Published in 2026 IEEE/RJS International Conference on Robotics and Automation (ICRA)
In this paper, we present a method for controlling robots with closed kinematic loops (such as parallel actuation). We propose demonstrate a method to take efficiently into account the closed kinematics by using analytical formulations of different mechanisms. Read more
Published in 2025 IEEE International Conference on Intelligent Robots and Systems (IROS)
In this paper, we present a method for controlling robots with closed kinematic loops (such as parallel actuation). We propose to use a serial model - for instance based on an underlying main chain - and to use additionnal constraints to account for closures. We demonstrate the advatages of this method by comparing it to a classical simplified model of the robot on several motions (walk, jump, sidewalk, and climbing stairs). Read more
Published in 2025 International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)
In this paper, we introduce an extension to the widely used Unified Robot Description Format (URDF) to support closed-loop kinematic structures. Our approach relies on augmenting URDF with minimal additional information to allow more efficient modeling of complex robotic systems while maintaining compatibility with existing design and simulation frameworks. Read more
Published in 2025 IEEE International Conference on Humanoid Robots (ICHR)
In this paper, we present a methodology that leverages Constraints-as-Terminations (CaT) and domain randomization techniques to enable sim-to-real transfer. Through a series of qualitative and quantitative experiments, we evaluate our approach in terms of balance maintenance, velocity control, and responses to slip and push disturbances. Read more
Published in 2025 IEEE International Conference on Robotics and Automation (ICRA)
In this paper, we propose a method to include collision avoidance in the control of a manipulator robot based on a velocity damper model. This allows to account for approach velocity and permits collision avoidance for a wider spectrum of applications than classical avoidance methods. We implemented our method on a Panda robot to perform several comparisons. In this paper, I mainly contributed to writing the derivatives of the collision avoidance constraint with respect to the robot state and controls in order to use it in a DDP setting. Read more
In this paper, we propose a general approach to assist the design of serial-parallel humanoid legs using an evolutionary optimization strategy. The optimization problem incorporates design constraints and locomotion-task requirements as objective functions. It uses parallelized trajectory evaluation for efficient exploration of the design space. Read more