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Conference Paper

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.

16-icra-carpentier.pdf (3.92 MB)

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)

Journal Article

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)