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C

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.

ccroc.pdf (20.68 MB)

M

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.

ddp-visual.pdf (1.22 MB)

W

E. Dantec, Budhiraja, R., Roig, A., Lembono, T., Saurel, G., Stasse, O., Fernbach, P., Tonneau, S., Vijayakumar, S., Calinon, S., Taïx, M., and Mansard, N., “Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion”, 2021.

HAL_MPC_memory_collision.pdf (5.92 MB)