Nicolas Mansard

163 papers A* 36A 19C 1Misc 1Journal 65Unranked 39

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Coupled Local and Global World Models for Efficient First Order RL. CoRR Joseph Amigo, Rooholla Khorrambakht, Nicolas Mansard, Ludovic Righetti
2026	J	`jnl`	TD-CD-MPPI: Temporal-Difference Constraint-Discounted Model Predictive Path Integral Control. IEEE Robotics Autom. Lett. Pietro Noah Crestaz, Ludovic De Matteïs, Elliot Chane-Sane, Nicolas Mansard, Andrea Del Prete
2026	J	`jnl`	Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion. CoRR Arthur Haffemayer, Alexandre Chapin, Armand Jordana, Krzysztof Wojciechowski, Florent Lamiraux, Nicolas Mansard, Vladimír Petrík
2026	J	`jnl`	Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion. IEEE Robotics Autom. Lett. Arthur Haffemayer, Alexandre Chapin, Armand Jordana, Krzysztof Wojciechowski, Florent Lamiraux, Nicolas Mansard, Vladimír Petrík
2025	A*	`conf`	Collision Avoidance in Model Predictive Control Using Velocity Damper. ICRA Arthur Haffemayer, Armand Jordana, Ludovic De Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, Florent Lamiraux, Nicolas Mansard
2025	J	`jnl`	Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models. CoRR Victor Lutz, Ludovic De Matteïs, Virgile Batto, Nicolas Mansard
2025	J	`jnl`	Extended URDF: Accounting for parallel mechanism in robot description. CoRR Virgile Batto, Ludovic De Matteïs, Nicolas Mansard
2025	J	`jnl`	First Order Model-Based RL through Decoupled Backpropagation. CoRR Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti
2025	J	`jnl`	Infinite-Horizon Value Function Approximation for Model Predictive Control. CoRR Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz de Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2025	J	`jnl`	Infinite-Horizon Value Function Approximation for Model Predictive Control. IEEE Robotics Autom. Lett. Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz de Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2025	J	`jnl`	Multi-step manipulation task and motion planning guided by video demonstration. CoRR Kateryna Zorina, David Kovár, Mederic Fourmy, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík
2025	A	`conf`	Optimal Control of Walkers with Parallel Actuation. IROS Ludovic De Matteïs, Virgile Batto, Justin Carpentier, Nicolas Mansard
2025	J	`jnl`	Optimal Control of Walkers with Parallel Actuation. CoRR Ludovic De Matteïs, Virgile Batto, Justin Carpentier, Nicolas Mansard
2025	—	`conf`	Optimal Motion Prediction for Human-to-Robot Handovers. ROBIO Maxime Sabbah, Krzysztof Wojciechowski, Harold Soh, David Hsu, Ludovic Righetti, Nicolas Mansard, Bruno Watier, Vincent Bonnet
2025	A*	`conf`	Optimizing Complex Control Systems with Differentiable Simulators: A Hybrid Approach to Reinforcement Learning and Trajectory Planning. ICRA Amit Parag, Nicolas Mansard, Ekrem Misimi
2025	J	`jnl`	Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. IEEE Access Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2025	J	`jnl`	ProxDDP: Proximal Constrained Trajectory Optimization. IEEE Trans. Robotics Wilson Jallet, Antoine Bambade, Etienne Arlaud, Sarah El Kazdadi, Nicolas Mansard, Justin Carpentier
2025	J	`jnl`	Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control. IEEE Trans. Robotics Armand Jordana, Sébastien Kleff, Avadesh Meduri, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2025	J	`jnl`	Very High Frequency Interpolation for Direct Torque Control. CoRR Rafael Kourdis, Maciej Stepien, Jérôme Manhes, Nicolas Mansard, Steve Tonneau, Philippe Souères, Thomas Flayols
2024	A	`conf`	CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. IROS Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard
2024	J	`jnl`	CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. CoRR Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard
2024	A*	`conf`	Force Feedback Model-Predictive Control via Online Estimation. ICRA Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2024	—	`conf`	Lower Limbs Human Motion Estimation from Sparse Multi-Modal Measurements. BioRob Mohamed Adjel, Maxime Sabbah, Raphaël Dumas, Marta Mirkov, Nicolas Mansard, Samer Mohammed, Vincent Bonnet
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
2024	J	`jnl`	Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2024	J	`jnl`	Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. CoRR Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard
2024	—	`conf`	Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control. Robotics: Science and Systems Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier
2024	J	`jnl`	Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
2024	J	`jnl`	Reinforcement Learning from Wild Animal Videos. CoRR Elliot Chane-Sane, Constant Roux, Olivier Stasse, Nicolas Mansard
2024	Misc	`conf`	SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRL Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
2024	J	`jnl`	SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience. CoRR Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
2023	—	`conf`	Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. Humanoids Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez
2023	—	`conf`	Modelisation of a Human-Exoskeleton Interaction for Cerebral Palsy. ISMR Aurélie Bonnefoy, Sabrina Otmani, Nicolas Mansard, Olivier Stasse, Guilhem Michon, Bruno Watier
2023	A*	`conf`	Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA Kateryna Zorina, David Kovár, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík
2023	A	`conf`	Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. IROS Mohamed Adjel, Maxime Sabbah, Raphaël Dumas, Nicolas Mansard, Samer Mohammed, Bruno Watier, Vincent Bonnet
2023	J	`jnl`	Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
2023	J	`jnl`	Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking. CoRR Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens, Nicolas Mansard, Josef Sivic, Vladimír Petrík
2022	J	`jnl`	A feasibility-driven approach to control-limited DDP. Auton. Robots Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
2022	A	`conf`	Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. IROS Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022	J	`jnl`	Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. CoRR Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022	J	`jnl`	Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. Int. J. Comput. Vis. Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2022	J	`jnl`	First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. IEEE Robotics Autom. Lett. Ewen Dantec, Michel Taïx, Nicolas Mansard
2022	A*	`conf`	Implicit Differential Dynamic Programming. ICRA Wilson Jallet, Nicolas Mansard, Justin Carpentier
2022	J	`jnl`	Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics Autom. Lett. Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères
2022	A	`conf`	Introducing Force Feedback in Model Predictive Control. IROS Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
2022	—	`conf`	On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
2022	J	`jnl`	Optimization-Based Control for Dynamic Legged Robots. CoRR Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2022	J	`jnl`	ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. CoRR Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
2022	A	`conf`	Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. IROS Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau
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	A*	`conf`	Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. ICRA Amit Parag, Sébastien Kleff, Léo Saci, 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`	A Hybrid Collision Model for Safety Collision Control. ICRA Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, 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`	Computational design of energy-efficient legged robots: Optimizing for size and actuators. ICRA Gabriele Fadini, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Philippe Souères
2021	A*	`conf`	Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. ICRA Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà
2021	J	`jnl`	Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. CoRR Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2021	A*	`conf`	High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA Sébastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
2021	—	`conf`	ICP Localization and Walking Experiments on a TALOS Humanoid Robot. ICAR Thibaud Lasguignes, Isabelle Maroger, Maurice F. Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier
2021	A*	`conf`	Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. ICRA Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères
2021	A*	`conf`	Learning to steer a locomotion contact planner. ICRA Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, Steve Tonneau
2021	—	`conf`	Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
2021	J	`jnl`	Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. IEEE Robotics Autom. Lett. Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
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	J	`jnl`	A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
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
2020	A*	`conf`	Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020	J	`jnl`	Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
2020	A*	`conf`	SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. ICRA Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
2020	J	`jnl`	Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. CoRR Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
2019	—	`conf`	Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. Humanoids Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Solà, Thomas Flayols
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	J	`jnl`	Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2019	A*	`conf`	Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
2019	A*	`conf`	Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. CVPR Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2019	J	`jnl`	Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video. CoRR Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
2019	J	`jnl`	SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. CoRR Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
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
2018	J	`jnl`	2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. ACM Trans. Graph. Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
2018	J	`jnl`	An Efficient Acyclic Contact Planner for Multiped Robots. IEEE Trans. Robotics Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
2018	—	`conf`	Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems Justin Carpentier, Nicolas Mansard
2018	—	`conf`	Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
2018	—	`conf`	Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. ICINCO (2) Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse
2018	J	`jnl`	Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics Justin Carpentier, Nicolas Mansard
2018	—	`conf`	Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. ECC Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà
2018	A*	`conf`	Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. ICRA Nicolas Mansard, A. DelPrete, Mathieu Geisert, Steve Tonneau, Olivier Stasse
2018	J	`jnl`	Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics Andrea Del Prete, Steve Tonneau, 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
2017	—	`book`	Geometric and Numerical Foundations of Movements Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
2017	—	`conf`	Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
2017	J	`jnl`	Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
2017	—	`ch.`	Robot Motion Planning and Control: Is It More than a Technological Problem? Geometric and Numerical Foundations of Movements Mehdi Benallegue, Jean-Paul Laumond, Nicolas Mansard
2017	—	`conf`	TALOS: A new humanoid research platform targeted for industrial applications. Humanoids Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro
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`	A versatile and efficient pattern generator for generalized legged locomotion. ICRA Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard
2016	J	`jnl`	Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2016	J	`jnl`	Character contact re-positioning under large environment deformation. Comput. Graph. Forum Steve Tonneau, Rami Ali Al-Ashqar, Julien Pettré, Taku Komura, Nicolas Mansard
2016	—	`conf`	Dynamically balanced and plausible trajectory planning for human-like characters. I3D Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, Dinesh Manocha
2016	A*	`conf`	Fast algorithms to test robust static equilibrium for legged robots. ICRA Andrea Del Prete, Steve Tonneau, Nicolas Mansard
2016	A	`conf`	HPP: A new software for constrained motion planning. IROS Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppala, Mylène Campana, Nicolas Mansard, Florent Lamiraux
2016	J	`jnl`	Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. Int. J. Humanoid Robotics Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
2016	J	`jnl`	Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics Andrea Del Prete, Nicolas Mansard
2016	J	`jnl`	Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. CoRR Mathieu Geisert, Nicolas Mansard
2016	A*	`conf`	Trajectory generation for quadrotor based systems using numerical optimal control. ICRA Mathieu Geisert, Nicolas Mansard
2015	—	`conf`	A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments. ISRR (2) Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, Julien Pettré
2015	—	`conf`	A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2015	—	`conf`	Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems Andrea Del Prete, Nicolas Mansard
2015	J	`jnl`	Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics Autom. Mag. Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, Layale Saab
2015	—	`conf`	Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. Humanoids Manuel Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, Christian Kirches, Philippe Souères, Katja D. Mombaur
2015	J	`jnl`	Optimization as motion selection principle in robot action. Commun. ACM Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
2015	A*	`conf`	Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
2015	A	`conf`	Whole-body model-predictive control applied to the HRP-2 humanoid. IROS Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
2014	—	`conf`	A two-stage suboptimal approximation for variable compliance and torque control. ECC P. Geoffroy, O. Bordron, Nicolas Mansard, Maxime Raison, Olivier Stasse, Timothy Bretl
2014	—	`conf`	Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. Humanoids Olivier Stasse, F. Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau, Christian Vassallo
2014	A*	`conf`	Control-limited differential dynamic programming. ICRA Yuval Tassa, Nicolas Mansard, Emo Todorov
2014	J	`jnl`	Hierarchical quadratic programming: Fast online humanoid-robot motion generation. Int. J. Robotics Res. Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber
2014	J	`jnl`	Optimality in robot motion: optimal versus optimized motion. Commun. ACM Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
2014	J	`jnl`	Partial Force Control of Constrained Floating-Base Robots. CoRR Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
2014	A	`conf`	Partial force control of constrained floating-base robots. IROS Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
2014	J	`jnl`	Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach. Int. J. Humanoid Robotics Oscar E. Ramos, Mauricio J. García Vazquez, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, Philippe Souères
2014	—	`conf`	Whole-body motion integrating the capture point in the operational space inverse dynamics control. Humanoids Oscar E. Ramos, Nicolas Mansard, Philippe Souères
2013	J	`jnl`	Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. IEEE Trans. Robotics Layale Saab, Oscar E. Ramos, François Keith, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet
2012	A*	`conf`	A dedicated solver for fast operational-space inverse dynamics. ICRA Nicolas Mansard
2012	A*	`conf`	Capture, recognition and imitation of anthropomorphic motion. ICRA Sovannara Hak, Nicolas Mansard, Oscar E. Ramos, Layale Saab, Olivier Stasse
2012	J	`jnl`	Intermediate Desired Value Approach for Task Transition of Robots in Kinematic Control. IEEE Trans. Robotics Jaemin Lee, Nicolas Mansard, Jaeheung Park
2012	J	`jnl`	RT-SLAM: A Generic and Real-Time Visual SLAM Implementation CoRR Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy
2012	J	`jnl`	Reverse Control for Humanoid Robot Task Recognition. IEEE Trans. Syst. Man Cybern. Part B Sovannara Hak, Nicolas Mansard, Olivier Stasse, Jean-Paul Laumond
2012	—	`conf`	Walking on non-planar surfaces using an inverse dynamic stack of tasks. Humanoids Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Philippe Souères
2012	—	`conf`	Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. SyRoCo Layale Saab, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet, Manish N. Sreenivasa, Yoshihiko Nakamura
2011	A	`conf`	Analysis of the discontinuities in prioritized tasks-space control under discreet task scheduling operations. IROS François Keith, Pierre-Brice Wieber, Nicolas Mansard, Abderrahmane Kheddar
2011	—	`conf`	Dynamic motion capture and edition using a stack of tasks. Humanoids Oscar E. Ramos, Layale Saab, Sovannara Hak, Nicolas Mansard
2011	A*	`conf`	Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints. ICRA Layale Saab, Nicolas Mansard, François Keith, Jean-Yves Fourquet, Philippe Souères
2011	A	`conf`	Generic dynamic motion generation with multiple unilateral constraints. IROS Layale Saab, Oscar E. Ramos, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet
2011	A*	`conf`	Intermediate desired value approach for continuous transition among multiple tasks of robots. ICRA Jaemin Lee, Nicolas Mansard, Jaeheung Park
2011	C	`conf`	RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. ICVS Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy
2010	A	`conf`	Combining suppression of the disturbance and reactive stepping for recovering balance. IROS Mitsuharu Morisawa, Fumio Kanehiro, Kenji Kaneko, Nicolas Mansard, Joan Solà, Eiichi Yoshida, Kazuhito Yokoi, Jean-Paul Laumond
2010	A*	`conf`	Fast resolution of hierarchized inverse kinematics with inequality constraints. ICRA Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber
2010	—	`conf`	Humanoid robot task recognition from movement analysis. Humanoids Sovannara Hak, Nicolas Mansard, Olivier Stasse
2009	J	`jnl`	A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks. IEEE Trans. Robotics Nicolas Mansard, Oussama Khatib, Oussama Kheddar
2009	—	`conf`	A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. ICAR Nicolas Mansard, Olivier Stasse, Paul Evrard, Abderrahmane Kheddar
2009	J	`jnl`	Continuity of Varying-Feature-Set Control Laws. IEEE Trans. Autom. Control. Nicolas Mansard, Anthony Remazeilles, François Chaumette
2009	J	`jnl`	Directional Redundancy for Robot Control. IEEE Trans. Autom. Control. Nicolas Mansard, François Chaumette
2009	—	`conf`	Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction. Humanoids Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar
2009	A*	`conf`	From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping. ICAPS François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar
2009	A	`conf`	Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. IROS Paul Evrard, Nicolas Mansard, Olivier Stasse, Abderrahmane Kheddar, Thomas Schauss, Carolina Weber, Angelika Peer, Martin Buss
2009	A	`conf`	Optimization of tasks warping and scheduling for smooth sequencing of robotic actions. IROS François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar
2009	—	`conf`	Optimized Time-Warping Tasks Scheduling for Smooth Sequencing. SyRoCo François Keith, Nicolas Mansard, Sylvain Miossec, Abderrahmane Kheddar
2009	—	`conf`	Reactive stepping to prevent falling for humanoids. Humanoids Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Joan Solà, Eiichi Yoshida, Nicolas Mansard, Kazuhito Yokoi, Jean-Paul Laumond
2008	A*	`conf`	Continuous control law from unilateral constraints. ICRA Nicolas Mansard, Oussama Khatib
2008	J	`jnl`	Integrating Walking and Vision to Increase Humanoid Autonomy. Int. J. Humanoid Robotics Olivier Stasse, François Saïdi, Kazuhito Yokoi, Björn Verrelst, Bram Vanderborght, Andrew J. Davison, Nicolas Mansard, Claudia Esteves
2008	A*	`conf`	Real-time (self)-collision avoidance task on a hrp-2 humanoid robot. ICRA Olivier Stasse, Adrien Escande, Nicolas Mansard, Sylvain Miossec, Paul Evrard, Abderrahmane Kheddar
2007	A*	`conf`	Integrating Walking and Vision to Increase Humanoid Robot Autonomy. ICRA Olivier Stasse, Björn Verrelst, Andrew J. Davison, Nicolas Mansard, Bram Vanderborght, Claudia Esteves, François Saïdi, Kazuhito Yokoi
2007	J	`jnl`	Task Sequencing for High-Level Sensor-Based Control. IEEE Trans. Robotics Nicolas Mansard, François Chaumette
2007	A*	`conf`	Visually-Guided Grasping while Walking on a Humanoid Robot. ICRA Nicolas Mansard, Olivier Stasse, François Chaumette, Kazuhito Yokoi
2006	A	`conf`	A Qualitative Visual Servoing to ensure the Visibility Constraint. IROS Anthony Remazeilles, Nicolas Mansard, François Chaumette
2006	A	`conf`	Jacobian Learning Methods for Tasks Sequencing in Visual Servoing. IROS Nicolas Mansard, Manuel Lopes, José Santos-Victor, François Chaumette
2005	A	`conf`	A new redundancy formalism for avoidance in visual servoing. IROS Nicolas Mansard, François Chaumette
2005	—	`conf`	Directional Redundancy: a New Approach of the Redundancy Formalism. CDC/ECC Nicolas Mansard, François Chaumette
2005	—	`conf`	Hierarchy of behaviours application to the homing problem in indoor environment. ROBIO Nicolas Mansard, Olivier Aycard, Carla Koike
2005	A*	`conf`	Visual Servoing Sequencing Able to Avoid Obstacles. ICRA Nicolas Mansard, François Chaumette
2004	—	`conf`	Hierarchy of behaviours Application to the homing problem in indoor environment. ROBIO Nicolas Mansard, Olivier Aycard, Carla Koike
2004	A	`conf`	Tasks sequencing for visual servoing. IROS Nicolas Mansard, François Chaumette