Opensot: A whole-body control library for the compliant humanoid robot coman, pp.6248-6253, 2015. ,
Prioritized motionforce control of constrained fully-actuated robots:"task space inverse dynamics, Robotics and Autonomous Systems, vol.10, 2014. ,
An overview of null space projections for redundant, torque-controlled robots, Automatica, vol.53, pp.416-423, 2015. ,
A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE Journal on Robotics and Automation, vol.3, issue.1, pp.43-53, 1987. ,
Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions, pp.1283-1290, 2011. ,
URL : https://hal.archives-ouvertes.fr/hal-00578073
Generalized hierarchical control, Autonomous Robots, vol.40, pp.17-31, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01068404
Learning soft task priorities for control of redundant robots, ICRA, pp.221-226, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01273409
Variance modulated task prioritization in whole-body control, IROS, pp.3944-3949, 2015. ,
URL : https://hal.archives-ouvertes.fr/hal-01180011
Probabilistic prioritization of movement primitives, IEEE Robotics and Automation Letters, vol.2, issue.4, pp.2294-2301, 2017. ,
Multiple task optimization with a mixture of controllers for motion generation, IROS, pp.6416-6421, 2015. ,
Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations, IROS, pp.3887-3892, 2011. ,
Continuous task transition approach for robot controller based on hierarchical quadratic programming, IEEE, 2019. ,
URL : https://hal.archives-ouvertes.fr/hal-01996204
Dynamically-consistent generalized hierarchical control, IROS, 2019. ,
Learning task priorities from demonstrations, IEEE Transactions on Robotics, vol.35, pp.78-94, 2019. ,
Reinforcement learning for pivoting task, CoRR, 2017. ,
Domain randomization for transferring deep neural networks from simulation to the real world, 2017 IROS, pp.23-30, 2017. ,
Cocomopl: A novel approach for humanoid walking generation combining optimal control, movement primitives and learning and its transfer to the real robot HRP-2, IEEE RAL, vol.2, issue.2, pp.977-984, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01459840
Learning soft task priorities for safe control of humanoid robots with constrained stochastic optimization, HUMANOIDS, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01377690
Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics, IEEE Transaction on Robotics, vol.32, issue.5, pp.1091-1105, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01241974
Learning robust task priorities of QP-based whole-body torque-controllers, HUMANOIDS, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01895146
Multi-contact Locomotion of Legged Robots in Complex Environments -The Loco3D project, RSS Workshop on Challenges in Dynamic Legged Locomotion, p.3, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01543060
Hierarchical quadratic programming: Fast online humanoid-robot motion generation, IJRR, vol.33, issue.7, pp.1006-1028, 2014. ,
URL : https://hal.archives-ouvertes.fr/hal-00751924
Operational space control: A theoretical and empirical comparison, pp.737-757, 2008. ,
Robust real-time whole-body motion retargeting from human to humanoid, HUMANOIDS, pp.425-432, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01895145
Multi-Objective Optimization Using Evolutionary Algorithms, 2001. ,
A fast and elitist multiobjective genetic algorithm: Nsga-ii, IEEE Transactions on Evolutionary Computation, vol.6, issue.2, pp.182-197, 2002. ,
Multi-priority cartesian impedance control based on quadratic programming optimization, in ICRA, pp.309-315, 2018. ,
Dart: Dynamic animation and robotics toolkit, J. Open Source Software, vol.3, p.500, 2018. ,
Sferesv2: Evolvin' in the multi-core world, IEEE Cong. Evolutionary Computation, pp.1-8, 2010. ,
URL : https://hal.archives-ouvertes.fr/hal-00687633
A multimode teleoperation framework for humanoid loco-manipulation: A demonstration using the icub robot, IEEE RAM, 2019. ,
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot, Auton. Robots, vol.40, issue.3, pp.429-455, 2016. ,