4 papers
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…
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…