-
Contribution to study and implementation of intelligent adaptive control stra...
The main limitation of the CMAC (Cerebellar Model Articulation Controller) network in realistic applications for complex automated systems (robots, automated vehicles,... -
Hierarchical quadratic programming: Fast online humanoid-robot motion generation
International audience -
Robot cognitive control with a neurophysiologically inspired reinforcement le...
International audience -
Interactive Dynamic Simulator for Multibody Systems
International audience -
Humanoid Robot Locomotion and Manipulation Step Planning
International audience -
Planning contact supports for acyclic motion with task constraints and experi...
International audience -
Visual Modeling of an Unknown Object by an Autonomous Humanoid Robot
This work addresses the problem of autonomously constructing the 3D model of an unknown object using a humanoid robot.More specifically, we consider a HRP-2 evolving... -
Planning contact points for humanoid robots
International audience -
Dynamic control for the task/posture coordination of humanoids : toward synth...
The research developed in this PhD thesis deals with the general problem of dynamic control of ''task-oriented'' under-actuated and redundant systems considering more... -
Planning Optimal Motions for Anthropomorphic Systems
This thesis deals with the development and study of algorithms for planning optimal motions for anthropomorphic systems, which are underactuated and highly redundant... -
Real-time tele-operation and tele-walking of humanoid Robot Nao using Kinect ...
International audience -
Contact points planning for acyclic motions generation : application to human...
Systems like humanoid robots are both underactuated and hyper-redundant. They can move only through their interactions with the environment, i.e. contacts, and have... -
The human being and the humanoid robot : Transmission, Resistance and Subject...
Yesterday a fiction, now a reality, the humanoid robot, an intelligent machine designed after the human model, embodies ancestral dreams, with the aim that the copy... -
Modelling verticality estimation during locomotion
In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is...
