Olivier Stasse

Identifiants chercheurs

IdHAL :

olivier-stasse

ORCID :

0000-0001-8569-6155

IdRef :

089432002

Présentation

Publications

Article dans une revue (32)

Humanoid Robotics: Integrating Cognitive and Physical Abilities for Human-Centered Environments [From the Guest Editors] Oliver Urbann,Fei Chen,Julian Eßer,Robert Griffin,Kenji Hashimotoet al. IEEE Robotics and Automation Magazine, 2025, 32 (1), pp.8-10. ⟨10.1109/MRA.2025.3527820⟩ Article dans une revue hal-05389383v1
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
Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot Vincent Bonnet,Joseph Mirabel,David Daney,Florent Lamiraux,Maxime Gautieret al. Robotics and Autonomous Systems, 2023, 164, pp.104365. ⟨10.1016/j.robot.2023.104365⟩ Article dans une revue hal-04222944v1
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 Stasseet al. Scientific Reports, 2022, 12 (1), pp.15585. ⟨10.1038/s41598-022-19853-7⟩ Article dans une revue hal-04336933v1
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
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
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
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
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
Benchmarking the HRP-2 humanoid robot during locomotion Olivier Stasse,Kevin Giraud-Esclasse,Edouard Brousse,Maximilien Naveau,Rémi Régnieret al. Frontiers in Robotics and AI, 2018, 5, ⟨10.3389/frobt.2018.00122⟩ Article dans une revue hal-02001008v1
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 Stasseet al. Gait & Posture, 2018, 60, pp.188-193. ⟨10.1016/j.gaitpost.2017.12.002⟩ Article dans une revue hal-01717722v1
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
How do walkers avoid a mobile robot crossing their way? Christian Vassallo,Anne-Hélène Olivier,Philippe Souères,Armel Crétual,Olivier Stasseet al. Gait & Posture, 2017, 51, pp.97-103. ⟨10.1016/j.gaitpost.2016.09.022⟩ Article dans une revue hal-01371202v1
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 Souèreset al. Robotics and Autonomous Systems, 2017, 91, pp.270-283. ⟨10.1016/j.robot.2017.01.010⟩ Article dans une revue hal-01484935v1
A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control Maximilien Naveau,Manuel Kudruss,Olivier Stasse,Christian Kirches,Katja Mombauret al. IEEE Robotics and Automation Letters, 2017, 2 (1), pp.10-17. ⟨10.1109/LRA.2016.2518739⟩ Article dans une revue hal-01261415v1
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 Stasseet al. IEEE Robotics and Automation Letters, 2017, 2 (2), pp.977-984. ⟨10.1109/LRA.2017.2657000⟩ Article dans une revue hal-01459840v1
Continuous Legged Locomotion Planning Nicolas Perrin,Christian Ott,Johannes Englsberger,Olivier Stasse,Florent Lamirauxet al. IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩ Article dans une revue hal-01433866v1
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
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
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 Haket al. IEEE Robotics and Automation Magazine, 2015, 22 (4), pp.16 - 26. ⟨10.1109/MRA.2015.2415048⟩ Article dans une revue hal-01222238v1
Vision-guided motion primitives for humanoid reactive walking: decoupled vs. coupled approaches Mauricio Garcia,Olivier Stasse,Jean-Bernard Hayet,Claire Dune,Claudia Esteveset al. The International Journal of Robotics Research, 2014, 34 (4-5), pp.402-419. ⟨10.1177/0278364914550891⟩ Article dans une revue hal-01113499v1
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 Hayetet al. International Journal of Humanoid Robotics, 2014, 11 (2), pp.1441004 Article dans une revue hal-00990082v1
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
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
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
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
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
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
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
Integration of humanoid robots in collaborative working environment: a case study on motion generation Olivier Stasse,Rudolf Ruland,Florent Lamiraux,Abderrahmane Kheddar,Kazuhito Yokoiet al. Intelligent Service Robotics, 2009, 2 (3), pp.153-160. ⟨10.1007/s11370-009-0045-8⟩ Article dans une revue hal-00451346v1
Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments Olivier Stasse,Bjorn Verrelst,Pierre-Brice Wieber,Bram Vanderborght,Paul Evrardet al. Advanced Robotics, 2008, 22 (6-7), pp.589-611. ⟨10.1163/156855308X305236⟩ Article dans une revue inria-00390485v1

Communication dans un congrès (81)

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
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
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 Manheset 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
NAS: N-step computation of All Solutions to the footstep planning problem Jiayi Wang,Saeid Samadi,Hefan Wang,Pierre Fernbach,Olivier Stasseet 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
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
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning Elliot Chane-Sane,Pierre-Alexandre Léziart,Thomas Flayols,Olivier Stasse,Philippe Souèreset 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
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
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
Interaction and control of a human-exoskeleton system Aurélie Bonnefoy,Sabrina Otmani,Nicolas Mansard,Olivier Stasse,Guilhem Michonet 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
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
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
Torque Controlled Locomotion of a Biped Robot with Link Flexibility Nahuel A Villa,Pierre Fernbach,Maximilien Naveau,Guilhem Saurel,Ewen Dantecet al. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japan Communication dans un congrès hal-03452196v2
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot Ewen Louis Dantec,Maximilien Naveau,Nicolas Mansard,Pierre Fernbach,Nahuel Villaet al. 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Nov 2022, Ginowan, Japan Communication dans un congrès hal-03724019v2
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
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
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
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
ICP Localization and Walking Experiments on a TALOS Humanoid Robot Thibaud Lasguignes,Isabelle Maroger,Maurice Fallon,Milad Ramezani,Luca Marchionniet 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
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 Saurelet 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
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
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 Stasseet 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
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
ROS : une solution middleware adaptée pour l'industrie du futur ? Cyril Briand,Olivier Stasse,Michel Taïx,Thierry Germa,Fabien Marcoet 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 Fernandezet 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
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
Actuator Model, Identification and Differential Dynamic Programming for a TALOS Humanoid Robot Noélie Ramuzat,Florent Forget,Vincent Bonnet,S Boria,Olivier Stasseet al. European Control Conference (ECC20), May 2020, Saint Petersburg, Russia. ⟨10.23919/ecc51009.2020.9143817⟩ Communication dans un congrès hal-02889421v1
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
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
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
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 Lamirauxet al. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France Communication dans un congrès hal-01866228v2
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
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
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
Multi-contact Locomotion of Legged Robots in Complex Environments – The Loco3D project Justin Carpentier,Andrea del Prete,Steve Tonneau,Thomas Flayols,Florent Forgetet al. RSS Workshop on Challenges in Dynamic Legged Locomotion, Jul 2017, Boston, United States. 3p Communication dans un congrès hal-01543060v1
TALOS: A new humanoid research platform targeted for industrial applications Olivier Stasse,Thomas Flayols,Rohan Budhiraja,Kevin Giraud-Esclasse,Justin Carpentieret 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
Experimental Evaluation of Simple Estimators for Humanoid Robots Thomas Flayols,Andrea del Prete,Patrick Wensing,Alexis Mifsud,Mehdi Benallegueet al. IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom Communication dans un congrès hal-01574819v2
Motion Generation for Pulling a Fire Hose by a Humanoid Robot Ixchel G Ramirez-Alpizar,Maximilien Naveau,Christophe Benazeth,Olivier Stasse,Jean-Paul Laumondet al. 16th IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS 2016), Nov 2016, Cancun, Mexico Communication dans un congrès hal-01388372v1
Robust human-inspired power law trajectories for humanoid HRP-2 robot M Karklinsky,Maximilien Naveau,A Mukovskiy,Olivier Stasse,T Flashet 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
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 Stasseet 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
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 Stasseet al. MSC-2016 IEEE Multi-Conference on Systems and Control 2016, Sep 2016, Buenos Aires, Argentina Communication dans un congrès hal-01382328v1
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
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
Whole-body Model-Predictive Control applied to the HRP-2 Humanoid J Koenemann,Andrea del Prete,Yuval Tassa,E Todorov,Olivier Stasseet al. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 8p Communication dans un congrès hal-01137021v1
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 Kircheset al. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2015), Nov 2015, Séoul, South Korea. 7p Communication dans un congrès hal-01179667v2
Airbus/future of aircraft factory HRP-2 as universal worker proof of concept Olivier Stasse,Andreas Orthey,Francesco Morsillo,Mathieu Geisert,Nicolas Mansardet al. International Conference on Humanoid Robotics, Nov 2014, Madrid, Spain. ⟨10.1109/HUMANOIDS.2014.7041488⟩ Communication dans un congrès hal-01122476v1
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
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
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
A two-stage suboptimal approximation for variable compliance and torque control Perle Geoffroy,Olivier Bordron,Nicolas Mansard,M Raison,Olivier Stasseet al. European Control Conference, Jun 2014, Strasbourg, France. pp.1151 - 1157, ⟨10.1109/ECC.2014.6862557⟩ Communication dans un congrès hal-01114610v1
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
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
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
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
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
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
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
Real-time Replanning Using 3D Environment for Humanoid Robot Léo Baudouin,Nicolas Perrin,Thomas Moulard,Florent Lamiraux,Olivier Stasseet 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
Vision based control for Humanoïd robots Claire Dune,Andrei Herdt,Eric Marchand,Olivier Stasse,Pierre-Brice Wieberet 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
A Biped Walking Pattern Generator based on &quot;Half-Steps&quot; 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
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
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
Cancelling the sway motion of dynamic walking in visual servoing Claire Dune,Andrei Herdt,Olivier Stasse,Pierre-Brice Wieber,Kazuhito Yokoiet 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
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
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
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
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
Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot Paul Evrard,Nicolas Mansard,Olivier Stasse,Abderrahmane Kheddar,Thomas Schausset 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
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
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
Intercontinental multimodal tele-cooperation using a humanoid robot Angelika Peer,Sandra Hirche,Carolina Weber,Inga Krause,Martin Busset al. IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, ⟨10.1109/IROS.2008.4650829⟩ Communication dans un congrès lirmm-00798823v1
Architectures and models for humanoid robots in collaborative working environments Olivier Stasse,Neo Ee Sian,Florent Lamiraux,Takeshi Sakaguchi,Abderrahmane Kheddaret al. ISR 2008 - 39th International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359 Communication dans un congrès lirmm-00798785v1
Real-time (self)-collision avoidance task on a HRP-2 humanoid robot Olivier Stasse,Adrien Escande,Nicolas Mansard,Sylvain Miossec,Paul Evrardet 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
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
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
Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2 Olivier Stasse,Diane Larlus,Baptiste Lagarde,Adrien Escande,François Saidiet al. Humanoids, Nov 2007, Pittsburgh, United States. pp.151-158, ⟨10.1109/ICHR.2007.4813862⟩ Communication dans un congrès inria-00548676v1
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
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 Bonninet 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 Bonninet 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

Poster de conférence (1)

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

Chapitre d'ouvrage (6)

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
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
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
Modeling of coordinated human body motion by learning of structured dynamic representation Albert A Mukovskiy,Nick Taubert,Dominik Endres,Christian Vassallo,Maximilien Naveauet al. Geometric and Numerical Foundations of Movements, Springer, pp.237-267, 2017, Star 117 Chapitre d'ouvrage hal-02002507v1
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

Pré-publication, Document de travail (9)

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 Flayolset 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
Does a Shared Strategy Emerge from the Study of Walking Paths during Collaborative Carriages? Isabelle Maroger,Manon Silva,Héléne Pillet,Nicolas A Turpin,Olivier Stasseet al. 2022 Pré-publication, Document de travail hal-03713196v1
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
Irreducible Motion Planning by Exploiting Linear Linkage Structures Andreas Orthey,Olivier Roussel,Olivier Stasse,Michel Taïx 2015 Pré-publication, Document de travail hal-01163259v1
Homotopic particle motion planning for humanoid robotics Andreas Orthey,Vladimir Ivan,Maximilien Naveau,Yiming Yang,Olivier Stasseet al. 2015 Pré-publication, Document de travail hal-01137918v1
A Continuous Approach to Legged Locomotion Planning Nicolas Perrin,Christian Ott,Johannes Englsberger,Olivier Stasse,Florent Lamirauxet al. 2013 Pré-publication, Document de travail hal-00805981v1
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
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

HDR (1)

Vision based motion generation for humanoid robots Olivier Stasse Robotics [cs.RO]. Université Paul Sabatier - Toulouse III, 2013 HDR tel-00843953v1

Cours (1)

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

Vidéo (1)

Integrating Path Planning and Visual Servoing in Manipulation Tasks Joseph Mirabel,Alexis Nicolin,Florent Lamiraux,Olivier Stasse,Sébastien Boria 2020 Vidéo hal-02494737v1