Steve Tonneau

55 papers A* 9A 7B 1C 1Journal 30Unranked 6
YearRankTypeTitle / Venue / Authors
2026 J jnl
CASSR: Continuous A-Star Search through Reachability for real time footstep planning.
CoRR
Jiayi Wang, Steve Tonneau
2026 J jnl
System Identification under Constraints and Disturbance: A Bayesian Estimation Approach.
CoRR
Sergi Martinez, Steve Tonneau, Carlos Mastalli
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 — conf
Scaling Whole-Body Multi-Contact Manipulation with Contact Optimization.
Humanoids
Victor Levé, João Moura, Sachiya Fujita, Tamon Miyake, Steve Tonneau, Sethu Vijayakumar
2025 J jnl
Scaling Whole-body Multi-contact Manipulation with Contact Optimization.
CoRR
Victor Levé, João Moura, Sachiya Fujita, Tamon Miyake, Steve Tonneau, Sethu Vijayakumar
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 — conf
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation.
Humanoids
Victor Levé, João Moura, Namiko Saito, Steve Tonneau, Sethu Vijayakumar
2024 J jnl
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation.
CoRR
Victor Levé, João Moura, Namiko Saito, Steve Tonneau, Sethu Vijayakumar
2024 — conf
NAS: N-step computation of All Solutions to the footstep planning problem.
Humanoids
Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, Steve Tonneau
2024 J jnl
NAS: N-step computation of All Solutions to the footstep planning problem.
CoRR
Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, Steve Tonneau
2024 J jnl
Online Multicontact Receding Horizon Planning via Value Function Approximation.
IEEE Trans. Robotics
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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
2023 J jnl
Inverse-Dynamics MPC via Nullspace Resolution.
IEEE Trans. Robotics
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
2023 J jnl
Neural Lyapunov and Optimal Control.
CoRR
Daniel Layeghi, Steve Tonneau, Michael N. Mistry
2023 J jnl
Online Multi-Contact Receding Horizon Planning via Value Function Approximation.
CoRR
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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 A* conf
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection.
ICRA
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
2023 J jnl
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection.
CoRR
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
2022 A conf
A Versatile Co-Design Approach For Dynamic Legged Robots.
IROS
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2022 A* conf
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem.
ICRA
Steve Tonneau
2022 J jnl
Differentiable Optimal Control via Differential Dynamic Programming.
CoRR
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2022 J jnl
Editorial: Creating Lifelike Digital Humans.
Frontiers Virtual Real.
Fabien Danieau, Philippe Guillotel, Ludovic Hoyet, Steve Tonneau, Yajie Zhao
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 J jnl
Inverse-Dynamics MPC via Nullspace Resolution.
CoRR
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
2022 A conf
Learning to Guide Online Multi-Contact Receding Horizon Planning.
IROS
Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
2022 A* conf
Optimal Control via Combined Inference and Numerical Optimization.
ICRA
Daniel Layeghi, Steve Tonneau, Michael N. Mistry
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
2021 J jnl
Co-Designing Robots by Differentiating Motion Solvers.
CoRR
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
2021 J jnl
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem.
CoRR
Steve Tonneau
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
Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion.
HUMANOIDS
Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau
2021 J jnl
Optimal Control via Combined Inference and Numerical Optimization.
CoRR
Daniel Layeghi, Steve Tonneau, Michael N. Mistry
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 A conf
Automatic Gait Pattern Selection for Legged Robots.
IROS
Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
2020 J jnl
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios.
IEEE Trans. Robotics
Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taïx
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 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
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 A conf
CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem.
IROS
Pierre Fernbach, Steve Tonneau, Michel Taïx
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
A kinodynamic steering-method for legged multi-contact locomotion.
IROS
Pierre Fernbach, Steve Tonneau, Andrea Del Prete, Michel Taïx
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 C conf
Ballistic motion planning for jumping superheroes.
MIG
Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx, 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
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 — —
Motion planning and synthesis for virtual characters in constrained environments. (Synthèse de mouvement pour des personnages virtuels en environnements contraints).
Steve Tonneau
2014 B conf
Task efficient contact configurations for arbitrary virtual creatures.
Graphics Interface
Steve Tonneau, Julien Pettré, Franck Multon
2014 J jnl
Using task efficient contact configurations to animate creatures in arbitrary environments.
Comput. Graph.
Steve Tonneau, Julien Pettré, Franck Multon