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Pierre Fernbach
Pierre Fernbach
laas-cnrs, université paul sabatier
Adresse e-mail validée de laas.fr - Page d'accueil
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HPP: A new software for constrained motion planning
J Mirabel, S Tonneau, P Fernbach, AK Seppälä, M Campana, N Mansard, ...
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
742016
CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem
P Fernbach, S Tonneau, M Taïx
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
592018
Whole body model predictive control with a memory of motion: Experiments on a torque-controlled talos
E Dantec, R Budhiraja, A Roig, T Lembono, G Saurel, O Stasse, ...
2021 IEEE International Conference on Robotics and Automation (ICRA), 8202-8208, 2021
482021
C-croc: Continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios
P Fernbach, S Tonneau, O Stasse, J Carpentier, M Taïx
IEEE Transactions on Robotics 36 (3), 676-691, 2020
422020
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
S Tonneau, D Song, P Fernbach, N Mansard, M Taïx, A Del Prete
2020 IEEE International Conference on Robotics and Automation (ICRA), 6604-6610, 2020
332020
A Kinodynamic steering-method for legged multi-contact locomotion
P Fernbach, S Tonneau, A Del Prete, M Taïx
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017
282017
Multi-contact locomotion of legged robots in complex environments–the loco3d project
J Carpentier, A Del Prete, S Tonneau, T Flayols, F Forget, A Mifsud, ...
RSS workshop on challenges in dynamic legged locomotion, 3p., 2017
272017
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot
E Dantec, M Naveau, P Fernbach, N Villa, G Saurel, O Stasse, M Taix, ...
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022
252022
2pac: Two-point attractors for center of mass trajectories in multi-contact scenarios
S Tonneau, P Fernbach, AD Prete, J Pettré, N Mansard
ACM Transactions on Graphics (TOG) 37 (5), 1-14, 2018
252018
Contact planning for the anymal quadruped robot using an acyclic reachability-based planner
M Geisert, T Yates, A Orgen, P Fernbach, I Havoutis
Annual Conference Towards Autonomous Robotic Systems, 275-287, 2019
232019
Contact planning for the anymal quadruped robot using an acyclic reachability-based planner
M Geisert, T Yates, A Orgen, P Fernbach, I Havoutis
Annual Conference Towards Autonomous Robotic Systems, 275-287, 2019
232019
Learning how to walk: Warm-starting optimal control solver with memory of motion
TS Lembono, C Mastalli, P Fernbach, N Mansard, S Calinon
2020 IEEE International Conference on Robotics and Automation (ICRA), 1357-1363, 2020
202020
Solving footstep planning as a feasibility problem using l1-norm minimization
D Song, P Fernbach, T Flayols, A Del Prete, N Mansard, S Tonneau, ...
IEEE Robotics and Automation Letters 6 (3), 5961-5968, 2021
152021
Modular fault diagnosis in discrete-event systems with a CPN diagnoser
Y Pencolé, R Pichard, P Fernbach
IFAC-PapersOnLine 48 (21), 470-475, 2015
122015
Motion planning for an elastic rod using contacts
O Roussel, P Fernbach, M Taïx
IEEE Transactions on Automation Science and Engineering 17 (2), 670-683, 2019
102019
On the Hardware Design and Control Architecture of the Humanoid Robot Kangaroo
A Roig, SK Kothakota, N Miguel, P Fernbach, EM Hoffman, L Marchionni
6th Workshop on Legged Robots during the International Conference on …, 2022
82022
Motion planning with multi-contact and visual servoing on humanoid robots
K Giraud-Esclasse, P Fernbach, G Buondonno, C Mastalli, O Stasse
2020 IEEE/SICE International Symposium on System Integration (SII), 156-163, 2020
62020
Torque Controlled Locomotion of a Biped Robot with Link Flexibility
NA Villa, P Fernbach, M Naveau, G Saurel, E Dantec, N Mansard, ...
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 9-16, 2022
52022
Addressing flexibility in biped locomotion with robust control and closed-loop model-predictive control
N Villa, P Fernbach, N Mansard, O Stasse
International Conference on Robotics and Automation (ICRA), 2022
52022
Learning to steer a locomotion contact planner
J Chemin, P Fernbach, D Song, G Saurel, N Mansard, S Tonneau
2021 IEEE International Conference on Robotics and Automation (ICRA), 4430-4437, 2021
32021
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