Bio

Hervé Audren got his master's degree in Science and Executive Engineering in 2013 from Mines ParisTech, France. He subsequently started his Ph.D. in JRL. His research interests include multi-contact stability and motion, optimization and safe human-robot interaction. He is mostly developing in C++ and Python, and contributing to a full-stack control solution from planning to real-time control. Outside of work, he likes to go biking or rock climbing.

The publication list may not be complete, especially for publications prior to 2017. We are working on updating it.
Title Authors Conference/Book Year bib pdf
Robust humanoid control using a QP solver with integral gains R. Cisneros-Limón, M. Benallegue, A. Benallegue, M. Morisawa, H. Audren, P. Gergondet, A. Escande, A. Kheddar, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Model-based external force/moment estimation for humanoid robots with no direct measurement M. Benallegue, P. Gergondet, H. Audren, A. Mifsud, M. Morisawa, F. Lamiraux, A. Kheddar, F. Kanehiro IEEE International Conference on Robotics and Automation 2018
3-D Robust Stability Polyhedron in Multicontact H. Audren, A. Kheddar IEEE Transactions on Robotics 2018
Model-predictive control in multi-contact based on stability polyhedrons H. Audren, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2017
Multi-Contact Vertical Ladder Climbing with a HRP-2 Humanoid J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro Autonomous Robots 2016
Stability Polygons Reshaping and Morphing for Smooth Multi-Contact Transitions and Force Control of Humanoid Robots H. Audren, A. Kheddar, P. Gergondet IEEE-RAS International Conference on Humanoid Robots 2016
Model preview control in multi-contact motion -- Application to a humanoid robot H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Vertical ladder climbing by the HRP-2 humanoid robot J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2014