My research goal is to create reactive humanoid robots able to perform real-life behaviors.

  • Videos: Experiments and simulation of humanoid robots
  • Projects: Past and current projects

Humanoid robots are highly redundant  complex robots with more than 30 motors to be controlled compared to classical industrial robots. For this reason humanoid robots have the potential to generate a large set of motions. The difficulty is then to create a sensory-motor loop able to find the right motion according to the situation. For these reasons my work involves computer vision, motion planning, control with a strong root in optimization/operational research/mathematical programming. Finally my research has a strong experimental side thanks to the humanoid robot HRP-2 build by Kawada Inc and our new humanoid robot Pyrène the first robot of the TALOS serie built by PAL-Robotics.