Olivier Stasse

132
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Publications

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Towards Zero-Shot Cross-Agent Transfer Learning via Latent-Space Universal Notice Network

Samuel Beaussant , Sebastien Lengagne , Benoit Thuilot , Olivier Stasse

Robotics and Autonomous Systems, 2025, 184, pp.104862. ⟨10.1016/j.robot.2024.104862⟩

Article dans une revue hal-04801176v1
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Humanoid Robotics: Integrating Cognitive and Physical Abilities for Human-Centered Environments [From the Guest Editors]

Oliver Urbann , Fei Chen , Julian Eßer , Robert Griffin , Kenji Hashimoto et al.

IEEE Robotics and Automation Magazine, 2025, 32 (1), pp.8-10. ⟨10.1109/MRA.2025.3527820⟩

Article dans une revue hal-05389383v1
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Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot

Vincent Bonnet , Joseph Mirabel , David Daney , Florent Lamiraux , Maxime Gautier et al.

Robotics and Autonomous Systems, 2023, 164, pp.104365. ⟨10.1016/j.robot.2023.104365⟩

Article dans une revue hal-04222944v1
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Walking paths during collaborative carriages do not follow the simple rules observed in the locomotion of single walking subjects

Isabelle Maroger , Manon Silva , Hélène Pillet , Nicolas Turpin , Olivier Stasse et al.

Scientific Reports, 2022, 12 (1), pp.15585. ⟨10.1038/s41598-022-19853-7⟩

Article dans une revue hal-04336933v1
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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⟩

Article dans une revue hal-03547136v2
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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⟩

Article dans une revue 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⟩

Article dans une revue hal-03142655v2
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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⟩

Article dans une revue 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

IEEE Transactions on Robotics, 2020, 36 (3), pp.676-691. ⟨10.1109/TRO.2020.2964787⟩

Article dans une revue hal-01894869v4

Humanoid walking pattern generation based on model predictive control approximated with basis functions

Ang Zhang , Ixchel Ramirez-Alpizar , Kevin Giraud--Esclasse , Olivier Stasse , Kensuke Harada

Advanced Robotics, 2019, 33 (9), pp.454-468. ⟨10.1080/01691864.2019.1594366⟩

Article dans une revue hal-04901912v1
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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⟩

Article dans une revue hal-01717722v1
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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⟩

Article dans une revue hal-02001008v1
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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⟩

Article dans une revue hal-01873197v1
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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⟩

Article dans une revue hal-01261415v1
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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⟩

Article dans une revue hal-01371202v1
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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⟩

Article dans une revue hal-01484935v1
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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⟩

Article dans une revue hal-01459840v1
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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⟩

Article dans une revue 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

International Journal of Humanoid Robotics, 2016, 13 (1), pp.1550044

Article dans une revue hal-01136936v2
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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⟩

Article dans une revue hal-01138098v1
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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⟩

Article dans une revue hal-01222238v1
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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

Article dans une revue 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⟩

Article dans une revue hal-01113499v1
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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⟩

Article dans une revue hal-01113510v1
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How to Localize Humanoids with a Single Camera?

Alcantarilla F. Pablo , Olivier Stasse , Sébastien Druon , Bergasa Luis M. , Frank Dellaert

Autonomous Robots, 2013, 34 (1-2), pp.47-71. ⟨10.1007/s10514-012-9312-1⟩

Article dans une revue hal-00923564v1
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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⟩

Article dans une revue 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

IEEE Transactions on Robotics, 2012, 28 (2), p.427-439. ⟨10.1109/TRO.2011.2172152⟩

Article dans une revue hal-00662550v1
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HUMANOID LOCOMOTION PLANNING FOR VISUALLY-GUIDED TASKS

Jean-Bernard Hayet , Claudia Esteves , Gustavo Arechavaleta-Servin , Olivier Stasse , Eiichi Yoshida

International Journal of Humanoid Robotics, 2012, 9 (2), pp.1250009. ⟨10.1142/S0219843612500090⟩

Article dans une revue hal-01016154v1
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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

International Journal of Humanoid Robotics, 2010, 7 (3), pp.407-428. ⟨10.1142/S0219843610002246⟩

Article dans une revue inria-00567850v1
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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⟩

Article dans une revue hal-00451346v1
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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⟩

Article dans une revue hal-01016143v1
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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⟩

Article dans une revue inria-00390485v1
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Latent Conditioned Loco-Manipulation Using Motion Priors

Maciej Stępień , Rafael Kourdis , Constant Roux , Olivier Stasse

2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.365-372, ⟨10.1109/Humanoids65713.2025.11203023⟩

Communication dans un congrès hal-05242643v1
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A Whole-Body Multi Contact Large Object Manipulation and Estimation Framework for Humanoids Using Skin Patches

Rajesh Subburaman , Olivier Stasse

2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.1-8, ⟨10.1109/Humanoids65713.2025.11203164⟩

Communication dans un congrès hal-05368991v1
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Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot

Constant Roux , Elliot Chane-Sane , Ludovic de Matteïs , Thomas Flayols , Jérôme Manhes et al.

2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.843-850, ⟨10.1109/Humanoids65713.2025.11203104⟩

Communication dans un congrès hal-05198560v1
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CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

Elliot Chane-Sane , Pierre-Alexandre Léziart , Thomas Flayols , Olivier Stasse , Philippe Souères et al.

2024 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⟩

Communication dans un congrès hal-04523167v2
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NAS: N-step computation of All Solutions to the footstep planning problem

Jiayi Wang , Saeid Samadi , Hefan Wang , Pierre Fernbach , Olivier Stasse et al.

IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769878⟩

Communication dans un congrès hal-04730135v1
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Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt

Constant Roux , Côme Perrot , Olivier Stasse

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769884⟩

Communication dans un congrès hal-04807935v1

Delay Robust Model Predictive Control For Whole-Body Torque Control of Humanoids

Rajesh Subburaman , Olivier Stasse

IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. pp.600-606, ⟨10.1109/Humanoids58906.2024.10769888⟩

Communication dans un congrès hal-04822878v1
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Delay Robust Model Predictive Control For Whole-Body Torque Control of Humanoids

Rajesh Subburaman , Olivier Stasse

IEEE International Conference on Humanoid Robotics, Nov 2024, Nancy, France

Communication dans un congrès hal-04811937v1
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Interaction and control of a human-exoskeleton system

Aurélie Bonnefoy , Sabrina Otmani , Nicolas Mansard , Olivier Stasse , Guilhem Michon et al.

2023 International Symposium on Medical Robotics (ISMR), Apr 2023, Atlanta, United States. pp.1-7, ⟨10.1109/ISMR57123.2023.10130232⟩

Communication dans un congrès hal-04942985v1
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Step Toward Deploying the Torque-Controlled Robot TALOS on Industrial Operations

Côme Perrot , Olivier Stasse

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Oct 2023, Detroit, United States. ⟨10.1109/IROS55552.2023.10342428⟩

Communication dans un congrès hal-04168681v1
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LiDAR-based localization system for kidnapped robots

Thibaud Lasguignes , Guillaume Gobin , Olivier Stasse

International Conference on Robotic Computing (IRC 2023), Dec 2023, Laguna Hills, CA, United States

Communication dans un congrès hal-04363895v1
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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

Communication dans un congrès 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

Communication dans un congrès hal-03452196v2
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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

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Okinawa, Japan. ⟨10.1109/Humanoids53995.2022.1000008⟩

Communication dans un congrès hal-03839963v1
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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

IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan

Communication dans un congrès hal-03866027v1
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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

International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, United States

Communication dans un congrès hal-03356261v2
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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

Communication dans un congrès 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⟩

Communication dans un congrès hal-02995796v2
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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⟩

Communication dans un congrès hal-03482225v1
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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⟩

Communication dans un congrès hal-03145141v2
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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⟩

Communication dans un congrès hal-03383498v1
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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⟩

Communication dans un congrès hal-03308202v1
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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

Communication dans un congrès hal-03218959v1
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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

Communication dans un congrès hal-03296139v1

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⟩

Communication dans un congrès hal-03420889v1
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Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid Robot

Noélie Ramuzat , Florent Forget , Vincent Bonnet , S Boria , Olivier Stasse et al.

European Control Conference (ECC20), May 2020, Saint Petersburg, Russia. ⟨10.23919/ecc51009.2020.9143817⟩

Communication dans un congrès hal-02889421v1
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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

SII 2020 - International Symposium on System Integration, Jan 2020, Honolulu, United States

Communication dans un congrès hal-02383130v1
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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

IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States

Communication dans un congrès hal-02466543v1
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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⟩

Communication dans un congrès hal-02922573v1
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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

Communication dans un congrès hal-02922581v1
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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

Communication dans un congrès hal-01866228v2
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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

European Control Conference (ECC 2018), KIOS Research and Innovation Center of Excellence, Jun 2018, Limassol, Cyprus. 8p

Communication dans un congrès 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

International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal

Communication dans un congrès hal-01494676v3
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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

IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. 9p

Communication dans un congrès hal-01591373v1
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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⟩

Communication dans un congrès hal-01485519v2
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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

Communication dans un congrès 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

Communication dans un congrès hal-01574819v2
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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

Communication dans un congrès hal-01388372v1
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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⟩

Communication dans un congrès 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⟩

Communication dans un congrès hal-01432100v1
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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

Communication dans un congrès hal-01382328v1
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A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion

Justin Carpentier , Steve Tonneau , Maximilien Naveau , Olivier Stasse , Nicolas Mansard

IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden, May 2016, Stockholm, Sweden

Communication dans un congrès hal-01203507v2
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Motion Planning and Irreducible Trajectories

Andreas Orthey , Olivier Stasse , Florent Lamiraux

ICRA, May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139695⟩

Communication dans un congrès 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

Communication dans un congrès hal-01137021v1
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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

Communication dans un congrès hal-01179667v2
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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

Communication dans un congrès hal-00990088v1
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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

Communication dans un congrès hal-01113490v1
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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⟩

Communication dans un congrès hal-01122476v1
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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

International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041391⟩

Communication dans un congrès hal-01122475v1
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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⟩

Communication dans un congrès hal-01114610v1
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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

Communication dans un congrès hal-00911897v1
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Vision-based motion primitives for reactive walking

Mauricio Garcia , Olivier Stasse , Jean-Bernard Hayet , Claudia Esteves , Jean-Paul Laumond

IEEE-RAS International Conference on Humanoid Robots, Oct 2013, Atlanta, United States. pp.274--279

Communication dans un congrès hal-00875408v1
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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

Communication dans un congrès hal-00738243v1
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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, ⟨10.1109/BioRob.2012.6290282⟩

Communication dans un congrès hal-00601291v3
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Capture, Recognition and Imitation of Anthropomorphic Motion

Sovannara Hak , Nicolas Mansard , Oscar Efrain Ramos Ponce , Layale Saab , Olivier Stasse

IEEE International Conference on Robotics and Automation (ICRA 2012), May 2012, St Paul, United States. pp. 3539-3540

Communication dans un congrès hal-00706661v1
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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

IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0

Communication dans un congrès hal-00668794v1
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Vision based control for Humanoïd 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, California,, United States. pp.19-26

Communication dans un congrès hal-04427750v1
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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, ⟨10.1109/Humanoids.2011.6100844⟩

Communication dans un congrès hal-00601300v1
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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⟩

Communication dans un congrès hal-00639026v1
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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. ⟨10.1109/ICRA.2011.5979917⟩

Communication dans un congrès hal-00593659v1
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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, ⟨10.1109/ROBOT.2010.5509395⟩

Communication dans un congrès hal-00455454v1
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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, ⟨10.1109/ICHR.2010.5686842⟩

Communication dans un congrès 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⟩

Communication dans un congrès inria-00567664v1
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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

Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩

Communication dans un congrès hal-00507141v1
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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⟩

Communication dans un congrès inria-00567680v1
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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

ICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.1171-1176, ⟨10.1109/ROBOT.2009.5152380⟩

Communication dans un congrès inria-00390593v1
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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

ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1159-1164, ⟨10.1109/ROBOT.2009.5152350⟩

Communication dans un congrès inria-00390587v1
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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

Humanoids, Dec 2009, Paris, France. pp.454-458, ⟨10.1109/ICHR.2009.5379542⟩

Communication dans un congrès lirmm-00796738v1
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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⟩

Communication dans un congrès hal-01113715v1
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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

Communication dans un congrès lirmm-00796736v1
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Treasure hunting for humanoids robot

Olivier Stasse , Torea Foissotte , Diane Larlus , Abderrahmane Kheddar , Kazuhito Yokoi

Humanoids, Dec 2008, Daejeon, South Korea

Communication dans un congrès lirmm-00800956v1

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⟩

Communication dans un congrès lirmm-00798823v1
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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 2008 - 39th International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359

Communication dans un congrès 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⟩

Communication dans un congrès lirmm-00798791v1
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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

Communication dans un congrès 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⟩

Communication dans un congrès inria-00548676v1
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Mobility of Humanoid Robots: Stepping over Large Obstacles Dynamically

Björn Verrelst , Kazuhito Yokoi , Olivier Stasse , Hitoshi Arisumi , Bram Vanderborght

IEEE International Conference on Mechatronics and Automation, Jun 2006, Henan, China. pp.1072 - 1079, ⟨10.1109/ICMA.2006.257774⟩

Communication dans un congrès hal-01117866v1
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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⟩

Communication dans un congrès hal-01117854v1

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

Communication dans un congrès 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

Communication dans un congrès hal-03559315v1

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 réel

Patrick Bonnin , Olivier Stasse , Vincent Hugel , Pierre Blazevic , M. Silly-Chetto

19° Colloque sur le traitement du signal et des images, 2003, Paris, France

Communication dans un congrès hal-03559306v1
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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⟩

Poster de conférence 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⟩

Chapitre d'ouvrage 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

Chapitre d'ouvrage 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⟩

Chapitre d'ouvrage 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

Chapitre d'ouvrage 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

Recent Advances in Optimization and its Applications in Engineering, Springer Berlin Heidelberg, pp.309-318, 2010, ⟨10.1007/978-3-642-12598-0_27⟩

Chapitre d'ouvrage istex hal-02495862v1

Trot Gait Design Details for Quadrupeds

Vincent Hugel , Pierre Blazevic , Olivier Stasse , Patrick Bonnin

RoboCup 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⟩

Chapitre d'ouvrage istex hal-03559225v1
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Low-Power, Logic-Only FPGA Implementation of a Deep Reinforcement Learning Locomotion Policy on a Quadruped Robot

Loïc Thomas , Thomas Chourret , Erwan Rivieri , Gaël Loubet , Thomas Flayols et al.

2025

Pré-publication, Document de travail hal-05488455v1

Reinforcement Learning from Wild Animal Videos

Elliot Chane-Sane , Constant Roux , Olivier Stasse , Nicolas Mansard

2025

Pré-publication, Document de travail hal-04948380v1
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Does a Shared Strategy Emerge from the Study of Walking Paths during Collaborative Carriages?

Isabelle Maroger , Manon Silva , Héléne Pillet , Nicolas A Turpin , Olivier Stasse et al.

2022

Pré-publication, Document de travail hal-03713196v1
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Integrating Path Planning and Visual Servoing in Manipulation Tasks

Joseph Mirabel , Alexis Nicolin , Florent Lamiraux , Olivier Stasse , Sébastien Boria

2020

Pré-publication, Document de travail hal-02494731v1
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Homotopic particle motion planning for humanoid robotics

Andreas Orthey , Vladimir Ivan , Maximilien Naveau , Yiming Yang , Olivier Stasse et al.

2015

Pré-publication, Document de travail hal-01137918v1
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Irreducible Motion Planning by Exploiting Linear Linkage Structures

Andreas Orthey , Olivier Roussel , Olivier Stasse , Michel Taïx

2015

Pré-publication, Document de travail hal-01163259v1
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A Continuous Approach to Legged Locomotion Planning

Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux et al.

2013

Pré-publication, Document de travail hal-00805981v1
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Reliable Indoor Navigation on Humanoid Robots using Vision-Based Localization

Thomas Moulard , Pablo Fernández Alcantarilla , Florent Lamiraux , Olivier Stasse , Frank Dellaert

2012

Pré-publication, Document de travail hal-00733666v1
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Adaptive sampling-based approximation of the sign of multivariate real-valued functions

Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida

2010

Pré-publication, Document de travail hal-00544891v1
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Vision based motion generation for humanoid robots

Olivier Stasse

Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2013

HDR 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

Cours cel-02130166v1