Research interests

  • Full-body posture generation (generalized inverse kinematics)
  • Development of a dedicated nonlinear optimization solver specialized for robotics problems
  • Description and resolution of robotics problems on non-Euclidean manifolds
  • Autonomous choice of contact points on complex surfaces
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
Multi-Contact postures computation on Manifolds S. Brossette, A. Escande, A. Kheddar IEEE Transactions on Robotics 2018
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
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds (Submitted) S. Traversaro, S. Brossette, A. Escande, F. Nori IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016
Parametrization of Catmull-Clark subdivision surfaces for posture generation A. Escande, S. Brossette, A. Kheddar IEEE International Conference on Robotics and Automation 2016
Humanoid posture generation on non-Euclidian manifolds S. Brossette, A. Escande, G. Duchemin, B. Chr├ętien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2015
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
Integration of non-inclusive contacts in posture generation S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar IEEE International Conference on Robotics, Automation and Mechatronics 2013