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2020 – today
- 2020
[c62]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA 2020: 1357-1363- [c61]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti
, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA 2020: 2536-2542 - [c60]Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete:
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. ICRA 2020: 6604-6610 - [i10]Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon:
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR abs/2001.11751 (2020) - [i9]Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar:
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR abs/2010.00411 (2020) - [i8]Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim:
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. CoRR abs/2011.09772 (2020)
2010 – 2019
- 2019
- [c59]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. CVPR 2019: 8640-8649 - [c58]Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Solà, Thomas Flayols:
Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. Humanoids 2019: 237-243 - [c57]Rohan Budhiraja, Justin Carpentier, Nicolas Mansard:
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA 2019: 6727-6733 - [c56]Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard:
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019: 614-619 - [i7]Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic:
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video. CoRR abs/1904.02683 (2019) - [i6]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR abs/1904.05072 (2019) - [i5]Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard:
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR abs/1909.04947 (2019) - [i4]Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete:
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. CoRR abs/1909.09044 (2019) - 2018
- [j22]Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard:
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. ACM Trans. Graph. 37(5): 176:1-176:14 (2018) - [j21]Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard:
An Efficient Acyclic Contact Planner for Multiped Robots. IEEE Trans. Robotics 34(3): 586-601 (2018) - [j20]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics 34(4): 1021-1034 (2018) - [j19]Justin Carpentier, Nicolas Mansard:
Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics 34(6): 1441-1460 (2018) - [c55]Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà:
Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. ECC 2018: 3031-3037 - [c54]Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard:
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids 2018: 1-9 - [c53]Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse:
Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. ICINCO (2) 2018: 39-48 - [c52]Nicolas Mansard, A. DelPrete, Mathieu Geisert, Steve Tonneau, Olivier Stasse:
Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. ICRA 2018: 2986-2993 - [c51]Justin Carpentier, Nicolas Mansard:
Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems 2018 - 2017
- [j18]Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori:
Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics 33(4): 819-833 (2017) - [c50]Olivier Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, F. Ferro:
TALOS: A new humanoid research platform targeted for industrial applications. Humanoids 2017: 689-695 - [c49]Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond:
Actuator design of compliant walkers via optimal control. IROS 2017: 705-711 - [c48]Justin Carpentier, Rohan Budhiraja, Nicolas Mansard:
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems 2017 - 2016
- [j17]Steve Tonneau, Rami Ali Al-Ashqar, Julien Pettré, Taku Komura, Nicolas Mansard:
Character contact re-positioning under large environment deformation. Comput. Graph. Forum 35(2): 127-138 (2016) - [j16]Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori:
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. Int. J. Humanoid Robotics 13(1): 1550044:1-1550044:29 (2016) - [j15]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32(4): 810-822 (2016) - [j14]Andrea Del Prete, Nicolas Mansard:
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics 32(5): 1091-1105 (2016) - [c47]Andrea Del Prete, Steve Tonneau, Nicolas Mansard:
Fast algorithms to test robust static equilibrium for legged robots. ICRA 2016: 1601-1607 - [c46]Mathieu Geisert, Nicolas Mansard:
Trajectory generation for quadrotor based systems using numerical optimal control. ICRA 2016: 2958-2964 - [c45]Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard:
A versatile and efficient pattern generator for generalized legged locomotion. ICRA 2016: 3555-3561 - [c44]Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppala, Mylène Campana, Nicolas Mansard, Florent Lamiraux:
HPP: A new software for constrained motion planning. IROS 2016: 383-389 - [c43]Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, Dinesh Manocha:
Dynamically balanced and plausible trajectory planning for human-like characters. I3D 2016: 39-48 - [c42]Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond:
A simulation framework for simultaneous design and control of passivity based walkers. SIMPAR 2016: 104-110 - [i3]Mathieu Geisert, Nicolas Mansard:
Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. CoRR abs/1602.01949 (2016) - 2015
- [j13]Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre:
Optimization as motion selection principle in robot action. Commun. ACM 58(5): 64-74 (2015) - [j12]Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, Layale Saab:
Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics Autom. Mag. 22(4): 16-26 (2015) - [c41]Manuel Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, Christian Kirches, Philippe Souères, Katja D. Mombaur:
Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. Humanoids 2015: 684-689 - [c40]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids 2015: 1121-1126 - [c39]Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori:
Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA 2015: 3590-3595 - [c38]Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard:
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS 2015: 3346-3351 - [c37]Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, Julien Pettré:
A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments. ISRR (2) 2015: 287-303 - [c36]Andrea Del Prete, Nicolas Mansard:
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems 2015 - 2014
- [j11]Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre:
Optimality in robot motion: optimal versus optimized motion. Commun. ACM 57(9): 82-89 (2014) - [j10]Oscar E. Ramos, Mauricio J. García Vazquez, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, Philippe Souères:
Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach. Int. J. Humanoid Robotics 11(2) (2014) - [j9]Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber:
Hierarchical quadratic programming: Fast online humanoid-robot motion generation. Int. J. Robotics Res. 33(7): 1006-1028 (2014) - [c35]P. Geoffroy, O. Bordron, Nicolas Mansard, M. Raison, Olivier Stasse, Timothy Bretl:
A two-stage suboptimal approximation for variable compliance and torque control. ECC 2014: 1151-1157 - [c34]Oscar E. Ramos, Nicolas Mansard, Philippe Souères:
Whole-body motion integrating the capture point in the operational space inverse dynamics control. Humanoids 2014: 707-712 - [c33]Olivier Stasse, F. Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau, Christian Vassallo:
Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. Humanoids 2014: 1014-1015 - [c32]Yuval Tassa, Nicolas Mansard, Emo Todorov:
Control-limited differential dynamic programming. ICRA 2014: 1168-1175 - [c31]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial force control of constrained floating-base robots. IROS 2014: 3227-3232 - [i2]Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale:
Partial Force Control of Constrained Floating-Base Robots. CoRR abs/1410.4426 (2014) - 2013
- [j8]Layale Saab, Oscar E. Ramos, François Keith, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet:
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. IEEE Trans. Robotics 29(2): 346-362 (2013) - 2012
- [j7]Jaemin Lee, Nicolas Mansard, Jaeheung Park:
Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control. IEEE Trans. Robotics 28(6): 1260-1277 (2012) - [j6]Sovannara Hak, Nicolas Mansard, Olivier Stasse, Jean-Paul Laumond:
Reverse Control for Humanoid Robot Task Recognition. IEEE Trans. Syst. Man Cybern. Part B 42(6): 1524-1537 (2012) - [c30]Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Philippe Souères:
Walking on non-planar surfaces using an inverse dynamic stack of tasks. Humanoids 2012: 829-834 - [c29]Sovannara Hak, Nicolas Mansard, Oscar E. Ramos, Layale Saab, Olivier Stasse:
Capture, recognition and imitation of anthropomorphic motion. ICRA 2012: 3539-3540 - [c28]Nicolas Mansard:
A dedicated solver for fast operational-space inverse dynamics. ICRA 2012: 4943-4949 - [c27]Layale Saab, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet, Manish N. Sreenivasa, Yoshihiko Nakamura:
Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. SyRoCo 2012: 479-484 - [i1]Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy:
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. CoRR abs/1201.5450 (2012) - 2011
- [c26]Oscar E. Ramos, Layale Saab, Sovannara Hak, Nicolas Mansard:
Dynamic motion capture and edition using a stack of tasks. Humanoids 2011: 224-230 - [c25]Layale Saab, Nicolas Mansard, François Keith, Jean-Yves Fourquet, Philippe Souères:
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. ICRA 2011: 1091-1096 - [c24]Jaemin Lee, Nicolas Mansard, Jaeheung Park:
Intermediate desired value approach for continuous transition among multiple tasks of robots. ICRA 2011: 1276-1282 - [c23]Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy:
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. ICVS 2011: 31-40 - [c22]François Keith, Pierre-Brice Wieber, Nicolas Mansard, Abderrahmane Kheddar:
Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations. IROS 2011: 3887-3892 - [c21]Layale Saab, Oscar E. Ramos, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet:
Generic dynamic motion generation with multiple unilateral constraints. IROS 2011: 4127-4133 - 2010
- [c20]Sovannara Hak, Nicolas Mansard, Olivier Stasse:
Humanoid robot task recognition from movement analysis. Humanoids 2010: 314-321 - [c19]Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber:
Fast resolution of hierarchized inverse kinematics with inequality constraints. ICRA 2010: 3733-3738 - [c18]Mitsuharu Morisawa, Fumio Kanehiro, Kenji Kaneko, Nicolas Mansard, Joan Solà, Eiichi Yoshida, Kazuhito Yokoi, Jean-Paul Laumond:
Combining suppression of the disturbance and reactive stepping for recovering balance. IROS 2010: 3150-3156
2000 – 2009
- 2009
- [j5]Nicolas Mansard, François Chaumette:
Directional Redundancy for Robot Control. IEEE Trans. Autom. Control. 54(6): 1179-1192 (2009) - [j4]Nicolas Mansard, Anthony Remazeilles, François Chaumette:
Continuity of Varying-Feature-Set Control Laws. IEEE Trans. Autom. Control. 54(11): 2493-2505 (2009) - [j3]Nicolas Mansard, Oussama Khatib, Oussama Kheddar:
A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks. IEEE Trans. Robotics 25(3): 670-685 (2009) - [c17]François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar:
From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping. ICAPS 2009 - [c16]Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar:
Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. Humanoids 2009: 284-289 - [c15]Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Joan Solà, Eiichi Yoshida, Nicolas Mansard, Kazuhito Yokoi, Jean-Paul Laumond:
Reactive stepping to prevent falling for humanoids. Humanoids 2009: 528-534 - [c14]Nicolas Mansard, Olivier Stasse, Paul Evrard, Abderrahmane Kheddar:
A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. ICAR 2009: 1-6 - [c13]François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar:
Optimization of tasks warping and scheduling for smooth sequencing of robotic actions. IROS 2009: 1609-1614 - [c12]Paul Evrard, Nicolas Mansard, Olivier Stasse, Abderrahmane Kheddar, Thomas Schauss, Carolina Weber, Angelika Peer, Martin Buss:
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. IROS 2009: 5635-5640 - 2008
- [j2]Olivier Stasse, François Saïdi, Kazuhito Yokoi, Björn Verrelst, Bram Vanderborght, Andrew J. Davison, Nicolas Mansard, Claudia Esteves:
Integrating Walking and Vision to Increase Humanoid Autonomy. Int. J. Humanoid Robotics 5(2): 287-310 (2008) - [c11]Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, Abderrahmane Kheddar:
Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. ICRA 2008: 3200-3205 - [c10]Nicolas Mansard, Oussama Khatib:
Continuous control law from unilateral constraints. ICRA 2008: 3359-3364 - 2007
- [j1]Nicolas Mansard, François Chaumette:
Task Sequencing for High-Level Sensor-Based Control. IEEE Trans. Robotics 23(1): 60-72 (2007) - [c9]Olivier Stasse, Björn Verrelst, Andrew J. Davison, Nicolas Mansard, Bram Vanderborght, Claudia Esteves, François Saïdi, Kazuhito Yokoi:
Integrating Walking and Vision to Increase Humanoid Robot Autonomy. ICRA 2007: 2772-2773 - [c8]Nicolas Mansard, Olivier Stasse, François Chaumette, Kazuhito Yokoi:
Visually-Guided Grasping while Walking on a Humanoid Robot. ICRA 2007: 3041-3047 - 2006
- [c7]Nicolas Mansard, Manuel Lopes, José Santos-Victor, François Chaumette:
Jacobian Learning Methods for Tasks Sequencing in Visual Servoing. IROS 2006: 4284-4290 - [c6]Anthony Remazeilles, Nicolas Mansard, François Chaumette:
A Qualitative Visual Servoing to ensure the Visibility Constraint. IROS 2006: 4297-4303 - 2005
- [c5]Nicolas Mansard, François Chaumette:
Visual Servoing Sequencing Able to Avoid Obstacles. ICRA 2005: 3143-3148 - [c4]Nicolas Mansard, François Chaumette:
A new redundancy formalism for avoidance in visual servoing. IROS 2005: 468-474 - [c3]Nicolas Mansard, Olivier Aycard, Carla Koike:
Hierarchy of behaviours application to the homing problem in indoor environment. ROBIO 2005: 593-598 - 2004
- [c2]Nicolas Mansard, François Chaumette:
Tasks sequencing for visual servoing. IROS 2004: 992-997 - [c1]Nicolas Mansard, Olivier Aycard, Carla Koike:
Hierarchy of behaviours Application to the homing problem in indoor environment. ROBIO 2004: 895-900
Coauthor Index
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