Bio

Pierre Gergondet graduated from École Centrale de Paris with a master in embedded systems. He obtained a Ph.D. degree from the University of Montpellier and conducted his thesis in CNRS-AIST JRL, UMI3218/CRT, Tsukuba, Japan where is is now a research associate working on embedded software for humanoids. His research interest includes humanoid robotics and the usage of brain-computer interfaces to control a humanoid robot.

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
A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer R. Cisneros-Limón, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, R. Singh, L. Sun, Y. Chen, C. Fournier, G. Lorthioir, M. Tsuru, Ś. Chefchaouni-Moussaoui, Y. Osawa, G. Caron, K. Chappellet, M. Morisawa, A. Escande, Ko Ayusawa, Y. Houhou, I. Kumagai, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar International Journal of Social Robotics 2024
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots M. Djeha, P. Gergondet, A. Kheddar IEEE Transactions on Robotics 2023
The Hierarchical Newton’s Method for Numerically Stable Prioritized Dynamic Control K. Pfeiffer, A. Escande, P. Gergondet, A. Kheddar IEEE Transactions on Control Systems Technology 2023
Learning Bipedal Walking for Humanoids with Current Feedback R. Singh, Z. Xie, P. Gergondet, F. Kanehiro IEEE Access 2023
Mc-Mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo R. Singh, P. Gergondet, F. Kanehiro IEEE/SICE International Symposium on System Integration 2023
Human-Robot Handovers Using Task-Space Quadratic Programming M. Djeha, A. Dallard, A. Zermane, P. Gergondet, A. Kheddar International Symposium on Robot and Human Interactive Communication 2022
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications A. Bolotnikova, P. Gergondet, A. Tanguy, S. Courtois, A. Kheddar IEEE/SICE International Symposium on System Integration 2021
Humanoid robots in aircraft manufacturing: the Airbus use-cases A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan, J. Englsberger, M. Roa, P.-B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, P. Rabate IEEE Robotics & Automation Magazine 2019
Impact-aware humanoid robot motion generation with a quadratic optimization controller Y. Wang, A. Tanguy, P. Gergondet, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2019
POMDP-based action planning for the recognition of occluded objects with Humanoid robots M. Tsuru, P. Gergondet, T. Motoda, A. Escande, E. Yoshida, I. Ramirez-Alpizar, W. Wan, K. Harada International Conference on Artificial Life and Robotics 2019
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
Autonomous car driving by a humanoid robot A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar Journal of Field 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
The role of audio-visual feedback in a thought-based control of a humanoid robot: a BCI study in healthy and spinal cord injured people E. Tidoni, P. Gergondet, G. Fusco, A. Kheddar IEEE Transactions on Neural Systems and Rehabilitation Engineering 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
Closed-loop RGB-D SLAM multi-contact control for humanoid robots A. Tanguy, P. Gergondet, A. Comport, A. Kheddar IEEE/SICE International Symposium on System Integration 2016
An integrated framework for humanoid embodiment with a BCI D. Petit, P. Gergondet, A. Cherubini, A. Kheddar IEEE International Conference on Robotics and Automation 2015
Expliciting SSVEP misclassifications with extra-brain activities using time-frequency EEG analysis B. Daachi, P. Gergondet, L. Boubchir, A. Kheddar International Conference on Rehabilitation Robotics 2015
Online control of a humanoid robot through hand movement imagination using CSP and ECoG based features C. Kapeller, P. Gergondet, K. Kamada, H. Ogawa, T. Fumihiko, R. Ortner, R. Pruckl, A. Kheddar, J. Scharinger, C. Guger International Conference of the IEEE Engineering in Medicine and Biology Society 2015
SSVEP stimuli design for object-centric BCI P. Gergondet, A. Kheddar Brain-Computer Interfaces 2015
Navigation assistance for a BCI-controlled humanoid robot D. Petit, P. Gergondet, A. Cherubini, M. Meilland, A. Comport, A. Kheddar International Conference on Cyber Technology in Automation, Control, and Intelligent Systems 2014
Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing D. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar IEEE International Conference on Robotics and Automation 2014
Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot E. Tidoni, P. Gergondet, A. Kheddar, S. Aglioti Frontiers in Neurorobotics 2014
Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot E. Tidoni, P. Gergondet, A. Kheddar, S. Aglioti Frontiers in neurorobotics 2014
Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments P. Gergondet, D. Petit, M. Meilland, A. Kheddar, A. Comport, A. Cherubini International Conference on Ubiquitous Robots and Ambient Intelligence 2014
Proactive behavior of a humanoid robot in a haptic transportation task with a human partner A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2 P. Gergondet, A. Kheddar, C. Hintermüller, C. Guger, M. Slater ISER: International Symposium on Experimental Robotics 2012
Steering a robot with a brain-computer interface: impact of video feedback on BCI performance P. Gergondet, D. Petit, A. Kheddar Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Using brain-computer interface to steer a humanoid robot P. Gergondet, S. Druon, A. Kheddar, C. Hintermüller, C. Guger, M. Slater Robotics and Biomimetics (ROBIO) 2011
Online Replanning for Reactive Robot Motion: Practical Aspects E. Yoshida, K. Yokoi, P. Gergondet IEEE/RSJ International Conference on Intelligent Robots and Systems 2010