Welcome!

I'm Stéphane, a roboticist who enjoys teaching things to balance and walk. I have developed locomotion software for HRP-4 humanoids and ANYmal quadrupeds. You can read the algorithms in the corresponding publications or grab the code on GitHub. I also post technical notes to my blog. Don't hesite to send me an e-mail, answer guaranteed if you use my GPG key :-)

Robot locomotion

I've been wondering why we don't have more walking machines around us already. One explanation is that there is a scalability ceiling in implementing locomotion by control systems. For example, in the walking controller that makes the HRP-4 humanoid climb stairs, the most critical part for reliability is the robot's stabilizer, which decides how to keep balance in reaction to disturbances: roll the ankle? Shift the pelvis? Maybe tilt the torso as well? On HRP-4, all these strategies were implemented by high-frequency control systems such as linear feedback (with gain parameters) and model predictive controllers (with cost parameters), whose tuning is challenging to scale to new behaviors.

I search for methods and modalities that will allow us to go beyond the parameter tuning ceiling on real robots, especially those that are flexible and have slow brains.

Open access

I'm a strong supporter of open access and was fortunate to be able to release my research works as pre-prints and source code for all but a few exceptions. On top of open access, I see three ways in which the robotics community can improve itself: overlay journals, post-prints, and raising our standards in terms of code distribution.

© Stéphane Caron — All content on this website is under the CC BY 4.0 license.
τ