Unified preview control for humanoid postural stability and upper-limb interaction adaptation, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.1801-1808, 2012. ,
URL : https://hal.archives-ouvertes.fr/hal-00720746
Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.4615-4621, 2013. ,
Compliant control of whole-body multi-contact behaviors in humanoid robots, Motion Planning for Humanoid, pp.29-66, 2010. ,
Posture and balance control for humanoid robots in multi-contact scenarios based on model predictive control, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.3253-3258, 2014. ,
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios, Int. J. Robotics Research, vol.35, issue.12, pp.1522-1543, 2016. ,
An approach to combine balancing with hierarchical whole-body control for legged humanoid robots, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.700-707, 2016. ,
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.697-704, 2017. ,
Push recovery by stepping for humanoid robots with force controlled joints, IEEE-RAS Int. Conf. Humanoid Robots, pp.52-59, 2010. ,
Optimal distribution of contact forces with inverse dynamics control, Int. J. Robotics Research, vol.32, issue.3, pp.280-298, 2013. ,
Inverse dynamics control of floating base systems using orthogonal decomposition, IEEE Int. Conf. Robotics and Automation, pp.3406-3412, 2010. ,
Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces, IEEE Trans. Robotics, vol.23, issue.5, pp.884-898, 2007. ,
Posture and balance control for biped robots based on contact force optimization, IEEE-RAS Int. Conf. Humanoid Robots, pp.26-33, 2011. ,
Hierarchical quadratic programming: Fast online humanoid-robot motion generation, Int. J. Robotics Research, vol.33, pp.1006-1028, 2014. ,
URL : https://hal.archives-ouvertes.fr/hal-00751924
Wholebody pushing manipulation with contact posture planning of large and heavy object for humanoid robot, IEEE Int. Conf. Robotics and Automation, pp.5682-5689, 2015. ,
Multi-contact walking pattern generation based on model preview control of 3D COM accelerations, IEEERAS Int. Conf. Humanoid Robots, pp.550-557, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01349880
Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics, Robotics: Science and System, 2015. ,
ZMP support areas for multicontact mobility under frictional constraints, IEEE Trans. on Robotics, vol.33, issue.1, pp.67-80, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-02108589
Fast algorithms to test robust static equilibrium for legged robots, IEEE Int. Conf. on Robotics and Automation, pp.1601-1607, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01201060
A universal stability criterion of the foot contact of legged robots-adios ZMP, IEEE Int. Conf. Robotics and Automation, pp.1976-1983, 2006. ,
Overview of the torque-controlled humanoid robot TORO, IEEERAS Int. Conf. Humanoid Robots, pp.916-923, 2014. ,
Application of wrench based feasibility analysis to the online trajectory optimization of legged robots, IEEE Robotics and Automation Letters, vol.3, issue.4, pp.3363-3370, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-02086079