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Olivier Stasse

113
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Researcher identifiers
  • IdHAL olivier-stasse
  • ORCID 0000-0001-8569-6155
  • Google Scholar : https://scholar.google.com/citations?user=JSESzk4AAAAJ&hl=en
  • Google Scholar : https://scholar.google.fr/citations?user=JSESzk4AAAAJ&hl=en
  • IdRef : 089432002

Presentation

Olivier Stasse received his his B.S. on Computer Science and his Master degrees on Operational Research from University Paris VI in 1994 and 1997. He received his Ph.D. in Intelligent Systems from University Paris VI in 2000. From 2000 to 2003 he was Assistant Professor at University Paris XIII. From 2003 to 2011 he was at the CNRS/AIST Joint Robotics Laboratory in Tsukuba, Japan. From 2011, he is a member of the Gepetto TEAM, LAAS, CNRS. In 2013, he obtained his Habilatation to Direct Research from the University of Toulouse. In 2010 he became a permanent CNRS researcher, and a senior researcher (Directeur de Recherche) in 2014. His research speciality is in fast motion generation motivated by vision and sensor feedback applied to humanoid robots. The scientific project R-Blink that he coordinated was nominated for the 2013 Digital Technlogical ANR Awards. He was nominated as an exceptional reviewer in 2012 for the IEEE Transactions on Robotics journal in 2012. Together with Bjorn Verrelst he won the best paper Award at ICMA 2006 for stepping over large obstacle with the humanoid robot HRP-2. Along with Francois Saidi he was finalist for best paper award ICAR 2007 for visual search with HRP-2. Together with Andrew Davison, Nicolas Mansard and other colleagues he was finalist for best video award ICRA 2007.

Publications

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Benchmarking Whole Body controllers on the TALOS Humanoid Robot

Noelie Ramuzat , Olivier Stasse , Sebastien Boria
Frontiers in Robotics and AI, 2022, 9, pp.826491. ⟨10.3389/frobt.2022.826491⟩
Journal articles hal-03614143v1
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Inverse Optimal Control to Model Human Trajectories During Locomotion

Isabelle Maroger , Olivier Stasse , Bruno Watier
Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (5), pp.499-511. ⟨10.1080/10255842.2021.1962311⟩
Journal articles hal-03142655v2
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Passive Inverse Dynamics Control using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Noelie Ramuzat , Sebastien Boria , Olivier Stasse
IEEE Robotics and Automation Letters, 2022, 7 (2), pp.2787 - 2794. ⟨10.1109/LRA.2022.3144767⟩
Journal articles hal-03547136v2
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Human Trajectory Prediction Model and its Coupling with a Walking Pattern Generator of a Humanoid Robot

Isabelle Maroger , Noelie Ramuzat , Olivier Stasse , Bruno Watier
IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6361 - 6369. ⟨10.1109/LRA.2021.3092750⟩
Journal articles hal-03292150v1
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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 et al.
IEEE Transactions on Robotics, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩
Journal articles hal-01894869v4
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How do walkers behave when crossing the way of a mobile robot that replicates human interaction rules?

Christian Vassallo , Anne-Hélène Olivier , Philippe Souères , Armel Crétual , Olivier Stasse et al.
Gait & Posture, 2018, 60, pp.188-193. ⟨10.1016/j.gaitpost.2017.12.002⟩
Journal articles hal-01717722v1
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Motion Planning in Irreducible Path Spaces

Andreas Orthey , Olivier Roussel , Olivier Stasse , Michel Taïx
Robotics and Autonomous Systems, 2018, 109, pp.97-108. ⟨10.1016/j.robot.2018.08.012⟩
Journal articles hal-01873197v1
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Benchmarking the HRP-2 humanoid robot during locomotion

Olivier Stasse , Kevin Giraud-Esclasse , Edouard Brousse , Maximilien Naveau , Rémi Régnier et al.
Frontiers in Robotics and AI, 2018, 5, ⟨10.3389/frobt.2018.00122⟩
Journal articles hal-02001008v1
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A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

Maximilien Naveau , Manuel Kudruss , Olivier Stasse , Christian Kirches , Katja Mombaur et al.
IEEE Robotics and Automation Letters, 2017, 2 (1), pp.10-17. ⟨10.1109/LRA.2016.2518739⟩
Journal articles hal-01261415v1
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COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2

Debora Clever , Monika Harant , Katja Mombaur , Maximilien Naveau , Olivier Stasse et al.
IEEE Robotics and Automation Letters, 2017, 2 (2), pp.977-984. ⟨10.1109/LRA.2017.2657000⟩
Journal articles hal-01459840v1
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Adaptive synthesis of dynamically feasible full-body movements for the humanoid robot HRP-2 by flexible combination of learned dynamic movement primitives

Albert A Mukovskiy , Christian Vassallo , Maximilien Naveau , Olivier Stasse , Philippe Souères et al.
Robotics and Autonomous Systems, 2017, 91, pp.270-283. ⟨10.1016/j.robot.2017.01.010⟩
Journal articles hal-01484935v1
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How do walkers avoid a mobile robot crossing their way?

Christian Vassallo , Anne-Hélène Olivier , Philippe Souères , Armel Crétual , Olivier Stasse et al.
Gait & Posture, 2017, 51, pp.97-103. ⟨10.1016/j.gaitpost.2016.09.022⟩
Journal articles hal-01371202v1
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Continuous Legged Locomotion Planning

Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux et al.
IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩
Journal articles hal-01433866v1
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Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors

Andrea del Prete , Nicolas Mansard , Oscar Efrain Ramos Ponce , Olivier Stasse , Francesco Nori et al.
International Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044
Journal articles hal-01136936v2
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Dancing Humanoid Robots: Systematic use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern

Oscar Efrain Ramos Ponce , Nicolas Mansard , Olivier Stasse , Christophe Benazeth , Sovannara Hak et al.
IEEE Robotics and Automation Magazine, 2015, 22 (4), pp.16 - 26. ⟨10.1109/MRA.2015.2415048⟩
Journal articles hal-01222238v1
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Time-Optimal Path Parameterization for Redundantly-Actuated Robots (Numerical Integration Approach)

Quang-Cuong Pham , Olivier Stasse
IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.3257-3263. ⟨10.1109/TMECH.2015.2409479⟩
Journal articles hal-01138098v1
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Towards reactive vision-guided walking on rough terrain: an inverse-dynamics based approach

Oscar Efrain Ramos Ponce , Mauricio Garcia , Nicolas Mansard , Olivier Stasse , Jean-Bernard Hayet et al.
International Journal of Humanoid Robotics, 2014, 11 (2), pp.1441004
Journal articles hal-00990082v1
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Vision-guided motion primitives for humanoid reactive walking: decoupled vs. coupled approaches

Mauricio Garcia , Olivier Stasse , Jean-Bernard Hayet , Claire Dune , Claudia Esteves et al.
The International Journal of Robotics Research, 2014, 34 (4-5), pp.402-419. ⟨10.1177/0278364914550891⟩
Journal articles hal-01113499v1
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How to Localize Humanoids with a Single Camera?

Alcantarilla F. Pablo , Olivier Stasse , Sébastien Druon , Bergasa Luis M. , Frank Dellaert et al.
Autonomous Robots, 2013, 34 (1-2), pp.47-71. ⟨10.1007/s10514-012-9312-1⟩
Journal articles hal-00923564v1
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Humanoid motion generation and swept volumes: theoretical bounds for safe steps

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
Advanced Robotics, 2013, 27 (14), pp.1045 - 1058. ⟨10.1080/01691864.2013.805468⟩
Journal articles hal-01113510v1
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HUMANOID LOCOMOTION PLANNING FOR VISUALLY-GUIDED TASKS

Jean-Bernard Hayet , Claudia Esteves , Gustavo Arechavaleta-Servin , Olivier Stasse , Eiichi Yoshida et al.
International Journal of Humanoid Robotics, 2012, 9 (2), pp.1250009. ⟨10.1142/S0219843612500090⟩
Journal articles hal-01016154v1

Fast humanoid robot collision-free footstep planning using swept volume approximations

Nicolas Perrin , Olivier Stasse , Léo Baudouin , Florent Lamiraux , Eiichi Yoshida et al.
IEEE Transactions on Robotics, 2012, 28 (2), pp.0-0
Journal articles hal-00662545v1
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Reverse Control for Humanoid Robot Task Recognition

Sovannara Hak , Nicolas Mansard , Olivier Stasse , Jean-Paul Laumond
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2012, 42 (6), pp.1524-1537. ⟨10.1109/TSMCB.2012.2193614⟩
Journal articles hal-00697272v1
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Fast humanoid robot collision-free footstep planning using swept volume approximations

Nicolas Perrin , Olivier Stasse , Léo Baudouin , Florent Lamiraux , Eiichi Yoshida et al.
IEEE Transactions on Robotics, 2012, 28 (2), p.427-439
Journal articles hal-00662550v1
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Autonomous 3D object modeling by a humanoid using an optimization-driven Next-Best-View formulation

Torea Foissotte , Olivier Stasse , Pierre-Brice Wieber , Adrien Escande , Abderrahmane Kheddar et al.
International Journal of Humanoid Robotics, 2010, 7 (3), pp.407-428. ⟨10.1142/S0219843610002246⟩
Journal articles inria-00567850v1
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Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles

Olivier Stasse , Bjorn Verrelst , Bram Vanderborght , Kazuhito Yokoi
IEEE Transactions on Robotics, 2009, 25 (4), pp.960 - 967. ⟨10.1109/TRO.2009.2020354⟩
Journal articles hal-01016143v1
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Integration of humanoid robots in collaborative working environment: a case study on motion generation

Olivier Stasse , Rudolf Ruland , Florent Lamiraux , Abderrahmane Kheddar , Kazuhito Yokoi et al.
Intelligent Service Robotics, 2009, 2 (3), pp.153-160. ⟨10.1007/s11370-009-0045-8⟩
Journal articles hal-00451346v1
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Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments

Olivier Stasse , Bjorn Verrelst , Pierre-Brice Wieber , Bram Vanderborght , Paul Evrard et al.
Advanced Robotics, 2008, 22 (6-7), pp.589-611. ⟨10.1163/156855308X305236⟩
Journal articles inria-00390485v1
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Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties

Amit Parag , Sébastien Kleff , Léo Saci , Nicolas Mansard , Olivier Stasse et al.
International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States
Conference papers hal-03356261v2
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From the Study of Table Trajectories during Collaborative Carriages toward Pro-active Human-Robot Table Handling Tasks

Isabelle Maroger , Olivier Stasse , Bruno Watier
2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan
Conference papers hal-03839963v1
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Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot

Ewen Louis Dantec , Maximilien Naveau , Nicolas Mansard , Pierre Fernbach , Nahuel Villa et al.
2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan
Conference papers hal-03724019v2
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Torque Controlled Locomotion of a Biped Robot with Link Flexibility

Nahuel A Villa , Pierre Fernbach , Maximilien Naveau , Guilhem Saurel , Ewen Dantec et al.
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan
Conference papers hal-03452196v2
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Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility

Giulio Romualdi , Nahuel Alejandro Villa , Stefano Dafarra , Daniele Pucci , Olivier Stasse et al.
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan
Conference papers hal-03866027v1
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ICP Localization and Walking Experiments on a TALOS Humanoid Robot

Thibaud Lasguignes , Isabelle Maroger , Maurice Fallon , Milad Ramezani , Luca Marchionni et al.
20th International Conference on Advanced Robotics (ICAR 2021)), Dec 2021, Ljubljana (en ligne), Slovenia. ⟨10.1109/ICAR53236.2021.9659474⟩
Conference papers hal-03482225v1

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Julian Esser , Shivesh Kumar , Heiner Peters , Vinzenz Bargsten , Jose de Gea Fernandez et al.
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩
Conference papers hal-03420889v1
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ROS : une solution middleware adaptée pour l'industrie du futur ?

Cyril Briand , Olivier Stasse , Michel Taïx , Thierry Germa , Fabien Marco et al.
17ème colloque national S-mart AIP-PRIMECA, Université Polytechnique Hauts-de-France [UPHF], Mar 2021, LAVAL VIRTUAL WORLD, France
Conference papers hal-03296139v1
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Metrics to Assess a Human Trajectory Prediction Model during Gait

Isabelle Maroger , Olivier Stasse , Bruno Watier
46ème congrès de la Société de Biomécanique, Oct 2021, Saint-Etienne, France
Conference papers hal-03218959v1
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Comparison of Position and Torque Whole Body Control Schemes on the Humanoid Robot TALOS

N Ramuzat , G Buondonno , S Boria , Olivier Stasse
20th International Conference on Advanced Robotics (ICAR), Dec 2021, Virtual event, Slovenia. ⟨10.1109/ICAR53236.2021.9659380⟩
Conference papers hal-03145141v2
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Delay Aware Universal Notice Network: Real world multi-robot transfer learning

S Beaussant , S Lengagne , B Thuilot , Olivier Stasse
Rencontres des Jeunes Chercheurs en Intelligence Artificielle (RJCIA'21) Plate-Forme Intelligence Artificielle (PFIA'21), Jul 2021, Bordeaux, France. pp.22-29
Conference papers hal-03298723v1
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Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Ewen Louis Dantec , Rohan Budhiraja , Adria Roig , Teguh Lembono , Guilhem Saurel et al.
International Conference on Robotics and Automation (ICRA 2021), IEEE, May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9560742⟩
Conference papers hal-02995796v2
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Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control

Joseph Mirabel , Florent Lamiraux , Thuc Long Ha , Alexis Nicolin , Olivier Stasse et al.
2021 IEEE International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨10.1109/CASE49439.2021.9551576⟩
Conference papers hal-03308202v1
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Delay Aware Universal Notice Network: Real world multi-robot transfer learning

Samuel Beaussant , Sebastien Lengagne , Benoit Thuilot , Olivier Stasse
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635917⟩
Conference papers hal-03383498v1
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Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid Robot

Noélie Ramuzat , Florent Forget , V. Bonnet , S Boria , Olivier Stasse et al.
European Control Conference (ECC20), May 2020, Saint Petersburg, Russia
Conference papers hal-02889421v1
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Comparison of human experimental trajectories and simulations during gait

Isabelle Maroger , Olivier Stasse , Bruno Watier
45ème congrès de la Société de Biomécanique, Oct 2020, Metz, France
Conference papers hal-02922581v1
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Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion

Isabelle Maroger , Olivier Stasse , Bruno Watier
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9341118⟩
Conference papers hal-02922573v1
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Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers

Alexis Nicolin , Joseph Mirabel , Sébastien Boria , Olivier Stasse , Florent Lamiraux et al.
IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States
Conference papers hal-02466543v1
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Motion Planning with Multi-Contact and Visual Servoing on Humanoid Robots

Kevin Giraud--Esclasse , Pierre Fernbach , Gabriele Buondonno , Carlos Mastalli , Olivier Stasse et al.
SII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States
Conference papers hal-02383130v1
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The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

Justin Carpentier , Guilhem Saurel , Gabriele Buondonno , Joseph Mirabel , Florent Lamiraux et al.
SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France
Conference papers hal-01866228v2
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller

Nicolas Mansard , Andrea del Prete , Mathieu Geisert , Steve Tonneau , Olivier Stasse et al.
IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p
Conference papers hal-01591373v1
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Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet

Dinesh Atchuthan , Angel Santamaria-Navarro , Nicolas Mansard , Olivier Stasse , Joan Solà et al.
European Control Conference (ECC 2018), KIOS Research and Innovation Center of Excellence, Jun 2018, Limassol, Cyprus. 8p
Conference papers hal-01818697v1
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Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots

Florent Forget , Kevin Giraud-Esclasse , Rodolphe Gelin , Nicolas Mansard , Olivier Stasse et al.
International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal
Conference papers hal-01494676v3
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Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project

Justin Carpentier , Andrea del Prete , Steve Tonneau , Thomas Flayols , Florent Forget et al.
RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p
Conference papers hal-01543060v1
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Experimental Evaluation of Simple Estimators for Humanoid Robots

Thomas Flayols , Andrea del Prete , Patrick Wensing , Alexis Mifsud , Mehdi Benallegue et al.
IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom
Conference papers hal-01574819v2
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TALOS: A new humanoid research platform targeted for industrial applications

Olivier Stasse , Thomas Flayols , Rohan Budhiraja , Kevin Giraud-Esclasse , Justin Carpentier et al.
International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Conference papers hal-01485519v2
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Motion Generation for Pulling a Fire Hose by a Humanoid Robot

Ixchel G Ramirez-Alpizar , Maximilien Naveau , Christophe Benazeth , Olivier Stasse , Jean-Paul Laumond et al.
16th IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS 2016), Nov 2016, Cancun, Mexico
Conference papers hal-01388372v1
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A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion

Justin Carpentier , Steve Tonneau , Maximilien Naveau , Olivier Stasse , Nicolas Mansard et al.
IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden
Conference papers hal-01203507v2
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Performing Explosive motion using a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control

Ganesh Kumar Hari Shankar Lal Das , Bertrand Tondu , Florent Forget , Jérôme Manhes , Olivier Stasse et al.
MSC-2016 IEEE Multi-Conference on Systems and Control 2016, Sep 2016, Buenos Aires, Argentina
Conference papers hal-01382328v1
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Robust human-inspired power law trajectories for humanoid HRP-2 robot

M Karklinsky , Maximilien Naveau , A Mukovskiy , Olivier Stasse , T Flash et al.
IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, Jun 2016, Singapour, Singapore. 8p., ⟨10.1109/BIOROB.2016.7523606⟩
Conference papers hal-02002597v1
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Controlling a multi-joint arm actuated by pneumatic muscles with quasi-DDP optimal control

Ganesh Kumar Hari Shankar Lal Das , Bertrand Tondu , Florent Forget , Jérôme Manhes , Olivier Stasse et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejon, South Korea. ⟨10.1109/IROS.2016.7759103⟩
Conference papers hal-01432100v1
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Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations

M Kudruss , Maximilien Naveau , Olivier Stasse , Nicolas Mansard , C Kirches et al.
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p
Conference papers hal-01179667v2
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Motion Planning and Irreducible Trajectories

Andreas Orthey , Olivier Stasse , Florent Lamiraux
ICRA, May 2015, Seattle, United States
Conference papers hal-01121025v1
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Whole-body Model-Predictive Control applied to the HRP-2 Humanoid

J Koenemann , Andrea del Prete , Yuval Tassa , E Todorov , Olivier Stasse et al.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p
Conference papers hal-01137021v1
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Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles

Kai Henning Koch , Katja Mombaur , Olivier Stasse , Philippe Souères
IEEE International Conference on Humanoid Robotics (HUMANOIDS), Nov 2014, Madrid, Spain. 8p
Conference papers hal-01113490v1
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A two-stage suboptimal approximation for variable compliance and torque control

Perle Geoffroy , Olivier Bordron , Nicolas Mansard , M Raison , Olivier Stasse et al.
European Control Conference, Jun 2014, Strasbourg, France. pp.1151 - 1157, ⟨10.1109/ECC.2014.6862557⟩
Conference papers hal-01114610v1
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Airbus/future of aircraft factory HRP-2 as universal worker proof of concept

Olivier Stasse , Andreas Orthey , Francesco Morsillo , Mathieu Geisert , Nicolas Mansard et al.
International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041488⟩
Conference papers hal-01122476v1
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Vision-driven walking pattern generation for humanoid reactive walking

Mauricio Garcia , Olivier Stasse , Jean-Bernard Hayet
International Conference on Robotics and Automation, May 2014, Hong-Kong, China. 7p
Conference papers hal-00990088v1
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METAPOD Template META-programming applied to dynamics: CoP-CoM trajectories filtering

Maximilien Naveau , Justin Carpentier , Sébastien Barthelemy , Olivier Stasse , Philippe Souères et al.
International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩
Conference papers hal-01122475v1
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Vision-based motion primitives for reactive walking

Mauricio Garcia , Olivier Stasse , Jean-Bernard Hayet , Claudia Esteves , Jean-Paul Laumond et al.
IEEE-RAS International Conference on Humanoid Robots, Oct 2013, Atlanta, United States. pp.274--279
Conference papers hal-00875408v1
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Towards Reactive Whole-Body Motion Planning in Cluttered Environments by Precomputing Feasible Motion Spaces

Andreas Orthey , Olivier Stasse
International Conference on Humanoid Robots, Oct 2013, Atlanta, United States. pp.286--291
Conference papers hal-00911897v1
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Walking on Non-planar Surfaces using an Inverse Dynamic Stack of Tasks

Oscar Efrain Ramos Ponce , Nicolas Mansard , Olivier Stasse , Philippe Souères
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Nov 2012, Osaka, Japan. 7p
Conference papers hal-00738243v1
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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Youn J. Kim , Dinesh Manocha et al.
IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0
Conference papers hal-00668794v1
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Capture, Recognition and Imitation of Anthropomorphic Motion

Sovannara Hak , Nicolas Mansard , Oscar Efrain Ramos Ponce , Layale Saab , Olivier Stasse et al.
IEEE International Conference on Robotics and Automation (ICRA 2012), May 2012, St Paul, United States. pp. 3539-3540
Conference papers hal-00706661v1
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Trajectory Following for Legged Robots

Thomas Moulard , Florent Lamiraux , Olivier Stasse
International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662
Conference papers hal-00601291v3
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Vision based control for Humanoid robots

Claire Dune , Andrei Herdt , Eric Marchand , Olivier Stasse , Pierre-Brice Wieber et al.
IROS Workshop on Visual Control of Mobile Robots (ViCoMoR), Sep 2011, San Francisco, USA, United States. pp.19-26
Conference papers hal-00639681v1
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Weakly collision-free paths for continuous humanoid footstep planning

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩
Conference papers hal-00639026v1
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Real-time Replanning Using 3D Environment for Humanoid Robot

Léo Baudouin , Nicolas Perrin , Thomas Moulard , Florent Lamiraux , Olivier Stasse et al.
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589
Conference papers hal-00601300v1
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A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China
Conference papers hal-00593659v1
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Humanoid Robot Task Recognition from Movement Analysis

Sovannara Hak , Nicolas Mansard , Olivier Stasse
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2010), Dec 2010, Nashville, United States. p. 314-321
Conference papers hal-00499291v1
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Cancelling the sway motion of dynamic walking in visual servoing

Claire Dune , Andrei Herdt , Olivier Stasse , Pierre-Brice Wieber , Kazuhito Yokoi et al.
IROS 2010 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Oct 2010, Taipei, Taiwan. pp.3175-3180, ⟨10.1109/IROS.2010.5649126⟩
Conference papers inria-00567664v1
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Approximation of Feasibility Tests for Reactive Walk on HRP-2

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6
Conference papers hal-00455454v1
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A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

Nicolas Mansard , Olivier Stasse , Paul Evrard , Abderrahmane Kheddar
ICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6
Conference papers lirmm-00796736v1
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Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Paul Evrard , Nicolas Mansard , Olivier Stasse , Abderrahmane Kheddar , Thomas Schauss et al.
IROS: Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.5635-5640, ⟨10.1109/IROS.2009.5354412⟩
Conference papers hal-01113715v1
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Humanoid feet trajectory generation for the reduction of the dynamical effects

Paolo Pierro , Olivier Stasse , Abderrahmane Kheddar , Kazuhito Yokoi , Carlos Balaguer et al.
Humanoids, Dec 2009, Paris, France. pp.454-458, ⟨10.1109/ICHR.2009.5379542⟩
Conference papers lirmm-00796738v1
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A Two-Steps Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot

Torea Foissotte , Olivier Stasse , Adrien Escande , Pierre-Brice Wieber , Abderrahmane Kheddar et al.
ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1159-1164, ⟨10.1109/ROBOT.2009.5152350⟩
Conference papers inria-00390587v1
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Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot

Torea Foissotte , Olivier Stasse , Pierre-Brice Wieber , Abderrahmane Kheddar
ICIA: International Conference on Information and Automation, Jun 2009, Zhuhai, China. pp.78-83, ⟨10.1109/ICINFA.2009.5204897⟩
Conference papers inria-00567680v1
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Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Olivier Stasse , Paul Evrard , Nicolas Perrin , Nicolas Mansard , Abderrahmane Kheddar et al.
Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩
Conference papers hal-00507141v1
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An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation

Dimitar Dimitrov , Pierre-Brice Wieber , Olivier Stasse , Joachim Ferreau , Holger Diedam et al.
ICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.1171-1176, ⟨10.1109/ROBOT.2009.5152380⟩
Conference papers inria-00390593v1
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Treasure hunting for humanoids robot

Olivier Stasse , Torea Foissotte , Diane Larlus , Abderrahmane Kheddar , Kazuhito Yokoi et al.
Humanoids, Dec 2008, Daejeon, South Korea
Conference papers lirmm-00800956v1
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Architectures and models for humanoid robots in collaborative working environments

Olivier Stasse , Neo Ee Sian , Florent Lamiraux , Takeshi Sakaguchi , Abderrahmane Kheddar et al.
ISR'08: International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359
Conference papers lirmm-00798785v1
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Real-time (self)-collision avoidance task on a HRP-2 humanoid robot

Olivier Stasse , Adrien Escande , Nicolas Mansard , Sylvain Miossec , Paul Evrard et al.
ICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena Conference Center, Pasadena, CA, United States. pp.3200-3205, ⟨10.1109/ROBOT.2008.4543698⟩
Conference papers lirmm-00798791v1

Intercontinental multimodal tele-cooperation using a humanoid robot

Angelika Peer , Sandra Hirche , Carolina Weber , Inga Krause , Martin Buss et al.
IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, ⟨10.1109/IROS.2008.4650829⟩
Conference papers lirmm-00798823v1
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Visually-guided grasping while walking on a humanoid robot

Nicolas Mansard , Olivier Stasse , François Chaumette , K. Yokoi
IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.3041-3047
Conference papers inria-00350654v1
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Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2

Olivier Stasse , Diane Larlus , Baptiste Lagarde , Adrien Escande , François Saidi et al.
Humanoids, Nov 2007, Pittsburgh, United States. pp.151-158, ⟨10.1109/ICHR.2007.4813862⟩
Conference papers inria-00548676v1
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3D object recognition using spin-images for a humanoid stereoscopic vision system

Olivier Stasse , Sylvain Dupitier , Kazuhito Yokoi
IEEE/RSJ International Conferenece on Intelligent Robots and Systems (IROS), Oct 2006, Beijing, China. pp.2955 - 2960, ⟨10.1109/IROS.2006.282151⟩
Conference papers hal-01117854v1
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Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically

Björn Verrelst , Kazuhito Yokoi , Olivier Stasse , Hitoshi Arisumi , Bram Vanderborght et al.
IEEE International Conference on Mechatronics and Automation, Jun 2006, Henan, China. pp.1072 - 1079, ⟨10.1109/ICMA.2006.257774⟩
Conference papers hal-01117866v1

The RoboCoq Project: Modelling and Design of Bird-like Robot

L. Mederreg , Vincent Hugel , Anick Abourachid , Olivier Stasse , Patrick Bonnin et al.
Climbing and Walking Robots, 2003, Catania, Italy
Conference papers hal-03559329v1

the Robocoq project : Modelling and design of a bird-like robot equipped with stabilized vision

L. Mederreg , Vincent Hugel , Anick Abourachid , Olivier Stasse , Patrick Bonnin et al.
Long Abstract Proceedings of the Second International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2003, Kyoto, Japan. pp.44
Conference papers hal-03559315v1
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A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

Torea Foissotte , Olivier Stasse , Adrien Escande , Abderrahmane Kheddar
Humanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, ⟨10.1109/ICHR.2008.4756001⟩
Conference poster lirmm-00798770v1
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Whole-Body Manipulation

Olivier Stasse , Ludovic Righetti
Encyclopedia of Robotics, Springer Berlin Heidelberg, pp.1-9, 2020, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_187-1⟩
Book sections hal-03045448v1
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An overview of humanoid robots technologies

Olivier Stasse , Thomas Flayols
Biomechanics of Anthropomorphic Systems, Springer, pp.281-310, 2019, 978-3-319-93870-7
Book sections hal-01759061v1
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SLAM and Vision-based Humanoid Navigation

Olivier Stasse
Humanoid Robotics: A Reference, pp.1739-1761, 2018, 978-94-007-6047-9. ⟨10.1007/978-94-007-6046-2_59⟩
Book sections hal-01674512v1
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Modeling of coordinated human body motion by learning of structured dynamic representation

Albert A Mukovskiy , Nick Taubert , Dominik Endres , Christian Vassallo , Maximilien Naveau et al.
Geometric and Numerical Foundations of Movements, Springer, pp.237-267, 2017, Star 117
Book sections hal-02002507v1
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An Optimized Linear Model Predictive Control Solver

Dimitar Dimitrov , Pierre-Brice Wieber , Olivier Stasse , Hans Joachim Ferreau , Holger Diedam et al.
Recent Advances in Optimization and its Applications in Engineering, Springer Berlin Heidelberg, pp.309-318, 2010, ⟨10.1007/978-3-642-12598-0_27⟩
Book sections hal-02495862v1
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Vision based motion generation for humanoid robots

Olivier Stasse
Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2013
Habilitation à diriger des recherches tel-00843953v1
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Program / simulation tools / ROS / Gazebo / OpenHRP

Olivier Stasse
Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019
Lectures cel-02130166v1