A robust linear MPC approach to online generation of 3D biped walking motion, IEEE-RAS International Conference on Humanoid Robots, pp.595-601, 2015. ,
URL : https://hal.archives-ouvertes.fr/hal-01418355
Stair climbing stabilization of the HRP-4 humanoid robot using whole-body admittance control, IEEE International Conference on Robotics and Automation, pp.277-283, 2019. ,
URL : https://hal.archives-ouvertes.fr/hal-01875387
Torque-based dynamic walking -A long way from simulation to experiment, IEEE International Conference on Robotics and Automation, pp.440-447, 2018. ,
Optimizationbased full body control for the DARPA robotics challenge, Journal of Field Robotics, vol.32, issue.2, pp.293-312, 2015. ,
Experimental evaluation of simple estimators for humanoid robots, IEEE-RAS International Conference on Humanoid Robots, pp.889-895, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01574819
Feedback MPC for torque-controlled legged robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019. ,
Experiments with human-inspired behaviors in a humanoid robot: Quasi-static balancing using toe-off motion and stretched knees, IEEE International Conference on Robotics and Automation, pp.2510-2516, 2019. ,
A simplified stability criterion for linear discrete systems, Proceedings of the IRE, vol.50, pp.1493-1500, 1962. ,
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion, IEEE International Conference on Robotics and Automation, pp.1096-1103, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01661847
Robust model predictive control of constrained linear systems with bounded disturbances, Automatica, vol.41, issue.2, pp.219-224, 2005. ,
Discrete-time control systems, vol.8, 1995. ,
A Newton method with always feasible iterates for nonlinear model predictive control of walking in a multi-contact situation, IEEE-RAS International Conference on Humanoid Robots, pp.932-937, 2016. ,
URL : https://hal.archives-ouvertes.fr/hal-01418402
Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator, IEEE International Conference on Robotics and Automation, 1966. ,
Model predictive control of biped walking with bounded uncertainties, IEEE-RAS International Conference on Humanoid Robots, pp.836-841, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01649580
Modeling and control of legged robots, Springer Handbook of Robotics, pp.1203-1234, 2016. ,