35 citations · 54 across the 9 of their papers we have counts for
9 papers
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard +15
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present…
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue +5
This paper presents the Kinetics Observer, a novel proprioceptive state estimator for legged robots designed to provide the feedback required for versatile locomotion and physical…
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots
Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or v…
The hierarchical Newton's method for numerically stable prioritized dynamic control
Kai Pfeiffer, Adrien Escande, Pierre Gergondet +1
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical…
Learning Bipedal Walking for Humanoids with Current Feedback
Rohan Pratap Singh, Zhaoming Xie, Pierre Gergondet +1
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged ro…
mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo
Rohan P. Singh, Pierre Gergondet, Fumio Kanehiro
For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the contro…
Human-Robot Handovers using Task-Space Quadratic Programming
Mohamed Djeha, Antonin Dallard, Ahmed Zermane +2
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving thi…
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy +2
We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on…
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet +1
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically o…