Vincent Padois
- Augmenting human comfort in the factory using cobots (AUCTUS)
Publications
Publications
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Extended Friction Models for the Physics Simulation of Servo ActuatorsICRA 2025 - IEEE/RAS International Conference on Robotics and Automation, May 2025, Atlanta, United States |
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Motor variability in human-robot interaction during an assisted trajectory-tracking task: preliminary results from the MOVER experimentHumanoids 2024 workshop - Human movement modeling for Human-Robot interaction, Nov 2024, Nancy, France |
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Re-expression of manual expertise through semi-automatic control of a teleoperated systemAHFE 2024 - 15th International Conference on Applied Human Factors and Ergonomics, Jul 2024, Nice, France. ⟨10.54941/ahfe1005012⟩ |
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Prediction of pose errors implied by external forces applied on robots: towards a metric for the control of collaborative robotsIEEE International Conference on Robotics and Automation - ICRA 2024, May 2024, Yokohama, Japan |
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Approximating robot reachable space using convex polytopes15th International Workshop on Human-Friendly Robotics, Sep 2022, Delft, Netherlands |
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A linearization method based on Lie algebra for pose estimation in a time horizonARK 2022 - 18th International Symposium on Advances in Robot Kinematics, Jun 2022, Bilbao, Spain. ⟨10.1007/978-3-031-08140-8_6⟩ |
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Task-Consistent Signaling Motions for Improved Understanding in Human-Robot Interaction and Workspace SharingHRI '22: Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, Mar 2022, Sapporo, Hokkaido, Japan. pp.275-283, ⟨10.1109/HRI53351.2022.9889575⟩ |
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On-line force capability evaluation based on efficient polytope vertex searchICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi'an, China |
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Common wrench capability evaluation of a human-robot collaborative system46ème Congrès Société Biomécanique, Oct 2021, Saint Etienne, France. pp.S242-S245, ⟨10.1080/10255842.2021.1978758⟩ |
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Efficient calculation of human wrench capacity based on human musculoskeletal models Application in collaborative robot controlExosquelettes pour l’assistance physique : quelles solutions optimales?, Groupement De Recherche en Robotique: GT1-GT6, Oct 2021, Bordeaux, France |
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Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental StudyIEEE International Conference on Robotics and Automation, May 2021, Xi’an, China |
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Online velocity constraint adaptation for safe and efficient human-robot workspace sharingInternational Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States |
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Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry taskICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197161⟩ |
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Online minimization of the projected mass of a robot for safe workspace sharing with a humanWorkshop on "Human movement science for physical human-robot collaboration" at the IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada |
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Experimental validation of an energy constraint for a safer collaboration with robots2018 International Symposium on Experimental Robotics (ISER 2018), Nov 2018, Buenos Aires, Argentina |
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Assessing and improving human movements using sensitivity analysis and digital human simulation8th World Congress of Biomechanics, Jul 2018, Dublin, Ireland |
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Towards X-ray medical imaging with robots in the open: safety without compromising performancesInternational Conference on Robotics and Automation, May 2018, Brisbane, Australia |
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A digital human tool for guiding the ergonomic design of collaborative robots4th International Digital Human Modeling Symposium (DHM2016), Jun 2016, Montréal, Canada |
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Efficient Reinforcement Learning for Humanoid Whole-Body ControlIEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico |
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Minimization of the rate of change in torques during contact transitions for humanoidsEuropean Control Conference, Jun 2016, Aalborg, Denmark |
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Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar ContactsInternational Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy |
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Control of robots sharing their workspace with humans: an energetic approach to safetyIROS 2015, Sep 2015, Hamburg, Germany. pp.7 |
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Generalized Projector for Task Priority Transitions During Hierarchical ControlIEEE International Conference on Robotics and Automation, May 2015, Seattle, United States |
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Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrainsIEEE International Workshop on Advanced Robotics and its Social Impacts, 2015, Lyon, France |
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Automatic selection of ergonomie indicators for the design of collaborative robots: A virtual-human in the loop approach2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Madrid, Spain. pp.801-808, ⟨10.1109/HUMANOIDS.2014.7041455⟩ |
Virtual ergonomics for the design of collaborative robotsJournées Nationales de la Robotique Humanoïde (JNRH 2015), Jun 2015, Nantes, France |
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Minimization of the rate of change in torques during motion and force control under discontinuous constraintsIEEE International Conference on Robotics and Biomimetics (ROBIO 2015), Dec 2015, Qingdao, China. pp.2621-2628, ⟨10.1109/ROBIO.2015.7419735⟩ |
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A distributed model predictive control approach for robust postural stability of a humanoid robotIEEE International Conference on Robotics and Automation (ICRA), Jun 2014, Hong-Kong, China. pp.202 - 209, ⟨10.1109/ICRA.2014.6906610⟩ |
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Whole-body Motion in Humans and HumanoidsWorkshop on New Research Frontiers for Intelligent Autonomous Systems, Jul 2014, Padova, Italy |
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Emergence of humanoid walking behaviors from mixed-integer model predictive controlIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Hong-Kong, China. pp.4014 - 4021, ⟨10.1109/IROS.2014.6943127⟩ |
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Automatic selection of ergonomic indicators for the design of collaborative robots: a virtual-human in the loop approach2014 IEEE - RAS International Conference on Humanoid Robots - Humanoids 2014, IEEE, Nov 2014, Madrid, Spain. pp.801-808, ⟨10.1109/HUMANOIDS.2014.7041455⟩ |
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Tools for simulating humanoid robot dynamics: a survey based on user feedbackIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014, Madrid, Spain |
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Multiple Task Optimization using Dynamical Movement Primitives for Whole-Body Reactive ControlIEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain |
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Learning to recognize objects through curiosity-driven manipulation with the iCub humanoid robotJoint IEEE International Conference Developmental Learning and Epigenetic Robotics (ICDL-EPIROB), Aug 2013, Osaka, Japan. pp.1--8, ⟨10.1109/DevLrn.2013.6652525⟩ |
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Autonomous Online Learning of Velocity Kinematics on the iCub: a Comparative StudyIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. To appear |
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Unified preview control for humanoid postural stability and upper-limb interaction adaptation2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Portugal. To appear |
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Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks TransitionsIEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1283-1290, ⟨10.1109/ICRA.2011.5980202⟩ |
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Learning the velocity kinematics of iCub for model-based control: XCSF versus LWPR11th IEEE-RAS International Conference on Humanoid Robots - Humanoids 2011, Oct 2011, Bled, Slovenia. pp.570--575, ⟨10.1109/Humanoids.2011.6100818⟩ |
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Constraints Compliant Control: constraints compatibility and the displaced configuration approach2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.677-684, ⟨10.1109/IROS.2010.5650793⟩ |
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Control of redundant robots using learned models: an operational space control approachIEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.878--885, ⟨10.1109/IROS.2009.5354438⟩ |
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Results of Coring from a Low Mass RoverIEEE Aerospace Conference, Mar 2008, Big Sky, United States. pp.1--7, ⟨10.1109/AERO.2008.4526238⟩ |
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A Unified Framework for Reactive Control of Wheeled Mobile ManipulatorsEuropean Control Conference, Jul 2007, Kos, Greece. pp.1384--1391 |
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Rover-arm Based Coring with Slip: Technological Development and Control ApproachNasa Science Technology Conference, Jun 2007, Maryland, United States. pp.C8P3 |
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Virtual teleoperation and reactive motion of a wheeled mobile manipulator8th International IFAC Symposium on Robot Control, Sep 2006, Bologna, Italy. pp.Vol 8, Part 1, ⟨10.3182/20060906-3-IT-2910.00094⟩ |
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From robotic arms to mobile manipulation: on coordinated motion schemes2nd International Innovative Production Machines and Systems conference, Jul 2006, En ligne, United Kingdom |
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Reactive behavior and dynamic sequencing for nonholonomic mobile manipulators3rd International Conference on Computational Intelligence, Robotics and Autonomous Systems, Dec 2005, Singapour, Singapore |
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Coordination and partial decoupling in tracking control for wheeled mobile manipulators35th International Symposium on Robotics, Mar 2004, Paris, France |
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Motion Coordination of a mobile manipulator for contact transition tasks10th IEEE International Conference on Methods and Models in Automation and Robotics, Aug 2004, Miedzyzdroje, Poland. pp.967--972, vol. 2 |
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Controlling dynamic contact transition for nonholonomic mobile manipulatorsIEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2004, Sendai, Japan. pp.3817 -- 3822 vol.4, ⟨10.1109/IROS.2004.1390009⟩ |
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Signaling Motions for communication in human-robot interactionJJCR 2022 - Journées des Jeunes Chercheurs et Jeunes Chercheuses en Robotique, Nov 2022, Paris, France |
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A digital human tool for guiding the ergonomic design of collaborative robots9th International Conference on Safety of Automated Industrial Systems, Oct 2018, Nancy, France |
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Digital Human Modeling for Collaborative RoboticsDHM and Posturography, 2019 |
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Energy based control for safe human-robot physical interactionDana Kulić, Yoshihiko Nakamura, Oussama Khatib, Gentiane Venture. 2016 International Symposium on Experimental Robotics, 1, Springer, 2017, Springer Proceedings in Advanced Robotics, 978-3-319-50114-7 |
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Optimization-Based Control Approaches to Humanoid BalancingHumanoid Robotics: A Reference, 2017, ⟨10.1007/978-94-007-7194-9_71-1⟩ |
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Movement Variability and Digital Human Models: Development of a Demonstrator Taking the Effects of Muscular Fatigue into AccountVincent G. Duffy. Advances in Applied Digital Human Modeling and Simulation: Proceedings of the AHFE 2016 International Conference on Digital Human Modeling and Simulation, 481, Springer, pp.169 - 179, 2016, Advances in Intelligent Systems and Computing, 978-3-319-41626-7. ⟨10.1007/978-3-319-41627-4_16⟩ |
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AN ADAPTIVE APPROACH TO HUMANOID LOCOMOTIONAdvances in Cooperative Robotics -- Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific Publishing, pp.437-444, 2016, 978-981-3149-12-0. ⟨10.1142/9789813149137_0052⟩ |
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Automatic Optimal Biped Walking as a Mixed-Integer Quadratic ProgramJadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_52⟩ |
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PREVIEWED IMPEDANCE ADAPTATION TO COORDINATE UPPER-LIMB TRAJECTORY TRACKING AND POSTURAL BALANCE IN DISTURBED CONDITIONSKenneth J Waldron, Mohammad O Tokhi, Gurvinder S Virk. Nature-Inspired Mobile Robotics -- Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.519-528, 2013, ⟨10.1142/9789814525534_0066⟩ |
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Whole-Body Motion Synthesis with LQP-Based Controller - Application to iCubKatja Mombaur, Karsten Berns. Modeling, Simulation and Optimization of Bipedal Walking, Springer Berlin Heidelberg, pp.199-210, 2013, Cognitive Systems Monographs, 978-3-642-36368-9. ⟨10.1007/978-3-642-36368-9_16⟩ |
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Assessment of physical exposure to musculoskeletal risks in collaborative robotics using dynamic simulationBidaud, Philippe and Khatib, Oussama and Padois, Vincent. 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control - RoManSy, Springer, To appear, 2012, CISM Courses and Lectures |
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A Goal driven perspective to generate humanoid motion synthesisBidaud, P. and Tokhi, M. and Grand, C. and Virk, G. Field Robotics Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, pp.889-897, 2011, 978-981-4374-27-9. ⟨10.1142/9789814374286_0104⟩ |
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Evolutionary Robotics: Exploring New HorizonsSpringer Series: Studies in Computational Intelligence. New Horizons in Evolutionary Robotics, Springer, pp.3-25, 2011 |
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Evolutionary Design of a Robotic Manipulator for a Highly Constrained EnvironmentDoncieux, S. and Bredèche, N. and Mouret, J.-B. New Horizons in Evolutionary Robotics, Springer, pp.109-121, 2011, Studies in Computational Intelligence, Volume 341, ⟨10.1007/978-3-642-18272-3_8⟩ |
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Learning Forward Models for the Operational Space Control of Redundant RobotsOlivier Sigaud and Jan Peters. From Motor Learning to Interaction Learning in Robots, Springer, pp.169--192, 2010, Studies in Computational Intelligence, volume 264, ⟨10.1007/978-3-642-05181-4_8⟩ |
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Constraint Compliant Control for a Redundant Manipulator in a Cluttered EnvironmentJadran Lenarcic and Michael M. Stanisic. Advances in Robot Kinematics: Motion in Man and Machine Proceedings of the 12th International Symposium on Advances in Robot Kinematics, Springer, pp.367--376, 2010, ⟨10.1007/978-90-481-9262-5_39⟩ |
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A Two-Level Model of Anticipation-Based Motor Learning for Whole Body MotionGiovanni Pezzulo, Martin V. Butz, Olivier Sigaud and Gianluca Baldassarre. Anticipatory Behavior in Adaptive Learning Systems: From Psychological Theories to Artificial Cognitive System, Springer, pp.229--246, 2009, Lecture Notes in Computer Science Volume 5499, ⟨10.1007/978-3-642-02565-5_13⟩ |
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On contact transition for nonholonomic mobile manipulatorsAng, M.H. and Khatib, O. The 9th International Symposium on Experimental Robotics (ISER 2004), Springer, pp.207 -- 216, 2006, Springer Tracts in Advanced Robotics, Volume 21, ⟨10.1007/11552246_20⟩ |
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Enchaînements dynamiques de tâches pour des manipulateurs mobiles à rouesAutomatique / Robotique. Institut National Polytechnique (Toulouse), 2005. Français. ⟨NNT : 2005INPT048H⟩ |
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Control and design of robots with tasks and constraints in mindRobotics [cs.RO]. Université Pierre et Marie Curie (Paris 6), 2016 |