All articles
Blog (49 articles)
- CMake can use a local Boost
- Solving an Ordinary Differential Inequality
- Quadratic Programming in Python
- Makefiles for LaTeX
- Configuring Awesome with Gnome on Ubuntu
- Follow your digital society
- Solving symbolic equations with SymPy
- Getting started with awesome
- Vim Keyboard Shortcuts
- Debian 9 Mail Server, Part II: SPF and DKIM
- Koto et Biwa
- Improve your Nginx SSL configuration
- Linear Programming in Python with CVXOPT
- How to get around the Wii Error Code 20110
- Chiens de berger
- Renewing SSL certificates
- 文化と外国生活
- Why do we need anonymity and encryption?
- Is the Internet cheap?
- Scale of the Internet
- Reposting my homework
- Media Vultures
- On counter-powers
- 社会のブルジョワ化
- Debian 9 Mail Server, Part I: Postfix and Dovecot
- 昔ギリシャの神様
- Linear Programming in Python with PuLP
- Consensus du jour
- Debugging with IPython
- Debugging C++ projects with GDB
- Installing Debian on a Sony laptop
- Exercice de la liberté économique
- Student's t-test in Python
- Promenade binaire
- 共和国と民主主義
- Setting up a BIGLOBE Connection
- Superposing video frames in a single picture
- Rename/resize pictures with the command line
- Introduction à GNU Make
- John Cage contre votre iPod
- The Browsing Combo
- Argmax in Python
- Want to discover new music? Lose your iPod.
- How to play any DVD on Ubuntu
- N900 tethering on Ubuntu 11.04
- Automated File Sync from USB Key on Windows 7
- Weighted random choice in Python
- Aggregate functions in SQL, ALTER clauses in SQLite
- Intégrales de cosinus de polynômes
Publications (40 articles)
- Humanoid robots in aircraft manufacturing
- Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
- Balance of Humanoid robot in Multi-contact and Sliding Scenarios
- Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
- Capturability-based Pattern Generation for Walking with Variable Height
- Feasible Region: an Actuation-Aware Extension of the Support Region
- Balance control using both ZMP and COM height variations: A convex boundedness approach
- Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution
- Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model
- When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
- Multi-Contact Interaction Force Sensing from Whole-Body Motion Capture
- Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum
- Multi-Contact Motion Planning and Control
- ZMP Support Areas for Multi-contact Mobility Under Frictional Constraints
- Whole-Body Contact Force Sensing From Motion Capture
- Completeness of Randomized Kinodynamic Planners with State-based Steering
- Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations
- Admissible Velocity Propagation: Beyond Quasi-Static Path Planning for High-Dimensional Robots
- Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing
- Computational Foundation for Planner-in-the-Loop Multi-Contact Whole-Body Control of Humanoid Robots
- Planning with the Center-of-Mass rather than Stances for Humanoids Walking on Uneven Terrains
- Teleoperation System Design of Valve Turning Motions in Degraded Communication Conditions
- System and method for recommending items in a social network
- Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics
- Stability of Surface Contacts for Humanoid Robots
- Method for cold start of a multi-armed bandit in a recommender system
- Kinodynamic Motion Retiming for Humanoid Robots
- Completeness of Randomized Kinodynamic Planners with State-based Steering
- Kinodynamic Motion Planners based on Velocity Interval Propagation
- Mixing bandits
- Kinodynamic planning in the configuration space via Admissible Velocity Propagation
- P2P Storage Systems: Study of Different Placement Policies
- Leveraging Side Observations in Stochastic Bandits
- 3D hardware canaries
- A model of network neutrality with usage-based prices
- Application Neutrality and a Paradox of Side Payments
- Incentive-based Energy Consumption Scheduling Algorithms for the Smart Grid
- A Study of Non-neutral Networks with Usage-Based Prices
- Data Life Time for Different Placement Policies in P2P Storage Systems
- P2P Storage Systems
Talks (12 articles)
- Walking and stair climbing controller for locomotion in an aircraft factory
- How do biped robots walk?
- Walking and stair climbing stabilization for position-controlled biped robots
- Stair Climbing Stabilization of the HRP-4 Humanoid Robot
- 3D Bipedal Walking including COM height variations
- Pendular models for walking over rough terrains
- Une histoire de la locomotion humanoïde : du sol plat au tout-terrain
- Time-Optimal Parameterization: a tool for Humanoid Motion Planning and Predictive Control
- Support Areas and Volumes for Humanoid Locomotion under Frictional Contacts
- ZMP support areas for multi-contact locomotion
- Perspectives on Motion Planning and Control for Humanoid Robots in Multi-contact Scenarios
- Modèles simplifiés pour la locomotion des robots humanoïdes en terrain accidenté
Teaching (29 articles)
- Capture point
- Divergent components of motion
- Linear inverted pendulum model
- Prototyping a walking pattern generator
- Floating base estimation
- Converting robot models to OpenRAVE
- How do biped robots walk?
- Robotics assignment 1
- Reviewing a scientific paper
- What is a controller?
- Polyhedra and polytopes
- Projecting polytopes
- Writing a scientific paper
- Quadratic Programming
- Contact modes
- Contact stability
- Wrench friction cones
- Friction cones
- Installing OpenRAVE on Ubuntu 16.04
- Inverse Kinematics
- Point de non-basculement
- Zero-tilting moment point
- Screw axes
- Screw theory
- Newton-Euler equations
- Equations of motion
- Getting started with OpenRAVE
- Installing OpenRAVE on Ubuntu 14.04
- Troubleshooting OpenRAVE installation