Welcome!

I'm Stéphane Caron, a locomotion software engineer at ANYbotics. Before that, I was researcher in humanoid locomotion at CNRS, working in the IDH team in Montpellier, France, and visiting its sister laboratory JRL in Tsukuba, Japan. In both groups I've had the chance to work with fantastic HRP humanoid robots.

You can reach me by e-mail. Answer guaranteed if you use GPG.

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. In 2019, we used this walking controller in an industrial demonstrator at the Airbus Saint-Nazaire factory. But HRP-4 and its fellow bipeds have the potential to walk even better, within narrow corridors, on ledges, uneven terrains, etc. Limitations here don't come from their hardware, but from the software that powers them. I work on improving robots' balancing strategies and decision making to address this very issue. 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 or "Peer Community in", where peer reviewing happens on pre-print repositories like arXiv or HAL.

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