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
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 | 年 | bib | |
| 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 | ||
| Motion Accuracy and Computational Effort in QP-Based Robot Control | S. Chefchaouni Moussaoui, M. Benallegue, A. Escande, P.-B. Wieber | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Direct 3D model-based object tracking with event camera by motion interpolation | Y. Kang, G. Caron, R. Ishikawa, A. Escande, K. Chappellet, R. Sagawa, T. Oishi | IEEE International Conference on Robotics and Automation | 2024 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Capturability-Based Pattern Generation for Walking With Variable Height | S. Caron, A. Escande, L. Lanari, B. Mallein | IEEE Transactions on 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 | ||
| 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 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 | ||
| Toward a Human(oid) Motion Planner | E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar | International Symposium on Robotics Research | 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 | ||
| 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 | ||
| 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 | ||
| Quotient-Space Motion Planning | A. Orthey, A. Escande, E. Yoshida | IEEE/RSJ International Conference on Intelligent Robots and Systems | 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 | ||
| 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 | ||
| Multi-Contact postures computation on Manifolds | S. Brossette, A. Escande, A. Kheddar | IEEE Transactions on Robotics | 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 | ||
| Nut Fastening with a Humanoid Robot | K. Pfeiffer, A. Escande, A. Kheddar | IEEE/RSJ International Conference on Intelligent Robots and Systems | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 |