Publications

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2020

C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios

Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx

IEEE Transactions on Robotics, IEEE, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩

Motion Planning for an Elastic Rod using Contacts

Olivier Roussel, Pierre Fernbach, Michel Taïx

IEEE Transactions on Automation Science and Engineering, Institute of Electrical and Electronics Engineers, 2020, 17 (2), pp.670-683. ⟨10.1109/TASE.2019.2941046⟩

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain

Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea del Prete

IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197371⟩