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N. Ramuzat, Forget, F., Bonnet, V., Gautier, M., Boria, S., and Stasse, O., Actuator model, Identification and Differential Dynamic Programming for a TALOS humanoid robot, in European Conference on Control, 2020.PDF icon Actuator_Model_Identification_and_Differential_Dynamic_Programming_for_a_TALOS_Humanoid_Robot.pdf (2.42 MB)
A. Nicolin, Mirabel, J., Boria, S., Stasse, O., and Lamiraux, F., Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task based controllers, in IEEE/SICE International Symposium on Systems Integration, 2020.PDF icon planning-tasks.pdf (2.51 MB)
P. Fernbach, Tonneau, S., Stasse, O., Carpentier, J., and Taïx, M., C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios, IEEE Transactions on Robotics, vol. 36, no. 3, 2020.PDF icon ccroc.pdf (20.68 MB)
K. Giraud–Esclasse, Fernbach, P., Buondonno, G., Mastalli, C., and Stasse, O., Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots, in IEEE/SICE International Symposium on System Integration, SII, 2020.PDF icon ddp-visual.pdf (1.22 MB)
I. Maroger, Stasse, O., and Watier, B., Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion, in Int. Conf. on Intelligent Robots and Systems (IROS), 2020.PDF icon IROS_2020_Maroger_Post_Review.pdf (5.8 MB)
O. Stasse and Flayols, T., An overview of humanoid robots technologies, in Biomechanics of Anthropomorphic Systems, G. Venture, Watier, B., and Laumond, J. - P., Eds. Springer, 2018.PDF icon springer-wb-2017-2.pdf (1.18 MB)
O. Stasse, Self-localization and Map building, in Humanoid Robots: A Reference, A. Goswami and Vadakkepat, P., Eds. Springer, 2018.PDF icon hrr-slam-revised-2.pdf (2.31 MB)
K. Hari Shank G. Das, .Tondu, B., Stasse, O., and Soueres, P., Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control, in IEEE Int. Conf. on Robotics and Intelligent Systems (IROS), 2016.PDF icon iros-ddp-pneumatic.pdf (1.59 MB)
A. Del Prete, Mansard, N., Ramos, O. E., Stasse, O., and Nori, F., Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors, International Journal of Humanoid Robotics, vol. 13, no. 1, 2016.PDF icon delprete_ijhr_2016.pdf (9.43 MB)
I. Ramirez-Alpizar, Naveau, M., Benazeth, C., Stasse, O., Laumond, J. - P., and Yoshida, E., Motion generation for pulling a fire hose by a humanoid robot, in "Int. Conf. on Humanoid Robotics (ICHR)", 2016.PDF icon ichr2016-submitted.pdf (1.27 MB)
K. Hari Shank G. Das, Tondu, B., .Forget, F., Manhes, J., Stasse, O., and Soueres, P., Performing Explosive Motions Using a Multi-Joint Arm Actuated by Pneumatic Muscles with Quasi-DDP Optimal Control, in IEEE Multi conférence on Science and Control, 2016.PDF icon Ganesh_MSC2016.pdf (1.11 MB)
M. Karklinsky, Naveau, M., Mukovskiy, A., Stasse, O., Flash, T., and Soueres, P., Robust human-inspired power law trajectories for humanoid HRP-2 robot, in IEEE/RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), 2016.PDF icon Robot23PLBioRob2016FinalCameraReady.pdf (1.37 MB)
J. Carpentier, Tonneau, S., Naveau, M., Stasse, O., and Mansard, N., A versatile and efficient pattern generator for generalized legged locomotion, in IEEE International Conference on Robotics and Automation (ICRA 2016), 2016.PDF icon 16-icra-carpentier.pdf (3.92 MB)