Olivier Stasse
Présentation
Publications
Publications
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Latent Conditioned Loco-Manipulation Using Motion Priors2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.365-372, ⟨10.1109/Humanoids65713.2025.11203023⟩ |
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A Whole-Body Multi Contact Large Object Manipulation and Estimation Framework for Humanoids Using Skin Patches2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.1-8, ⟨10.1109/Humanoids65713.2025.11203164⟩ |
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Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.843-850, ⟨10.1109/Humanoids65713.2025.11203104⟩ |
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CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Oct 2024, Abu Dhabi, Emirats Arabes Unis, United Arab Emirates. pp.13303-13310, ⟨10.1109/IROS58592.2024.10802334⟩ |
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NAS: N-step computation of All Solutions to the footstep planning problemIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769878⟩ |
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Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot BoltIEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769884⟩ |
Delay Robust Model Predictive Control For Whole-Body Torque Control of HumanoidsIEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. pp.600-606, ⟨10.1109/Humanoids58906.2024.10769888⟩ |
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Delay Robust Model Predictive Control For Whole-Body Torque Control of HumanoidsIEEE International Conference on Humanoid Robotics, Nov 2024, Nancy, France |
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Interaction and control of a human-exoskeleton system2023 International Symposium on Medical Robotics (ISMR), Apr 2023, Atlanta, United States. pp.1-7, ⟨10.1109/ISMR57123.2023.10130232⟩ |
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Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial OperationsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10342428⟩ |
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LiDAR-based localization system for kidnapped robotsInternational Conference on Robotic Computing (IRC 2023), Dec 2023, Laguna Hills, CA, United States |
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Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan |
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Torque Controlled Locomotion of a Biped Robot with Link FlexibilityIEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan |
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From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling TasksIEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan. ⟨10.1109/Humanoids53995.2022.1000008⟩ |
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Whole-Body Control and Estimation of Humanoid Robots with Link FlexibilityIEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan |
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Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence propertiesInternational Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States |
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Delay Aware Universal Notice Network: Real world multi-robot transfer learningRencontres des Jeunes Chercheurs en Intelligence Artificielle (RJCIA'21) Plate-Forme Intelligence Artificielle (PFIA'21), Jul 2021, Bordeaux, France. pp.22-29 |
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Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled TalosInternational Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩ |
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ICP Localization and Walking Experiments on a TALOS Humanoid Robot20th International Conference on Advanced Robotics (ICAR 2021)), Dec 2021, Ljubljana (en ligne), Slovenia. ⟨10.1109/ICAR53236.2021.9659474⟩ |
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Comparison of Position and Torque Whole Body Control Schemes on the Humanoid Robot TALOS20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩ |
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Delay Aware Universal Notice Network: Real world multi-robot transfer learning2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635917⟩ |
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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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Metrics to Assess a Human Trajectory Prediction Model during Gait46ème congrès de la Société de Biomécanique, Oct 2021, Saint-Etienne, France |
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ROS : une solution middleware adaptée pour l'industrie du futur ?17ème colloque national S-mart AIP-PRIMECA, Université Polytechnique Hauts-de-France [UPHF], Mar 2021, LAVAL VIRTUAL WORLD, France |
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Design, analysis and control of the series-parallel hybrid RH5 humanoid robot2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩ |
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Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid RobotEuropean Control Conference (ECC20), May 2020, Saint Petersburg, Russia. ⟨10.23919/ecc51009.2020.9143817⟩ |
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Motion Planning with Multi-Contact and Visual Servoing on Humanoid RobotsSII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States |
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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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Walking Human Trajectory Models and Their Application to Humanoid Robot LocomotionIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9341118⟩ |
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Comparison of human experimental trajectories and simulations during gait45ème congrès de la Société de Biomécanique, Oct 2020, Metz, France |
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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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Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the FeetEuropean Control Conference (ECC 2018), KIOS Research and Innovation Center of Excellence, Jun 2018, Limassol, Cyprus. 8p |
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Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid RobotsInternational Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal |
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive ControllerIEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 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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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D projectRSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p |
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Experimental Evaluation of Simple Estimators for Humanoid RobotsIEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom |
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Motion Generation for Pulling a Fire Hose by a Humanoid Robot16th IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS 2016), Nov 2016, Cancun, Mexico |
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Robust human-inspired power law trajectories for humanoid HRP-2 robotIEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, Jun 2016, Singapour, Singapore. 8p., ⟨10.1109/BIOROB.2016.7523606⟩ |
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Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal controlIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejon, South Korea. ⟨10.1109/IROS.2016.7759103⟩ |
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Performing Explosive motion using a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal controlMSC-2016 IEEE Multi-Conference on Systems and Control 2016, Sep 2016, Buenos Aires, Argentina |
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A Versatile and Efficient Pattern Generator for Generalized Legged LocomotionIEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden |
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Motion Planning and Irreducible TrajectoriesICRA, May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139695⟩ |
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Whole-body Model-Predictive Control applied to the HRP-2 HumanoidIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p |
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Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact ConfigurationsIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p |
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Vision-driven walking pattern generation for humanoid reactive walkingInternational Conference on Robotics and Automation, May 2014, Hong-Kong, China. 7p |
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Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstaclesIEEE International Conference on Humanoid Robotics (HUMANOIDS), Nov 2014, Madrid, Spain. 8p |
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Airbus/future of aircraft factory HRP-2 as universal worker proof of conceptInternational Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041488⟩ |
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METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filteringInternational Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩ |
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A two-stage suboptimal approximation for variable compliance and torque controlEuropean Control Conference, Jun 2014, Strasbourg, France. pp.1151 - 1157, ⟨10.1109/ECC.2014.6862557⟩ |
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Towards Reactive Whole-Body Motion Planning in Cluttered Environments by Precomputing Feasible Motion SpacesInternational Conference on Humanoid Robots, Oct 2013, Atlanta, United States. pp.286--291 |
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Vision-based motion primitives for reactive walkingIEEE-RAS International Conference on Humanoid Robots, Oct 2013, Atlanta, United States. pp.274--279 |
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Walking on Non-planar Surfaces using an Inverse Dynamic Stack of TasksIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Nov 2012, Osaka, Japan. 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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Capture, Recognition and Imitation of Anthropomorphic MotionIEEE International Conference on Robotics and Automation (ICRA 2012), May 2012, St Paul, United States. pp. 3539-3540 |
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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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Vision based control for Humanoïd robotsIROS Workshop on Visual Control of Mobile Robots (ViCoMoR), Sep 2011, San Francisco, California,, United States. pp.19-26 |
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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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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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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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Humanoid Robot Task Recognition from Movement AnalysisIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2010), Dec 2010, Nashville, United States. p. 314-321, ⟨10.1109/ICHR.2010.5686842⟩ |
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Cancelling the sway motion of dynamic walking in visual servoingIROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.3175-3180, ⟨10.1109/IROS.2010.5649126⟩ |
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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interactionHumanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩ |
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Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid RobotICIA: International Conference on Information and Automation, Jun 2009, Zhuhai, China. pp.78-83, ⟨10.1109/ICINFA.2009.5204897⟩ |
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An Optimized Linear Model Predictive Control Solver for Online Walking Motion GenerationICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.1171-1176, ⟨10.1109/ROBOT.2009.5152380⟩ |
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A Two-Steps Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid RobotICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1159-1164, ⟨10.1109/ROBOT.2009.5152350⟩ |
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Humanoid feet trajectory generation for the reduction of the dynamical effectsHumanoids, Dec 2009, Paris, France. pp.454-458, ⟨10.1109/ICHR.2009.5379542⟩ |
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Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robotIROS: Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.5635-5640, ⟨10.1109/IROS.2009.5354412⟩ |
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A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of TasksICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6 |
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Treasure hunting for humanoids robotHumanoids, Dec 2008, Daejeon, South Korea |
Intercontinental multimodal tele-cooperation using a humanoid robotIROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, ⟨10.1109/IROS.2008.4650829⟩ |
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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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Real-time (self)-collision avoidance task on a HRP-2 humanoid robotICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena Conference Center, Pasadena, CA, United States. pp.3200-3205, ⟨10.1109/ROBOT.2008.4543698⟩ |
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Visually-guided grasping while walking on a humanoid robotIEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.3041-3047 |
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Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2Humanoids, Nov 2007, Pittsburgh, United States. pp.151-158, ⟨10.1109/ICHR.2007.4813862⟩ |
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Mobility of Humanoid Robots: Stepping over Large Obstacles DynamicallyIEEE International Conference on Mechatronics and Automation, Jun 2006, Henan, China. pp.1072 - 1079, ⟨10.1109/ICMA.2006.257774⟩ |
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3D object recognition using spin-images for a humanoid stereoscopic vision systemIEEE/RSJ International Conferenece on Intelligent Robots and Systems (IROS), Oct 2006, Beijing, China. pp.2955 - 2960, ⟨10.1109/IROS.2006.282151⟩ |
The RoboCoq Project: Modelling and Design of Bird-like RobotClimbing and Walking Robots, 2003, Catania, Italy |
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the Robocoq project : Modelling and design of a bird-like robot equipped with stabilized visionLong Abstract Proceedings of the Second International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2003, Kyoto, Japan. pp.44 |
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Vers une méthode d'evaluation comparée de mécanismes de regroupements de pixels : Application à la décomposition en composantes connexes et à la croissance de régions pour l'utilisation dans un système de vision robotique temps réel19° Colloque sur le traitement du signal et des images, 2003, Paris, France |
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A next-best-view algorithm for autonomous 3D object modeling by a humanoid robotHumanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, ⟨10.1109/ICHR.2008.4756001⟩ |
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Whole-Body ManipulationEncyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2020, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_187-1⟩ |
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An overview of humanoid robots technologiesBiomechanics of Anthropomorphic Systems, Springer, pp.281-310, 2019, 978-3-319-93870-7 |
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SLAM and Vision-based Humanoid NavigationHumanoid Robotics: A Reference, pp.1739-1761, 2018, 978-94-007-6047-9. ⟨10.1007/978-94-007-6046-2_59⟩ |
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Modeling of coordinated human body motion by learning of structured dynamic representationGeometric and Numerical Foundations of Movements, Springer, pp.237-267, 2017, Star 117 |
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An Optimized Linear Model Predictive Control SolverRecent Advances in Optimization and its Applications in Engineering, Springer Berlin Heidelberg, pp.309-318, 2010, ⟨10.1007/978-3-642-12598-0_27⟩ |
Trot Gait Design Details for QuadrupedsRoboCup 2003: Robot Soccer World Cup VII, 3020, Springer Berlin Heidelberg, pp.495-502, 2004, Lecture Notes in Computer Science, ⟨10.1007/978-3-540-25940-4_44⟩ |
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Vision based motion generation for humanoid robotsRobotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2013 |
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Program / simulation tools / ROS / Gazebo / OpenHRPDoctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019 |