Florent Lamiraux
Publications
Publications
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Collision Avoidance in Model Predictive Control using Velocity Damper2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, United States. pp.16140-16146, ⟨10.1109/ICRA55743.2025.11128856⟩ |
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Model predictive control under hard collision avoidance constraints for a robotic armUbiquitous Robots 2024, Korea Robotics Society, Jun 2024, New York (USA), United States. ⟨10.1109/UR61395.2024.10597485⟩ |
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Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric ParametersIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769790⟩ |
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Multi-Contact Task and Motion Planning Guided by Video DemonstrationICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom |
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FIGAROH: a Python toolbox for dynamic identification and geometric calibration of robots and humansIEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin (TX), United States. ⟨10.1109/Humanoids57100.2023.10375232⟩ |
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Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control2021 IEEE International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨10.1109/CASE49439.2021.9551576⟩ |
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Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllersIEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States |
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Continuous Tension Validation for Cable-Driven Parallel RobotsIROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. pp.6558-6563, ⟨10.1109/IROS45743.2020.9341202⟩ |
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Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel RobotIROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.8097-8102, ⟨10.1109/IROS40897.2019.8967836⟩ |
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The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivativesSII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France |
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Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque MeasurementICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩ |
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Handling implicit and explicit constraints in manipulation planningRobotics: Science and Systems 2018, Jun 2018, Pittsburg, United States. 9p |
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TALOS: A new humanoid research platform targeted for industrial applicationsInternational Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩ |
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Manipulation planning: addressing the crossed foliation issueIEEE International Conference on Robotics and Automation 2017, May 2017, Singapour, Singapore |
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level GroundInternational Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain |
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Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum ModelIEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759795⟩ |
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HPP: a new software for constrained motion planningInternational Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759083⟩ |
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Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea |
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Motion Planning and Irreducible TrajectoriesICRA, May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139695⟩ |
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Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement UnitsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p |
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Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain |
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RobOptim: an Optimization Framework for RoboticsRobomec, May 2013, Tsukuba, Japan. 4p |
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Optimal Motion Planning for Humanoid RobotsIEEE International Conference on Robotics and Automation ( ICRA ), May 2013, Karlsruhe, Germany. 7p |
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Trajectory Following for Legged RobotsInternational Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662, ⟨10.1109/BioRob.2012.6290282⟩ |
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Experiments on whole-body manipulation and locomotion with footstep real-time optimizationIEEE-RAS International Conference on Humanoid Robots, Nov 2012, Osaka, Japan. 6p |
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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding boxIEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0 |
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Small-Space Controllability of a Walking Humanoid RobotHumanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, Oct 2011, Bled, Slovenia. pp.739 - 744, ⟨10.1109/Humanoids.2011.6100807⟩ |
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Real-time Replanning Using 3D Environment for Humanoid RobotIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589, ⟨10.1109/Humanoids.2011.6100844⟩ |
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Weakly collision-free paths for continuous humanoid footstep planningInternational Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩ |
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Path Optimization for Humanoid Walk Planning: an Efficient ApproachProceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, Jul 2011, Noordwijkerhout, Netherlands. pp.179 - 184 |
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A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality ReductionIEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨10.1109/ICRA.2011.5979917⟩ |
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A framework for manipulation and locomotion with realtime footstep replanningIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. pp.676 - 681, ⟨10.1109/Humanoids.2011.6100889⟩ |
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Manipulation of Documented Objects by a Walking Humanoid Robot10th IEEE-RAS International Conference on Humanoid Robots, Dec 2010, Nashville, United States. pp. 518-523 |
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Approximation of Feasibility Tests for Reactive Walk on HRP-2IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6, ⟨10.1109/ROBOT.2010.5509395⟩ |
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Prioritizing linear equality and inequality systems: application to local motion planning for redundant robotsICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.2939-2944, ⟨10.1109/ROBOT.2009.5152293⟩ |
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Potential Field Guide for Humanoid Multicontacts Acyclic Motion PlanningICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1165-1170, ⟨10.1109/ROBOT.2009.5152353⟩ |
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Regrasp planning for pivoting manipulation by a humanoid robot2009 IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. ⟨10.1109/ROBOT.2009.5152540⟩ |
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Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision AvoidanceIEEE International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.1-6 |
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Architectures and models for humanoid robots in collaborative working environmentsISR 2008 - 39th International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359 |
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Integrating Dynamics into Motion Planning for Humanoid RobotsInternational Conference on Intelligent Robots and Systems ( 2008), IEEE; RSJ, Sep 2008, Nice, France |
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Taking into account velocity and acceleration bounds in nonholonomic trajectory deformationIEEE International Conference on Robotics and Automation, Apr 2007, Roma, Italy |
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Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory DeformationIEEE International Conference on Robotics and Automation (ICRA 2005), May 2005, Barcelona, Spain. ⟨10.1109/ROBOT.2005.1570831⟩ |
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Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two RobotsProc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France. pp.4277--4282 |
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Towards a software development kit for motion synthesis in virtual worlds7th International Conference on Virtual Systems and Multi-Media (VSMM), Oct 2001, Berkeley, United States |
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Move3D: a generic platform for path planning4th International Symposium on Assembly and Task Planning (ISATP), May 2001, Tsukuba, Japan |
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Sensor-based trajectory deformation: application to reactive navigation of nonholonomic robotsChesi, Graziano; Hashimoto, Koichi. Visual Servoing via Advanced Numerical Methods, Springer, p.315-334, 2010, Lecture Notes in Control and Information Sciences n° 401 |
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Optimizing paths in manipulation planning2021 |
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Algorithmique et commande du mouvement en robotiqueAutomatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2004 |
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Motion planningDoctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019 |