Publications

2019

Ferrari, P. and Scianca, N. and Lanari, L. and Oriolo, G., An integrated motion planner/controller for humanoid robots on uneven ground, 2019 European Control Conference, 2019 [bib][pdf]


Mariotti, E. and Magrini, E. and De Luca, A., Admittance control for human-robot interaction using an industrial robot equipped with a F/T sensor, 2019 IEEE International Conference on Robotics and Automation (ICRA), 2019 [bib][pdf]

2018

Vasalya, Ashesh and Ganesh, Gowrishankar and Kheddar, Abderrahmane, Distinct motor contagions during and after observation of actions by a humanoid co-worker, RO-MAN 2018 : 27th IEEE International Conference on Robot and Human Interactive Communication, 2018 [bib][pdf]


Audren, Hervé and Kheddar, Abderrahmane, 3D robust stability polyhedron in multi-contact, IEEE Transactions on Robotics, 2018 [bib][pdf]


Tanguy, Arnaud and De Simone, Daniele and Comport, Andrew I. and Oriolo, Giuseppe and Kheddar, Abderrahmane, Closed-loop MPC with Dense Visual SLAM-Stability through Reactive Stepping, 2018 [bib][pdf]


Pfeiffer, Kai and Escande, Adrien and Kheddar, Abderrahmane, Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares, IEEE Robotics and Automation Letters, 2018 [bib][pdf]


Tanguy, Arnaud and Kheddar, Abderrahmane and Comport, Andrew I., Online eye-robot self-calibration, SIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, 2018 [bib][pdf]


Vasalya, Ashesh and Ganesh, Gowrishankar and Kheddar, Abderrahmane, More than just co-workers: Presence of humanoid robot co-worker influences human performance, PLOS ONE, 2018 [bib][pdf]


Bouyarmane, Karim and Kheddar, Abderrahmane, On Weight-Prioritized Multi-Task Control of Humanoid Robots, IEEE Transactions on Automatic Control, 2017 [bib][pdf]


Paolillo, Antonio and Chappellet, Kévin and Bolotnikova, Anastasia and Kheddar, Abderrahmane, Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects, IEEE Robotics and Automation Letters, 2018 [bib][pdf]


Caron, Stéphane and Kheddar, Abderrahmane and Tempier, Olivier, Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control, 2018 [bib][pdf]


Cisneros, Rafael and Benallegue, Mehdi and Benallegue, Abdelaziz and Morisawa, Mitsuharu and Audren, Hervé and Gergondet, Pierre and Escande, Adrien and Kheddar, Abderrahmane and Kanehiro, Fumio, Robust humanoid control using a QP solver with integral gains, IROS: International Conference on Intelligent Robots and Systems, 2018 [bib][pdf]


Bouyarmane, Karim and Chappellet, Kevin and Vaillant, Joris and Kheddar, Abderrahmane, Quadratic Programming for Multirobot and Task-Space Force Control, IEEE Transactions on Robotics, 2018 [bib][pdf]


Massimo Cefalo and Emanuele Magrini and Giuseppe Oriolo, Sensor-Based Task-Constrained Motion Planning using Model Predictive Control ⁎⁎This work is supported by the EU H2020 project COMANOID., IFAC-PapersOnLine, 2018 [bib][pdf]


Brossette, Stanislas and Escande, Adrien and Kheddar, Abderrahmane, Multi-Contact Postures Computation on Manifolds, IEEE Transactions on Robotics, 2018 [bib][pdf]


Trinh, S. and Spindler, F. and Marchand. E. and Chaumette, F., A modular Framework for Model-Based Visual Tracking using Edge, Texture and Depth Features, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2018 [bib][pdf]


Caron, Stéphane and Escande, Adrien and Lanari, Leonardo and Mallein, Bastien, Capturability-based Pattern Generation for Walking with Variable Height, 2018 [bib][pdf]


Ferrari, Paolo and Cogneni, Marco and Oriolo, Giuseppe, Anytime Whole-Body Planning/Replanning for Humanoid Robots, 2018 [bib][pdf]


Charbonneau, Marie and Modugno, Valerio and Nori, Francesco and Oriolo, Giuseppe and Pucci, Daniele and Ivaldi, Serena, Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers, 2018 [bib][pdf]


T. Pham and S. Caron and A. Kheddar, Multicontact Interaction Force Sensing From Whole-Body Motion Capture, IEEE Transactions on Industrial Informatics, 2018 [bib][pdf]


V. Samy and K. Bouyarmane and A. Kheddar, Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018 [bib][pdf]


Alessio Zamparelli and Nicola Scianca and Leonardo Lanari and Giuseppe Oriolo, Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC ⁎⁎This work is supported by the EU H2020 project COMANOID., IFAC-PapersOnLine, 2018 [bib][pdf]


Mahé, Howard and Marraud, Denis and Comport, Andrew I., Semantic-only Visual Odometry based on dense class-level segmentation, 2018 Internal Conference on Pattern Recognition (ICPR), 2018 [bib][pdf]

2017

A. {Aboudonia} and N. {Scianca} and D. {De Simone} and L. {Lanari} and G. {Oriolo}, Humanoid gait generation for walk-to locomotion using single-stage MPC, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017 [bib][pdf]


Faragasso, Angela and Paolillo, Antonio and Vendittelli, Marilena and Oriolo, Giuseppe, Vision-based maze navigation for humanoid robots, Autonomous Robots, 2016 [bib][pdf]


M. {Cognetti} and D. {De Simone} and F. {Patota} and N. {Scianca} and L. {Lanari} and G. {Oriolo}, Real-time pursuit-evasion with humanoid robots, 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 [bib][pdf]


V. {Modugno} and G. {Nava} and D. {Pucci} and F. {Nori} and G. {Oriolo} and S. {Ivaldi}, Safe trajectory optimization for whole-body motion of humanoids, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017 [bib][pdf]


M. {Cefalo} and E. {Magrini} and G. {Oriolo}, Parallel collision check for sensor based real-time motion planning, 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 [bib][pdf]


N. {Scianca} and V. {Modugno} and L. {Lanari} and G. {Oriolo}, Gait generation via intrinsically stable MPC for a multi-mass humanoid model, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017 [bib][pdf]


G. {Buondonno} and J. {Carpentier} and G. {Saurel} and N. {Mansard} and A. {De Luca} and J. {Laumond}, Actuator design of compliant walkers via optimal control, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 [bib][pdf]


P. {Ferrari} and M. {Cognetti} and G. {Oriolo}, Humanoid whole-body planning for loco-manipulation tasks, 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 [bib][pdf]


Flacco, F. and De Luca, A., Real-time computation of distance to dynamic obstacles with multiple depth sensors, IEEE Robotics and Automation Letters, 2017 [bib][pdf]

2016

N. {Scianca} and M. {Cognetti} and D. {De Simone} and L. {Lanari} and G. {Oriolo}, Intrinsically stable MPC for humanoid gait generation, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016 [bib][pdf]


V. {Modugno} and U. {Chervet} and G. {Oriolo} and S. {Ivaldi}, Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016 [bib][pdf]


Lanari, L. and Urbann, O. and Hutchinson, S. and Schwarz, I., Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model, 20th RoboCup International Symposium, 2016 [bib][pdf]


B. Henze and A. Dietrich and C. Ott, An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots, IEEE Robotics and Automation Letters, 2016 [bib][pdf]


Agravante, Don Joven and Chaumette, François, Combining visual servoing and walking in an acceleration resolved whole-body control framework, Journées Nationales de la Robotique Humanoïde (JNRH), 2016 [bib][pdf]


Lanari, L. and Hutchinson, S., Optimal Double Support Zero Moment Point Trajectories for Bipedal Locomotion, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Traversaro, Silvio and Brossette, Stanislas and Escande, Adrien and Nori, Francesco , Identification of Fully Physical Consistent Inertial Parameters Using Optimization on Manifolds, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Buondonno, G. and De Luca, A., Combining real and virtual sensors for measuring interaction forces and moments acting on a robot, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Magrini, E. and De Luca, A., Hybrid force/velocity control for physical human-robot collaboration tasks, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


C. Ott and B. Henze and G. Hettich and T. N. Seyde and M. A. Roa and V. Lippi and T. Mergner, Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots, IEEE Robotics Automation Magazine, 2016 [bib][pdf]


A. Escande and S. Brossette and A. Kheddar, Parametrization of Catmull-Clark subdivision surfaces for posture generation, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


M. Cognetti and V. Fioretti and G. Oriolo, Whole-body planning for humanoids along deformable tasks, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


M. Cognetti and D. De Simone and L. Lanari and G. Oriolo, Real-time planning and execution of evasive motions for a humanoid robot, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


Henze, B. and Roa, M. A. and Ott, C., Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios, IJRR, 2016, in print

2015

Lanari, L. and Hutchinson, S., Planning desired center of Mass and zero moment point trajectories for bipedal locomotion, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Cognetti, M. and Mohammadi, P. and Oriolo, G., Whole-body motion planning for humanoids based on CoM movement primitives, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Brasseur, C. and Sherikov, A. and Collette, C. and Dimitrov, D. and Wieber, P.-B., A robust linear MPC approach to online generation of 3D biped walking motion, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Brossette, S. and Escande, A. and Duchemin, G. and Chretien, B. and Kheddar, A., Humanoid posture generation on non-Euclidean manifolds, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Sherikov, A. and Dimitrov, D. and Wieber, P.-B., Balancing a humanoid robot with a prioritized contact force distribution, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Samy, V. and Kheddar, A., Falls control using posture reshaping and active compliance, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Lanari, L. and Hutchinson, S., Inversion-based gait generation for humanoid robots, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015 [bib][pdf]