19 citations · 58 across the 13 of their papers we have counts for
17 papers
LEAP: Learning Emergent Active Perception for Quadruped Navigation
Ü. Bora Gökbakan, Stéphane Caron, Philippe Souères
Active perception allows autonomous agents to select their viewpoints rather than passively process the viewpoints given to them, enabling them to target where to reduce uncertaint…
Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing
Stéphane Caron
In legged locomotion, divergent components of motion (DCMs) have emerged as characteristic states for balance control. They isolate the unstable mode of the dynamics but, in existi…
Collision avoidance from monocular vision trained with novel view synthesis
Valentin Tordjman--Levavasseur, Stéphane Caron
Collision avoidance can be checked in explicit environment models such as elevation maps or occupancy grids, yet integrating such models with a locomotion policy requires accurate…
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
Saeid Samadi, Julien Roux, Arnaud Tanguy +2
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balanc…
Balance of Humanoid robot in Multi-contact and Sliding Scenarios
Saeid Samadi, Stéphane Caron, Arnaud Tanguy +1
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One me…
Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
Stéphane Caron
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We pro…