36 citations
Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.
3 papers · 1 filter
Reactive Stepping for Humanoid Robots using Reinforcement Learning: Application to Standing Push Recovery on the Exoskeleton Atalante
Alexis Duburcq, Fabian Schramm, Guilhem Boéris +2
State-of-the-art reinforcement learning is now able to learn versatile locomotion, balancing and push-recovery capabilities for bipedal robots in simulation. Yet, the reality gap h…
Online Trajectory Planning Through Combined Trajectory Optimization and Function Approximation: Application to the Exoskeleton Atalante
Alexis Duburcq, Yann Chevaleyre, Nicolas Bredeche +1
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally d…
Towards Variable Assistance for Lower Body Exoskeletons
Thomas Gurriet, Maegan Tucker, Alexis Duburcq +2
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work…