Search Results - "Stasse, O."

MonoSLAM: Real-Time Single Camera SLAM by Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.

“…We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system,…”
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Whole-body model-predictive control applied to the HRP-2 humanoid by Koenemann, J., Del Prete, A., Tassa, Y., Todorov, E., Stasse, O., Bennewitz, M., Mansard, N.

“…Controlling the robot with a permanently-updated optimal trajectory, also known as model predictive control, is the Holy Grail of whole-body motion generation…”
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Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact by Ramuzat, N., Boria, S., Stasse, O.

“…This letter presents a passivity-based inverse dynamics (ID) controller using a global energy tank. The proposed control approach allows us to achieve a safe…”
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Comparison of human experimental trajectories and simulations during gait by Maroger, I., Stasse, O., Watier, B.

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Benchmarking Whole-Body Controllers on the TALOS Humanoid Robot by Ramuzat, N, Stasse, O, Boria, S

“…This article presents a comparison of three control schemes applied on the commercially available TALOS humanoid robot. The aim is to highlight the advantages…”
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Fast Humanoid Robot Collision-Free Footstep Planning Using Swept Volume Approximations by Perrin, N., Stasse, O., Baudouin, L., Lamiraux, F., Yoshida, E.

“…In this paper, we propose a novel and coherent framework for fast footstep planning for legged robots on a flat ground with 3-D obstacle avoidance. We use…”
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Walking Human Trajectory Models and Their Application to Humanoid Robot Locomotion by Maroger, I., Stasse, O., Watier, B.

“…In order to fluidly perform complex tasks in collaboration with a human being, such as table handling, a humanoid robot has to recognize and adapt to human…”
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Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles by Stasse, O., Verrelst, B., Vanderborght, B., Yokoi, K.

“…This study proposes a complete solution to make the humanoid robot HRP-2 dynamically step over large obstacles. As compared with previous results using…”
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An advanced robotics motion generation framework for inferring the organisation of human movements by Ramos, O.E., Mansard, N., Stasse, O., Souères, P.

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TALOS: A new humanoid research platform targeted for industrial applications by Stasse, O., Flayols, T., Budhiraja, R., Giraud-Esclasse, K., Carpentier, J., Mirabel, J., Del Prete, A., Soueres, P., Mansard, N., Lamiraux, F., Laumond, J.-P, Marchionni, L., Tome, H., Ferro, F.

“…The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they…”
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Comparison of Position and Torque Whole-Body Control Schemes on the Humanoid Robot TALOS by Ramuzat, N., Buondonno, G., Boria, S., Stasse, O.

“…Most control architectures for legged locomotion are either torque or position controlled. In this paper, we investigate their differences and performances…”
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Cancelling the sway motion of dynamic walking in visual servoing by Dune, C, Herdt, A, Stasse, O, Wieber, P.-B, Yokoi, K, Yoshida, E

“…This paper introduces a visual servoing scheme for humanoid walking. Though most of the existing approaches follow a perception-decision-action scheme, we…”
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Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations by Kudruss, M., Naveau, M., Stasse, O., Mansard, N., Kirches, C., Soueres, P., Mombaur, K.

“…Multi-contact motion generation is an important problem in humanoid robotics because it generalizes bipedal locomotion and thus expands the functional range of…”
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Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers by Nicolin, A., Mirabel, J., Boria, S., Stasse, O., Lamiraux, F.

“…In this paper we present the integration of a manipulation motion planner involving multiple contacts with an automated generator of controllers to execute the…”
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ICP Localization and Walking Experiments on a TALOS Humanoid Robot by Lasguignes, T., Maroger, I., Fallon, M., Ramezani, M., Marchionni, L., Stasse, O., Mansard, N., Watier, B.

“…This system paper describes the integration and the evaluation of an ICP-based localization system on the TALOS humanoid robot. The new generation of flash…”
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Recrystallization phenomena of solution grown paraffin dendrites by Hollander, F.F.A., Stasse, O., van Suchtelen, J., van Enckevort, W.J.P.

“…Paraffin crystals were grown from decane solutions using a micro-Bridgman set up for in-situ observation of the morphology at the growth front. It is shown…”
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A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control by Naveau, M., Kudruss, M., Stasse, O., Kirches, C., Mombaur, K., Souères, P.

“…The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots…”
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Robust human-inspired power law trajectories for humanoid HRP-2 robot by Karklinsky, M., Naveau, M., Mukovskiy, A., Stasse, O., Flash, T., Soueres, P.

“…The one-third power law models how human speed of motion depends on the path's curvature. This paper studies the interest of using this law for humanoid robot…”
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A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot by Foissotte, T., Stasse, O., Escande, A., Kheddar, A.

“…We present our investigation to make humanoids build autonomously geometric models of unknown objects. Although good methods have been proposed for the…”
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Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller by Mansard, N., DelPrete, A., Geisert, M., Tonneau, S., Stasse, O.

“…Predictive control is an efficient model-based methodology to control complex dynamical systems. In general, it boils down to the resolution at each control…”
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