7 papers
PlaCo: a QP-based robot planning and control framework
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic…
Robot Soccer Kit: Omniwheel Tracked Soccer Robots for Education
Gregoire Passault, Clement Gaspard, Olivier Ly
Recent developments of low cost off-the-shelf programmable components, their modularity, and also rapid prototyping made educational robotics flourish, as it is accessible in most…
FRASA: An End-to-End Reinforcement Learning Agent for Fall Recovery and Stand Up of Humanoid Robots
Clément Gaspard, Marc Duclusaud, Grégoire Passault +2
Humanoid robotics faces significant challenges in achieving stable locomotion and recovering from falls in dynamic environments. Traditional methods, such as Model Predictive Contr…
Extended Friction Models for the Physics Simulation of Servo Actuators
Marc Duclusaud, Grégoire Passault, Vincent Padois +1
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advant…
FootstepNet: an Efficient Actor-Critic Method for Fast On-line Bipedal Footstep Planning and Forecasting
Clément Gaspard, Grégoire Passault, Mélodie Daniel +1
Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. E…
Rhoban Football Club: RoboCup Humanoid Kid-Size 2023 Champion Team Paper
Julien Allali, Adrien Boussicault, Cyprien Brocaire +8
In 2023, Rhoban Football Club reached the first place of the KidSize soccer competition for the fifth time, and received the best humanoid award. This paper presents and reviews im…
Rhoban Football Club: RoboCup Humanoid KidSize 2019 Champion Team Paper
Loic Gondry, Ludovic Hofer, Patxi Laborde-Zubieta +5
In 2019, Rhoban Football Club reached the first place of the KidSize soccer competition for the fourth time and performed the first in-game throw-in in the history of the Humanoid…