Ludovic De Matteis

Ludovic De Matteis

PhD Student in robotics - Science enthousiast and keen learner

Publications

You can also find my articles on my Google Scholar profile.

Optimal Control of Closed Loop Walkers

Published in IEEE-ICRA - Submitted, in review, 2025

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).

Recommended citation: Ludovic de Matteis, Virgile Batto, Justin Carpentier, Nicolas Mansard. Optimal Control of Walkers with Parallel Actuation. 2024. https://gepettoweb.laas.fr/articles/ldematte_icra2025.html

Collision Avoidance in Model Predictive Control using Velocity Damper

Published in IEEE-ICRA - Submitted, in review, 2025

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.

Recommended citation: Arthur Haffemayer, Armand Jordana, Ludovic de Matteis, Krzysztof Wojciechowski, Florent Lamiraux, et al.. Collision Avoidance in Model Predictive Control using Velocity Damper. 2024. https://gepettoweb.laas.fr/articles/haffemayer2025.html