Welcome!

I'm Stéphane Caron, a researcher in legged locomotion at CNRS. I work in the IDH team of LIRMM in Montpellier, France. Before that, I was a PhD student in the Nakamura Lab of the University of Tokyo (東京大学). In both groups I've had the chance to work with HRP-4, a fantastic position-controlled humanoid robot.

You can reach me at stephane.caron@lirmm.fr.

Legged Locomotion

I want to make robots walk better. So far I have developed walking pattern generators and an open-source walking controller that allows the HRP-4 humanoid to climb stairs. Recently we used this walking controller in an industrial demonstrator at the Airbus Saint-Nazaire factory. But HRP-4 and its fellow bipeds can walk in even more challenging scenarios: indoors in crowded rooms, within narrow corridors, outdoors on uneven terrains, ... For this purpose, I want to improve their balancing strategies and decision making (including but not restricted to: judging when to switch to a different balancing strategy). These are exciting questions to work on!

Open Access

I believe that researchers should always distribute their source code. Public research being, well, public, its full output should be published as well, and that includes the source code that researchers use in their experiments. While research papers often lack some of the technical details necessary to reproduce them, code is law. I also support the model of overlay journals, also known as reviewing entities, where the peer-reviewing process is done directly on top of pre-print repositories like arXiv or HAL.

Pages of this website are under the CC-BY 4.0 license.