経歴

Adrien Escande received the MSc degree from École des Mines de Paris, France (2005) and the PhD degree in robotics from Université d'Évry Val-d’Essonne (2008), France after spending three years in the CNRS-AIST Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan. He then worked as a research scientist in CEA-LIST at Fontenay-aux-Roses, France (2009-2012), before coming back to JRL (2012). He is now permanent researcher at AIST, co-chair of the IEEE/RAS Technical committee on model-based optimization, and AE for RAL. His current research interests include whole-body planning and control for humanoid robots and numerical optimization for robotics.

論文リストは完全ではない場合があります。特に2017年以前の論文については、更新作業を進めています。
タイトル 著者 学会/論文誌 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
Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap M. Tsuru, A. Escande, I. Kumagai, M. Murooka, K. Harada Sensors 2023
Dual-Arm Mobile Manipulation Planning of a Long Deformable Object in Industrial Installation Y. Qin, A. Escande, F. Kanehiro, E. Yoshida IEEE Robotics and Automation Letters 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
On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback M. Benallegue, R. Cisneros-Limón, A. Benallegue, A. Tanguy, A. Escande, M. Morisawa, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 2021
Online Object Searching by a Humanoid Robot in an Unknown Environment M. Tsuru, A. Escande, A. Tanguy, K. Chappellet, K. Harada IEEE Robotics and Automation Letters 2021
Capturability-Based Pattern Generation for Walking With Variable Height S. Caron, A. Escande, L. Lanari, B. Mallein IEEE Transactions on Robotics 2020
An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback R. Cisneros-Limón, M. Morisawa, M. Benallegue, A. Escande, F. Kanehiro Advanced Robotics 2020
Vision-based Belt Manipulation by Humanoid Robot Y. Qin, A. Escande, A. Tanguy, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2020
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro International Journal of Humanoid Robotics 2020
Cable Installation by a Humanoid Integrating Dual-Arm Manipulation and Walking Y. Qin, A. Escande, E. Yoshida IEEE/SICE International Symposium on System Integration 2019
Soft robots locomotion and manipulation control using FEM simulation and quadratic Programming E. Coevoet, A. Escande, C. Duriez IEEE International Conference on soft Robotics 2019
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
Toward a Human(oid) Motion Planner E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar International Symposium on Robotics Research 2019
Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces M. Morisawa, M. Benallegue, R. Cisneros-Limón, I. Kumagai, A. Escande, K. Kaneko, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 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
Multi-Contact postures computation on Manifolds S. Brossette, A. Escande, A. Kheddar IEEE Transactions on Robotics 2018
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2018
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
Quotient-Space Motion Planning A. Orthey, A. Escande, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares K. Pfeiffer, A. Escande, A. Kheddar IEEE Robotics and Automation Letters 2018
Design of optimized soft soles for humanoid robots G. De Magistris, S. Miossec, A. Escande, A. Kheddar Robotics and Autonomous Systems 2017
Optimization-Based Inverse Model of Soft Robots With Contact Handling E. Coevoet, A. Escande, C. Duriez IEEE Robotics and Automation Letters 2017
A Circuit-Breaker Use-Case Operated by a Humanoid in Aircraft Manufacturing A. Bolotnikova, K. Chappellet, A. Paolillo, A. Escande, G. Anbarjafari, A. Suarez-Roos, P. Rabate, A. Kheddar IEEE International Conference on Automation Science and Engineering 2017
Nut Fastening with a Humanoid Robot K. Pfeiffer, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 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
Fast closest logarithm algorithm in the special orthogonal group A. Escande IMA Journal of Numerical Analysis 2016
GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming B. Chrétien, A. Escande, A. Kheddar IEEE Transactions on Parallel and Distributed Systems 2016
Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization J. Jovic, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture IEEE Transactions on Robotics 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
Identification of dynamics of humanoids: systematic exciting motion generation J. Jovic, F. Philipp, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots B. Chrétien, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Humanoid posture generation on non-Euclidian manifolds S. Brossette, A. Escande, G. Duchemin, B. Chrétien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2015
Hierarchical Quadratic Programming: Fast Online Humanoid-Robot Motion Generation A. Escande, N. Mansard, P.-B. Wieber The International Journal of Robotics Research 2014
Multi-objective control of robots D. Dimitrov, P.-B. Wieber, A. Escande Journal of the Robotics Society of Japan 2014
A Strictly Convex Hull for Computing Proximity Distances with Continuous Gradients A. Escande, S. Miossec, M. Benallegue, A. Kheddar IEEE Transactions on Robotics 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
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
Planning contact points for humanoid robots A. Escande, A. Kheddar, S. Miossec Robotics and Autonomous Systems 2013
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
Real-time smooth task transitions for hierarchical inverse kinematics G. Jarquín, A. Escande, G. Arechavaleta, T. Moulard, E. Yoshida, V. Parra-Vega IEEE-RAS International Conference on Humanoid Robots 2013
Interactive Virtual Humans: A Two-Level Prioritized Control Framework with Wrench Bounds M. Liu, A. Micaelli, P. Evrard, A. Escande, C. Andriot IEEE Transactions on Robotics 2012
A Hierarchical Framework for Realizing Dynamically-stable Motions of Humanoid Robot in Obstacle-cluttered Environments Z. Qiu, A. Escande, A. Micaelli, T. Robert IEEE-RAS International Conference on Humanoid Robots 2012
Task-driven Posture Optimization for Virtual Characters M. Liu, A. Micaelli, P. Evrard, A. Escande, C. Andriot Eurographics/ ACM SIGGRAPH Symposium on Computer Animation 2012
A dynamic stability analysis of the sit-to-stand transfer T. Robert, Z. Qiu, J. Causse, A. Escande, A. Micaelli Congress of the International Society of Biomechanics 2011
An Energy Based Two Level Prioritized Control for Virtual Humans M. Liu, A. Micaelli, P. Evrard, A. Escande, C. Andriot International Conference on Robotics and Biomimetics 2011
A new optimization based approach for push recovery in case of multiple noncoplanar contacts D. Mansour, A. Micaelli, A. Escande, P. Lemerle IEEE-RAS International Conference on Humanoid Robots 2011
Human motions analysis and simulation based on a general criterion of stability Z. Qiu, A. Escande, A. Micaelli, T. Robert International Symposium on Digital Human Modeling 2011
Interactive Dynamics and Balance of a Virtual Character During Manipulation Tasks M. Liu, A. Micaelli, P. Evrard, A. Escande, C. Andriot IEEE International Conference on Robotics and Automation 2011
Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints A. Escande, N. Mansard, P.-B. Wieber IEEE International Conference on Robotics and Automation 2010
Autonomous 3d Object Modeling by a Humanoid Using an Optimization-Driven Next-Best-View Formulation T. Foissotte, O. Stasse, P.-B. Wieber, A. Escande, A. Kheddar International Journal of Humanoid Robotics 2010
Fast C1 Proximity Queries using Support Mapping of Sphere-Torus-Patches Bounding Volumes M. Benallegue, A. Escande, S. Miossec, A. Kheddar IEEE International Conference on Robotics and Automation 2009
Potential field guide for humanoid multicontacts acyclic motion planning K. Bouyarmane, A. Escande, F. Lamiraux, A. Kheddar IEEE International Conference on Robotics and Automation 2009
A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot T. Foissotte, O. Stasse, A. Escande, P.-B. Wieber, A. Kheddar IEEE International Conference on Robotics and Automation 2009
Planning contact supports for acyclic motion with task constraints and experiment on HRP-2 A. Escande, A. Kheddar IFAC Symposium on Robot Control 2009
Contact planning for acyclic motion with task constraints and experiments A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Contact planning for acyclic motion with tasks constraints A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Planning of contact supports for acyclic motion of humanoids and androids: challenges and future perspectives A. Kheddar, A. Escande International Symposium on Robotics 2008
Planning support contact-points for acyclic motions and experiments on HRP-2 A. Escande, A. Kheddar, S. Miossec, S. Garsault International Symposium on Experimental Robotics 2008
Real-time (self)-collision avoidance task on a HRP-2 humanoid robot O. Stasse, A. Escande, N. Mansard, S. Miossec, P. Evrard, A. Kheddar IEEE International Conference on Robotics and Automation 2008
A Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot T. Foissotte, O. Stasse, A. Escande, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2008
Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2 O. Stasse, D. Larlus, B. Lagarde, A. Escande, F. Saidi, A. Kheddar, K. Yokoi, F. Jurie IEEE-RAS International Conference on Humanoid Robots 2007
Continuous gradient proximity distance for humanoids free-collision optimized-postures A. Escande, S. Miossec, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2007
Planning support contact-points for humanoid robots and experiments on HRP-2 A. Escande, A. Kheddar, S. Miossec IEEE/RSJ International Conference on Intelligent Robots and Systems 2006