau , Andrea del Prete , Michel Taïx
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 7p
Communication dans un congrès hal-01486933v2
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C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios

 Pierre Fernbach , Steve Tonneau , Olivier Stasse , Justin Carpentier , Michel Taïx
IEEE Transactions on Robotics, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩
Article dans une revue hal-01894869v4
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A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion

 Justin Carpentier , Steve Tonneau , Maximilien Naveau , Olivier Stasse , Nicolas Mansard
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden
Communication dans un congrès hal-01203507v2
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HPP: a new software for constrained motion planning

 Joseph Mirabel , Steve Tonneau , Pierre Fernbach , Anna-Kaarina Seppälä , Mylène Campana , et al.
International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea
Communication dans un congrès hal-01290850v2

Using task efficient contact configurations to animate creatures in arbitrary environments

 Steve Tonneau , Julien Pettré , Franck Multon
Computers and Graphics, 2014, 45, pp.10. ⟨10.1016/j.cag.2014.08.005⟩
Article dans une revue hal-01076395v1

Task efficient contact configurations for arbitrary virtual creatures

 Steve Tonneau , Julien Pettré , Franck Multon
Graphics Interface'2014, May 2014, Montreal, Canada. pp.9-16
Communication dans un congrès hal-00988328v1
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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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A Reachability-based planner for sequences of acyclic contacts in cluttered environments

 Steve Tonneau , Nicolas Mansard , Chonhyon Park , Dinesh Manocha , Franck Multon , et al.
International Symposium on Robotics Research (ISSR 2015), Sep 2015, Sestri Levante, Italy
Communication dans un congrès lirmm-01149666v1
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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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Ballistic motion planning for jumping superheroes

 Mylène Campana , Pierre Fernbach , Steve Tonneau , Michel Taïx , Jean-Paul Laumond
Motion in Games Conference, Oct 2016, Burlingame, CA, United States. ⟨10.1145/2994258.2994279⟩
Communication dans un congrès hal-01366796v1
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project

 Justin Carpentier , Andrea del Prete , Steve Tonneau , Thomas Flayols , Florent Forget , et al.
RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Communication dans un congrès hal-01543060v1
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2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios

 Steve Tonneau , Pierre Fernbach , Andrea del Prete , Julien Pettré , Nicolas Mansard
ACM Transactions on Graphics, 2018, 37 (5), pp.176. ⟨10.1145/3213773⟩
Article dans une revue hal-01609055v2
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Dynamically balanced and plausible trajectory planning for human-like characters

 Chonhyon Park , Jae Sung Park , Steve Tonneau , Nicolas Mansard , Franck Multon , et al.
20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, Feb 2016, Redmond, United States. pp.39-48, ⟨10.1145/2856400.2856405⟩
Communication dans un congrès hal-01290368v1
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Character contact re-positioning under large environment deformation

 Steve Tonneau , Al-Ashqar Rami , Julien Pettré , Taku Komura , Nicolas Mansard
Eurographics, eurographics, May 2016, Lisbonne, Portugal
Communication dans un congrès hal-01207688v1
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