Vincent Padois publications

Ryan Lober, Olivier Sigaud, Vincent Padois. Task Feasibility Maximization using Model-Free Policy Search and Model-Based Whole-Body Control. Frontiers in Robotics and AI, Frontiers Media S.A., 2020, 7, ⟨10.3389/frobt.2020.00061⟩. ⟨hal-01620370v3⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Assessing and improving human movements using sensitivity analysis and digital human simulation. International Journal of Computer Integrated Manufacturing, Taylor & Francis, 2019, 32 (6), pp.546-558. ⟨10.1080/0951192X.2019.1599432⟩. ⟨hal-01221647v3⟩

Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, et al.. The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction. IEEE Robotics and Automation Letters, IEEE 2017, ⟨10.1109/LRA.2017.2768126⟩. ⟨hal-01620789⟩

A.P. Santos, Faïz Ben Amar, Philippe Bidaud, Vincent Padois, E. Desailly. Articulated foot improves human likeliness of walking when compared to a flat foot. Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis, 2017, 20, pp.189-190. ⟨10.1080/10255842.2017.1382926⟩. ⟨hal-01850521⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Human-oriented design of collaborative robots. International Journal of Industrial Ergonomics, Elsevier, 2017, 57, pp.88 - 102. ⟨10.1016/j.ergon.2016.11.011⟩. ⟨hal-01428778⟩

Lucas Joseph, Vincent Padois, Guillaume Morel. Towards X-ray medical imaging with robots in the open: safety without compromising performances. IEEE International Conference on Robotics and Automation (ICRA), In press. ⟨hal-01614508v2⟩

Mingxing Liu, Ryan Lober, Vincent Padois. Whole-body hierarchical motion and force control for humanoid robots. Autonomous Robots, Springer Verlag, 2016, 40 (3), pp.493-504. ⟨10.1007/s10514-015-9513-5⟩. ⟨hal-01220324⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Experimental assessment of the quality of ergonomic indicators for dynamic systems computed using a digital human model. International Journal of Human Factors Modelling and Simulation, Inderscience, 2016, 5 (3), pp.190 - 209. ⟨10.1504/IJHFMS.2016.10000531⟩. ⟨hal-01383415⟩

Vincent Padois, Serena Ivaldi, Jan Babič, Michael Mistry, Jan Peters, et al.. Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project. Robotics and Autonomous Systems, Elsevier, 2016, ⟨10.1016/j.robot.2016.08.017⟩. ⟨hal-01399360⟩

Mingxing Liu, Yang Tan, Vincent Padois. Generalized hierarchical control. Autonomous Robots, Springer Verlag, 2015, 40 (1), pp.17-31. ⟨10.1007/s10514-015-9436-1⟩. ⟨hal-01068404v2⟩

Serena Ivaldi, Sao Mai Nguyen, Natalia Lyubova, Alain Droniou, Vincent Padois, et al.. Object learning through active exploration. IEEE Transactions on Autonomous Mental Development, IEEE, 2013, pp.1-18. ⟨10.1109/TAMD.2013.2280614⟩. ⟨hal-00919694⟩

Sébastien Rubrecht, Vincent Padois, Philippe Bidaud, Michel de Broissia, Max da Silva Simoes. Motion safety and constraints compatibility for multibody robots. Autonomous Robots, Springer Verlag, 2012, 32 (3), pp.333-349. ⟨10.1007/s10514-011-9264-x⟩. ⟨hal-00719855⟩

Olivier Sigaud, Camille Salaün, Vincent Padois. On-line regression algorithms for learning mechanical models of robots: a survey. Robotics and Autonomous Systems, Elsevier, 2011, 59 (12), pp.1115-1129. ⟨10.1016/j.robot.2011.07.006⟩. ⟨hal-00629133⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron. Kinematic and dynamic model based control of wheeled mobile manipulators: a unified framework for reactive approaches. Robotica, Cambridge University Press, 2007, 25 (2), pp.157-173. ⟨10.1017/S0263574707003360⟩. ⟨hal-00578090⟩

Nassim Benhabib, Vincent Padois, David Daney. Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry task. ICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197161⟩. ⟨hal-02418739v2⟩

Lucas Joseph, Joshua Pickard, Vincent Padois, David Daney. Online velocity constraint adaptation for safe and efficient human-robot workspace sharing. International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. ⟨hal-02434905v3⟩

Lucas Joseph, Vincent Padois, Guillaume Morel. Online minimization of the projected mass of a robot for safe workspace sharing with a human. Workshop on "Human movement science for physical human-robot collaboration" at the IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. ⟨hal-02333065⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Assessing and improving human movements using sensitivity analysis and digital human simulation. 8th World Congress of Biomechanics, Jul 2018, Dublin, Ireland. ⟨hal-02348629⟩

Lucas Joseph, Vincent Padois, Guillaume Morel. Experimental validation of an energy constraint for a safer collaboration with robots. 2018 International Symposium on Experimental Robotics (ISER 2018), Nov 2018, Buenos Aires, Argentina. ⟨hal-01883995⟩

Ryan Lober, Vincent Padois, Olivier Sigaud. Efficient Reinforcement Learning for Humanoid Whole-Body Control. IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. ⟨hal-01377831⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. A digital human tool for guiding the ergonomic design of collaborative robots. 4th International Digital Human Modeling Symposium (DHM2016), Jun 2016, Montreal, Canada. ⟨hal-01300121⟩

Yang Tan, Darwin Lau, Mingxing Liu, Philippe Bidaud, Vincent Padois. Minimization of the rate of change in torques during contact transitions for humanoids. European Control Conference, Jun 2016, Aalborg, Denmark. ⟨hal-01398737⟩

P. Maurice, Ph. Schlehuber, Vincent Padois, Y. Measson, Philippe Bidaud. Automatic selection of ergonomie indicators for the design of collaborative robots: A virtual-human in the loop approach. 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Madrid, Spain. pp.801-808, ⟨10.1109/HUMANOIDS.2014.7041455⟩. ⟨cea-01840422⟩

Nicolas Perrin, Darwin Lau, Vincent Padois. Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts. International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy. ⟨hal-01388632⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Virtual ergonomics for the design of collaborative robots. Journées Nationales de la Robotique Humanoïde (JNRH 2015), Jun 2015, Nantes, France. ⟨hal-02348757⟩

Anis Meguenani, Vincent Padois, Philippe Bidaud. Control of robots sharing their workspace with humans: an energetic approach to safety. IROS 2015, Sep 2015, Hamburg, Germany. pp.7. ⟨hal-01179822⟩

Jae-Yun Jun, Vincent Padois, Faïz Ben Amar. Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains. IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015, Lyon, France. ⟨hal-01160230⟩

Mingxing Liu, Sovannara Hak, Vincent Padois. Generalized Projector for Task Priority Transitions During Hierarchical Control. IEEE International Conference on Robotics and Automation, May 2015, Seattle, United States. ⟨hal-01116410⟩

Yang Tan, Darwin Lau, Mingxing Liu, Philippe Bidaud, Vincent Padois. Minimization of the rate of change in torques during motion and force control under discontinuous constraints. IEEE International Conference on Robotics and Biomimetics (ROBIO 2015), Dec 2015, Qingdao, China. pp.2621-2628, ⟨10.1109/ROBIO.2015.7419735⟩. ⟨hal-01388638⟩

Ryan Lober, Vincent Padois, Olivier Sigaud. Multiple Task Optimization using Dynamical Movement Primitives for Whole-Body Reactive Control. IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. ⟨hal-01077753⟩

Pauline Maurice, Schlehuber Philipp, Vincent Padois, Yvan Measson, Philippe Bidaud. Automatic selection of ergonomic indicators for the design of collaborative robots: a virtual-human in the loop approach. 2014 IEEE-RAS International Conference on Humanoid Robots - Humanoids 2014, Nov 2014, Madrid, Spain. pp.0-8. ⟨hal-01072228⟩

Aurelien Ibanez, Philippe Bidaud, Vincent Padois. Emergence of humanoid walking behaviors from mixed-integer model predictive control. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Hong-Kong, China. pp.4014 - 4021, ⟨10.1109/IROS.2014.6943127⟩. ⟨hal-01116331⟩

Aurelien Ibanez, Philippe Bidaud, Vincent Padois. A distributed model predictive control approach for robust postural stability of a humanoid robot. IEEE International Conference on Robotics and Automation (ICRA), Jun 2014, Hong-Kong, China. pp.202 - 209, ⟨10.1109/ICRA.2014.6906610⟩. ⟨hal-01076570⟩

Francesco Nori, Jan Peters, Vincent Padois, Jan Babic, Michael Mistry, et al.. Whole-body Motion in Humans and Humanoids. Workshop on New Research Frontiers for Intelligent Autonomous Systems, Jul 2014, Padova, Italy. ⟨hal-01053094⟩

Serena Ivaldi, Jan Peters, Vincent Padois, Francesco Nori. Tools for simulating humanoid robot dynamics: a survey based on user feedback. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014, Madrid, Spain. ⟨hal-01116148⟩

Sao Mai Nguyen, Serena Ivaldi, Natalia Lyubova, Alain Droniou, Damien Gerardeaux-Viret, et al.. Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robot. Joint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2013, Osaka, Japan. pp.1--8, ⟨10.1109/DevLrn.2013.6652525⟩. ⟨hal-00919674⟩

Alain Droniou, Serena Ivaldi, Vincent Padois, Olivier Sigaud. Autonomous Online Learning of Velocity Kinematics on the iCub: a Comparative Study. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. To appear. ⟨hal-00719964⟩

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Unified preview control for humanoid postural stability and upper-limb interaction adaptation. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. To appear. ⟨hal-00720746⟩

Joseph Salini, Vincent Padois, Philippe Bidaud. Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks Transitions. IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1283-1290, ⟨10.1109/ICRA.2011.5980202⟩. ⟨hal-00578073⟩

Guillaume Sicard, Camille Salaün, Serena Ivaldi, Vincent Padois, Olivier Sigaud. Learning the velocity kinematics of iCub for model-based control: XCSF versus LWPR. 11th IEEE-RAS International Conference on Humanoid Robots - Humanoids 2011, Oct 2011, Bled, Slovenia. pp.570--575, ⟨10.1109/Humanoids.2011.6100818⟩. ⟨hal-00624056v2⟩

Sébastien Rubrecht, Vincent Padois, Philippe Bidaud, Michel de Broissia. Constraints Compliant Control: constraints compatibility and the displaced configuration approach. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.677-684, ⟨10.1109/IROS.2010.5650793⟩. ⟨hal-00504202⟩

Camille Salaün, Vincent Padois, Olivier Sigaud. Control of redundant robots using learned models: an operational space control approach. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.878--885, ⟨10.1109/IROS.2009.5354438⟩. ⟨hal-00624322⟩

Paul Backes, Daniel Helmick, Max Bajracharya, Oussama Khatib, Vincent Padois, et al.. Results of Coring from a Low Mass Rover. IEEE Aerospace Conference, Mar 2008, Big Sky, United States. pp.1--7, ⟨10.1109/AERO.2008.4526238⟩. ⟨hal-00624328⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron. A Unified Framework for Reactive Control of Wheeled Mobile Manipulators. European Control Conference, Jul 2007, Kos, Greece. pp.1384--1391. ⟨hal-00624351⟩

Paul Backes, Max Bajracharya, Daniel Helmick, Oussama Khatib, Vincent Padois, et al.. Rover-arm Based Coring with Slip: Technological Development and Control Approach. Nasa Science Technology Conference, Jun 2007, Maryland, United States. pp.C8P3. ⟨hal-00624358⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron. From robotic arms to mobile manipulation: on coordinated motion schemes. 2nd International Innovative Production Machines and Systems conference, Jul 2006, European Union. ⟨hal-00624374⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron. Virtual teleoperation and reactive motion of a wheeled mobile manipulator. 8th International IFAC Symposium on Robot Control, Sep 2006, Bologna, Italy. pp.Vol 8, Part 1, ⟨10.3182/20060906-3-IT-2910.00094⟩. ⟨hal-00624366⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron, Aurélien Mauratille. Reactive behavior and dynamic sequencing for nonholonomic mobile manipulators. 3rd International Conference on Computational Intelligence, Robotics and Autonomous Systems, Dec 2005, Singapore. ⟨hal-00624394⟩

Vincent Padois, Pascale Chiron, Jean-Yves Fourquet. Controlling dynamic contact transition for nonholonomic mobile manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2004, France. pp.3817 -- 3822 vol.4, ⟨10.1109/IROS.2004.1390009⟩. ⟨hal-00624398⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron. Motion Coordination of a mobile manipulator for contact transition tasks. 10th IEEE International Conference on Methods and Models in Automation and Robotics, Aug 2004, Miedzyzdroje, Poland. pp.967--972, vol. 2. ⟨hal-00624411⟩

Vincent Padois, Pascale Chiron, Jean-Yves Fourquet, Adrien Carriay. Coordination and partial decoupling in tracking control for wheeled mobile manipulators. 35th International Symposium on Robotics, Mar 2004, Paris, France. ⟨hal-00624413⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. A digital human tool for guiding the ergonomic design of collaborative robots. 9th International Conference on Safety of Automated Industrial Systems, Oct 2018, Nancy, France. ⟨hal-02355074⟩

Pauline Maurice, Vincent Padois, Yvan Measson, Philippe Bidaud. Digital Human Modeling for Collaborative Robotics. DHM and Posturography, 2019. ⟨hal-02389726⟩

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Optimization-Based Control Approaches to Humanoid Balancing. Humanoid Robotics: A Reference, 2017, ⟨10.1007/978-94-007-7194-9_71-1⟩. ⟨hal-01711502⟩

Anis Meguenani, Vincent Padois, Jimmy da Silva, Antoine Hoarau, Philippe Bidaud. Energy based control for safe human-robot physical interaction. Dana Kulić, Yoshihiko Nakamura, Oussama Khatib, Gentiane Venture. 2016 International Symposium on Experimental Robotics, 1, Springer, 2017, Springer Proceedings in Advanced Robotics, 978-3-319-50114-7. ⟨hal-01398790⟩

Jonathan Savin, Martine Gilles, Clarisse Gaudez, Vincent Padois, Philippe Bidaud. Movement Variability and Digital Human Models: Development of a Demonstrator Taking the Effects of Muscular Fatigue into Account. Vincent G. Duffy. Advances in Applied Digital Human Modeling and Simulation: Proceedings of the AHFE 2016 International Conference on Digital Human Modeling and Simulation, 481, Springer, pp.169 - 179, 2016, Advances in Intelligent Systems and Computing, 978-3-319-41626-7. ⟨10.1007/978-3-319-41627-4_16⟩. ⟨hal-01398504⟩

José Pontes, Stephane Doncieux, Cristina Peixoto Santos, Vincent Padois. AN ADAPTIVE APPROACH TO HUMANOID LOCOMOTION. Advances in Cooperative Robotics -- Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific Publishing, pp.437-444, 2016, 978-981-3149-12-0. ⟨10.1142/9789813149137_0052⟩. ⟨hal-01398513⟩

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program. Jadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_52⟩. ⟨hal-01030802⟩

Joseph Salini, Sébastien Barthélémy, Philippe Bidaud, Vincent Padois. Whole-Body Motion Synthesis with LQP-Based Controller - Application to iCub. Katja Mombaur, Karsten Berns. Modeling, Simulation and Optimization of Bipedal Walking, Springer Berlin Heidelberg, pp.199-210, 2013, Cognitive Systems Monographs, 978-3-642-36368-9. ⟨10.1007/978-3-642-36368-9_16⟩. ⟨hal-01030852⟩

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. PREVIEWED IMPEDANCE ADAPTATION TO COORDINATE UPPER-LIMB TRAJECTORY TRACKING AND POSTURAL BALANCE IN DISTURBED CONDITIONS. Kenneth J Waldron, Mohammad O Tokhi, Gurvinder S Virk. Nature-Inspired Mobile Robotics -- Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.519-528, 2013, ⟨10.1142/9789814525534_0066⟩. ⟨hal-01031868⟩

Pauline Maurice, Yvan Measson, Vincent Padois, Philippe Bidaud. Assessment of physical exposure to musculoskeletal risks in collaborative robotics using dynamic simulation. Bidaud, Philippe and Khatib, Oussama and Padois, Vincent. 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control - RoManSy, Springer, To appear, 2012, CISM Courses and Lectures. ⟨hal-00720750⟩

Sébastien Rubrecht, Ekta Singla, Vincent Padois, Philippe Bidaud, Michel de Broissia. Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment. Doncieux, S. and Bredèche, N. and Mouret, J.-B. New Horizons in Evolutionary Robotics, Springer, pp.109-121, 2011, Studies in Computational Intelligence, Volume 341, ⟨10.1007/978-3-642-18272-3_8⟩. ⟨hal-00720425⟩

Joseph Salini, Vincent Padois, Aurélien Ibanez, Philippe Bidaud, Axel Buendia. A Goal driven perspective to generate humanoid motion synthesis. Bidaud, P. and Tokhi, M. and Grand, C. and Virk, G. Field Robotics Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.889-897, 2011, 978-981-4374-27-9. ⟨10.1142/9789814374286_0104⟩. ⟨hal-00720395⟩

Stéphane Doncieux, Jean-Baptiste Mouret, Nicolas Bredeche, Vincent Padois. Evolutionary Robotics: Exploring New Horizons. Springer Series: Studies in Computational Intelligence. New Horizons in Evolutionary Robotics, Springer, pp.3-25, 2011. ⟨inria-00566896⟩

Sébastien Rubrecht, Vincent Padois, Philippe Bidaud, Michel de Broissia. Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment. Jadran Lenarcic and Michael M. Stanisic. Advances in Robot Kinematics: Motion in Man and Machine Proceedings of the 12th International Symposium on Advances in Robot Kinematics, Springer, pp.367--376, 2010, ⟨10.1007/978-90-481-9262-5_39⟩. ⟨hal-00586455⟩

Camille Salaün, Vincent Padois, Olivier Sigaud. Learning Forward Models for the Operational Space Control of Redundant Robots. Olivier Sigaud and Jan Peters. From Motor Learning to Interaction Learning in Robots, Springer, pp.169--192, 2010, Studies in Computational Intelligence, volume 264, ⟨10.1007/978-3-642-05181-4_8⟩. ⟨hal-00586453⟩

Camille Salaün, Vincent Padois, Olivier Sigaud. A Two-Level Model of Anticipation-Based Motor Learning for Whole Body Motion. Giovanni Pezzulo, Martin V. Butz, Olivier Sigaud and Gianluca Baldassarre. Anticipatory Behavior in Adaptive Learning Systems: From Psychological Theories to Artificial Cognitive System, Springer, pp.229--246, 2009, Lecture Notes in Computer Science Volume 5499, ⟨10.1007/978-3-642-02565-5_13⟩. ⟨hal-00624103⟩

Vincent Padois, Jean-Yves Fourquet, Pascale Chiron, Marc Renaud. On contact transition for nonholonomic mobile manipulators. Ang, M.H. and Khatib, O. The 9th International Symposium on Experimental Robotics (ISER 2004), Springer, pp.207 -- 216, 2006, Springer Tracts in Advanced Robotics, Volume 21, ⟨10.1007/11552246_20⟩. ⟨hal-00624296⟩

Pauline Maurice, Yvan Measson, Vincent Padois, Philippe Bidaud. Experimental assessment of the quality of ergonomic indicators for collaborative robotics computed using a digital human model. National Institute of Advanced Industrial Science and Technology. 3rd International Digital Human Modeling Symposium, May 2014, Tokyo, Japan. 2014, Proceedings of 3rd International Digital Human Modeling Symposium. ⟨hal-00971319v2⟩

Ilias Aouaj, Vincent Padois, Alessandro Saccon. Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study. 2020. ⟨hal-02434909v2⟩

Antun Skuric, Vincent Padois, David Daney. On-line force capability evaluation based on efficient polytope vertex search. 2020. ⟨hal-02993408⟩

Mingxing Liu, Vincent Padois. Reactive whole-body control for humanoid balancing on non-rigid unilateral contacts. 2015. ⟨hal-01171216⟩

Ryan Lober, Vincent Padois, Olivier Sigaud. Variance Modulated Task Prioritization in Whole-Body Control. 2015. ⟨hal-01180011⟩

Vincent Padois. Enchaînements dynamiques de tâches pour des manipulateurs mobiles à roues. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2005. Français. ⟨tel-00011677v3⟩

Vincent Padois. Control and design of robots with tasks and constraints in mind. Robotics [cs.RO]. Université Pierre et Marie Curie (Paris 6), 2016. ⟨tel-01398868⟩