Nicolas Mansard

ORCID

Publication Activity (10 Years)

Years Active: 2004-2024
Publications (10 Years): 78

Top Venues

Publications

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, Andrea Del Prete
Reference-Free Model Predictive Control for Quadrupedal Locomotion. IEEE Access 12 (2024)
Armand Jordana, Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
Force Feedback Model-Predictive Control via Online Estimation. ICRA (2024)
Arthur Haffemayer, Armand Jordana, Médéric Fourmy, Krzysztof Wojciechowski, Guilhem Saurel, Vladimír Petrík, Florent Lamiraux, Nicolas Mansard
Model Predictive Control Under Hard Collision Avoidance Constraints for a Robotic Arm. UR (2024)
Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. CoRR (2024)
Wilson Jallet, Ewen Dantec, Etienne Arlaud, Justin Carpentier, Nicolas Mansard
Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC. CoRR (2024)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40 (2024)
Kateryna Zorina, David Kovár, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimír Petrík
Multi-Contact Task and Motion Planning Guided by Video Demonstration. ICRA (2023)
Aurélie Bonnefoy, Sabrina Otmani, Nicolas Mansard, Olivier Stasse, Guilhem Michon, Bruno Watier
Modelisation of a Human-Exoskeleton Interaction for Cerebral Palsy. ISMR (2023)
Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez
Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. Humanoids (2023)
Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens, Nicolas Mansard, Josef Sivic, Vladimír Petrík
Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking. CoRR (2023)
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR (2023)
Mohamed Adjel, Maxime Sabbah, Raphaël Dumas, Nicolas Mansard, Samer Mohammed, Bruno Watier, Vincent Bonnet
Multi-Modal Upper Limbs Human Motion Estimation from a Reduced Set of Affordable Sensors. IROS (2023)
Sébastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos. Humanoids (2022)
Amit Parag, Sébastien Kleff, Léo Saci, Nicolas Mansard, Olivier Stasse
Value learning from trajectory optimization and Sobolev descent: A step toward reinforcement learning with superlinear convergence properties. ICRA (2022)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A feasibility-driven approach to control-limited DDP. Auton. Robots 46 (8) (2022)
Ewen Dantec, Maximilien Naveau, Pierre Fernbach, Nahuel A. Villa, Guilhem Saurel, Olivier Stasse, Michel Taïx, Nicolas Mansard
Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. Humanoids (2022)
Nahuel A. Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
Torque Controlled Locomotion of a Biped Robot with Link Flexibility. Humanoids (2022)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. IROS (2022)
Nahuel A Villa, Pierre Fernbach, Maximilien Naveau, Guilhem Saurel, Ewen Dantec, Nicolas Mansard, Olivier Stasse
Torque Controlled Locomotion of a Biped Robot with Link Flexibility. CoRR (2022)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach. CoRR (2022)
Wilson Jallet, Antoine Bambade, Nicolas Mansard, Justin Carpentier
ProxNLP: a primal-dual augmented Lagrangian solver for nonlinear programming in Robotics and beyond. CoRR (2022)
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. Int. J. Comput. Vis. 130 (2) (2022)
Sébastien Kleff, Ewen Dantec, Guilhem Saurel, Nicolas Mansard, Ludovic Righetti
Introducing Force Feedback in Model Predictive Control. IROS (2022)
Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères
Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics Autom. Lett. 7 (4) (2022)
Ewen Dantec, Michel Taïx, Nicolas Mansard
First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. IEEE Robotics Autom. Lett. 7 (2) (2022)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. CoRR (2022)
Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau
Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. IROS (2022)
Wilson Jallet, Nicolas Mansard, Justin Carpentier
Implicit Differential Dynamic Programming. ICRA (2022)
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization. IEEE Robotics Autom. Lett. 6 (3) (2021)
Thibaud Lasguignes, Isabelle Maroger, Maurice F. Fallon, Milad Ramezani, Luca Marchionni, Olivier Stasse, Nicolas Mansard, Bruno Watier
ICP Localization and Walking Experiments on a TALOS Humanoid Robot. ICAR (2021)
Sebastien Kleff, Avadesh Meduri, Rohan Budhiraja, Nicolas Mansard, Ludovic Righetti
High-Frequency Nonlinear Model Predictive Control of a Manipulator. ICRA (2021)
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
Estimating 3D Motion and Forces of Human-Object Interactions from Internet Videos. CoRR (2021)
Thibault Noël, Thomas Flayols, Joseph Mirabel, Justin Carpentier, Nicolas Mansard
A Hybrid Collision Model for Safety Collision Control. ICRA (2021)
Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, Steve Tonneau
Learning to steer a locomotion contact planner. ICRA (2021)
Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà
Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. ICRA (2021)
G. Fadini, Thomas Flayols, A. Del Prete, Nicolas Mansard, Philippe Souères
Computational design of energy-efficient legged robots: Optimizing for size and actuators. ICRA (2021)
Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. ICRA (2021)
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
Proximal and Sparse Resolution of Constrained Dynamic Equations. Robotics: Science and Systems (2021)
Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel, Nicolas Mansard
Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. ICRA (2021)
Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. ICRA (2021)
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. CoRR (2020)
Teguh Santoso Lembono, Carlos Mastalli, Pierre Fernbach, Nicolas Mansard, Sylvain Calinon
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion. ICRA (2020)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA (2020)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR (2020)
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. ICRA (2020)
Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, Young J. Kim
Solving Footstep Planning as a Feasibility Problem using L1-norm Minimization. CoRR (2020)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. CoRR (2019)
Mederic Fourmy, Dinesh Atchuthan, Nicolas Mansard, Joan Solà, Thomas Flayols
Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. Humanoids (2019)
Rohan Budhiraja, Justin Carpentier, Nicolas Mansard
Dynamics Consensus between Centroidal and Whole-Body Models for Locomotion of Legged Robots. ICRA (2019)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR (2019)
Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taïx, Andrea Del Prete
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain. CoRR (2019)
Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard
The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII (2019)
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
Estimating 3D Motion and Forces of Person-Object Interactions from Monocular Video. CoRR (2019)
Zongmian Li, Jirí Sedlár, Justin Carpentier, Ivan Laptev, Nicolas Mansard, Josef Sivic
Estimating 3D Motion and Forces of Person-Object Interactions From Monocular Video. CVPR (2019)
Nicolas Mansard, A. DelPrete, Mathieu Geisert, Steve Tonneau, Olivier Stasse
Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller. ICRA (2018)
Justin Carpentier, Nicolas Mansard
Multicontact Locomotion of Legged Robots. IEEE Trans. Robotics 34 (6) (2018)
Justin Carpentier, Nicolas Mansard
Analytical Derivatives of Rigid Body Dynamics Algorithms. Robotics: Science and Systems (2018)
Steve Tonneau, Pierre Fernbach, Andrea Del Prete, Julien Pettré, Nicolas Mansard
2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios. ACM Trans. Graph. 37 (5) (2018)
Dinesh Atchuthan, Angel Santamaria-Navarro, Nicolas Mansard, Olivier Stasse, Joan Solà
Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. ECC (2018)
Rohan Budhiraja, Justin Carpentier, Carlos Mastalli, Nicolas Mansard
Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics. Humanoids (2018)
Steve Tonneau, Andrea Del Prete, Julien Pettré, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
An Efficient Acyclic Contact Planner for Multiped Robots. IEEE Trans. Robotics 34 (3) (2018)
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
Zero Step Capturability for Legged Robots in Multicontact. IEEE Trans. Robotics 34 (4) (2018)
Florent Forget, Kevin Giraud-Esclasse, Rodolphe Gelin, Nicolas Mansard, Olivier Stasse
Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots. ICINCO (2) (2018)
Olivier Stasse, Thomas Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, Andrea Del Prete, Philippe Souères, Nicolas Mansard, Florent Lamiraux, Jean-Paul Laumond, Luca Marchionni, Hilario Tome, Francesco Ferro
TALOS: A new humanoid research platform targeted for industrial applications. Humanoids (2017)
Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro De Luca, Jean-Paul Laumond
Actuator design of compliant walkers via optimal control. IROS (2017)
Mathieu Geisert, Andrea Del Prete, Nicolas Mansard, Francesco Romano, Francesco Nori
Regularized Hierarchical Differential Dynamic Programming. IEEE Trans. Robotics 33 (4) (2017)
Justin Carpentier, Rohan Budhiraja, Nicolas Mansard
Learning Feasibility Constraints for Multicontact Locomotion of Legged Robots. Robotics: Science and Systems (2017)
Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond
A simulation framework for simultaneous design and control of passivity based walkers. SIMPAR (2016)
Andrea Del Prete, Nicolas Mansard, Oscar E. Ramos, Olivier Stasse, Francesco Nori
Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors. Int. J. Humanoid Robotics 13 (1) (2016)
Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppala, Mylène Campana, Nicolas Mansard, Florent Lamiraux
HPP: A new software for constrained motion planning. IROS (2016)
Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, Nicolas Mansard
A versatile and efficient pattern generator for generalized legged locomotion. ICRA (2016)
Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, Dinesh Manocha
Dynamically balanced and plausible trajectory planning for human-like characters. I3D (2016)
Steve Tonneau, Rami Ali Al-Ashqar, Julien Pettré, Taku Komura, Nicolas Mansard
Character contact re-positioning under large environment deformation. Comput. Graph. Forum 35 (2) (2016)
Andrea Del Prete, Nicolas Mansard
Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics. IEEE Trans. Robotics 32 (5) (2016)
Andrea Del Prete, Steve Tonneau, Nicolas Mansard
Fast algorithms to test robust static equilibrium for legged robots. ICRA (2016)
Mathieu Geisert, Nicolas Mansard
Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control. CoRR (2016)
Mathieu Geisert, Nicolas Mansard
Trajectory generation for quadrotor based systems using numerical optimal control. ICRA (2016)
Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32 (4) (2016)
Manuel Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, Christian Kirches, Philippe Souères, Katja D. Mombaur
Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. Humanoids (2015)
Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Christophe Benazeth, Sovannara Hak, Layale Saab
Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern. IEEE Robotics Autom. Mag. 22 (4) (2015)
Jonas Koenemann, Andrea Del Prete, Yuval Tassa, Emanuel Todorov, Olivier Stasse, Maren Bennewitz, Nicolas Mansard
Whole-body model-predictive control applied to the HRP-2 humanoid. IROS (2015)
Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids (2015)
Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, Julien Pettré
A Reachability-Based Planner for Sequences of Acyclic Contacts in Cluttered Environments. ISRR (2) (2015)
Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
Optimization as motion selection principle in robot action. Commun. ACM 58 (5) (2015)
Andrea Del Prete, Nicolas Mansard
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics. Robotics: Science and Systems (2015)
Francesco Romano, Andrea Del Prete, Nicolas Mansard, Francesco Nori
Prioritized optimal control: A hierarchical differential dynamic programming approach. ICRA (2015)
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
Partial force control of constrained floating-base robots. IROS (2014)
P. Geoffroy, O. Bordron, Nicolas Mansard, Maxime Raison, Olivier Stasse, Timothy Bretl
A two-stage suboptimal approximation for variable compliance and torque control. ECC (2014)
Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber
Hierarchical quadratic programming: Fast online humanoid-robot motion generation. Int. J. Robotics Res. 33 (7) (2014)
Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre
Optimality in robot motion: optimal versus optimized motion. Commun. ACM 57 (9) (2014)
Yuval Tassa, Nicolas Mansard, Emo Todorov
Control-limited differential dynamic programming. ICRA (2014)
Oscar E. Ramos, Mauricio J. García Vazquez, Nicolas Mansard, Olivier Stasse, Jean-Bernard Hayet, Philippe Souères
Toward Reactive Vision-Guided Walking on Rough Terrain: An Inverse-Dynamics Based Approach. Int. J. Humanoid Robotics 11 (2) (2014)
Andrea Del Prete, Nicolas Mansard, Francesco Nori, Giorgio Metta, Lorenzo Natale
Partial Force Control of Constrained Floating-Base Robots. CoRR (2014)
Olivier Stasse, F. Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau, Christian Vassallo
Airbus/future of aircraft factory HRP-2 as universal worker proof of concept. Humanoids (2014)
Oscar E. Ramos, Nicolas Mansard, Philippe Souères
Whole-body motion integrating the capture point in the operational space inverse dynamics control. Humanoids (2014)
Layale Saab, Oscar E. Ramos, François Keith, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. IEEE Trans. Robotics 29 (2) (2013)
Layale Saab, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet, Manish N. Sreenivasa, Yoshihiko Nakamura
Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. SyRoCo (2012)
Nicolas Mansard
A dedicated solver for fast operational-space inverse dynamics. ICRA (2012)
Oscar E. Ramos, Nicolas Mansard, Olivier Stasse, Philippe Souères
Walking on non-planar surfaces using an inverse dynamic stack of tasks. Humanoids (2012)
Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, Michel Devy
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation CoRR (2012)

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Publication Activity (10 Years)

Top Topics

Top Venues

Nicolas Mansard