High Performances Humanoid Robot

Thanks to the Actanthrope Project and the INS2I CNRS the Gepetto Team has been able to specify a humanoid robot aiming at high performance motions. PAL-Robotics won the bid on this challenging task and delivered the first robot of the TALOS series.

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Making humanoid robot move
using sensor feedback

In the Gepetto team, we are developing several SDKs to make our robot move. Discover the Stack Of Tasks a software used since 2009 to make humanoid robots reacts in the real world.

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Optimization for robotics

Most of the algorithms we are developing and using in our robots are based on optimization techniques We use model predictive control, non linear and convex optimization to make great experiences.

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Bio sketch

I am a senior CNRS researcher at LAAS, Toulouse in the Gepetto group. My main research is motion generation for humanoid robots based on sensor feedback.

In 2000, I received a Ph.D. in Intelligent Systems from the University of Paris 6 (now Sorbonne University) under the supervision of P. Coiffet, and the French Habilitation to Supervise Research (HDR) in Robotics (2013) from the University of Toulouse III. From 2000 to 2003, I was assistant professor at the Univ. of Paris XIII. From 2003 to 2011, I was one of the funding members of the Joint French-Japanese Robotics Laboratory (JRL) between the CNRS and the AIST in Tsukuba, Japan and created by P. Coiffet and K.Tanie. In 2011 I joined the Gepetto team at LAAS, Toulouse.



  • (12/2022) Program co-Chair Humanoids 2022
  • (01/2021 - ) Head of the Gepetto group
  • (2019 - ) co-chair of the ANITI Robotics chair
  • (2019 - ) Associate editor at the IEEE Transactions on Robotics.
  • (2018 - ) I am co-directing the ROB4FAM joint lab between the Gepetto group with Airbus Toulouse.
  • (2018 - 2022) Involved in the Memmo, Terrinet H2020 European projects.
  • (2014-2016) In charge of the humanoid robots in the Gepetto Team at LAAS-CNRS, I managed the specifications and the contracting of the new humanoid robot Pyrène to PAL-Robotics. It is the first robot from the TALOS serie.
  • Former Associate editor of the IEEE-Robotics Automation Letter.
  • The scientific project R-Blink I coordinated was nominated for the 2013 Digital Technlogical ANR Awards.
  • I was nominated as an exceptional reviewer in 2012 for the IEEE Transactions on Robotics.
  • Together with Bjorn Verrelst we won the best paper Award at ICMA 2006 for stepping over large obstacle with the humanoid robot HRP-2.
  • Along with Francois Saidi I was finalist for best paper award ICAR 2007 for visual search with HRP-2.
  • Together with Andrew Davison, Nicolas Mansard and other colleagues I was finalist for best video award ICRA 2007.
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Scientific fields

Humanoid Robotics span a large spectrum of scientific fields to realize an intelligent motion

Numerical Optimization

The heart of my work is to formulate optimization problems and to solve them efficiently.

Software development

In addition to publications, the main results of my research are softwares: Stack-Of-Tasks, jrl-walkgen

Motion Planning

Finding feasible trajectories for legged robots without collision, considering contacts and vision


Using feedback control to compensate for everything we did not model, and model predictive control for the immediate future

Human model

Interaction with human, and improving humanoid robot needs human models


Simultaneous Localization and Map building for humanoid robots


Actuator models for simulation and control for humanoid robots

Computer vision

Embedded computer vision for complex behavior

How to contact me

For PhDs, practice training requests outside open positions I might be slow to answer

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