Guilhem Saurel

14 papers A* 5A 2Journal 2Unranked 5
YearRankTypeTitle / Venue / Authors
2024 — conf
Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm.
UR
Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, Vladimír Petrík, Florent Lamiraux, Nicolas Mansard
2022 A conf
Introducing Force Feedback in Model Predictive Control.
IROS
Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
2022 — conf
Torque Controlled Locomotion of a Biped Robot with Link Flexibility.
Humanoids
Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
2022 J jnl
Torque Controlled Locomotion of a Biped Robot with Link Flexibility.
CoRR
Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
2022 — conf
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot.
Humanoids
Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel A. Villa, Guilhem Saurel, Olivier Stasse, Michel Taïx, Nicolas Mansard
2021 A* conf
Comparison of predictive controllers for locomotion and balance recovery of quadruped robots.
ICRA
Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel, Nicolas Mansard
2021 A* conf
Learning to steer a locomotion contact planner.
ICRA
Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, Steve Tonneau
2021 A* conf
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos.
ICRA
Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
2020 A* conf
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
ICRA
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
2019 J jnl
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control.
CoRR
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
2019 — conf
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives.
SII
Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard
2017 A conf
Actuator design of compliant walkers via optimal control.
IROS
Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond
2016 — conf
A simulation framework for simultaneous design and control of passivity based walkers.
SIMPAR
Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond
2016 A* conf
transHumUs: A poetic experience in mobile robotics.
ICRA
Guilhem Saurel, Michel Taïx, Jean-Paul Laumond