Publications

2018

  1. Mehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar and Fumio Kanehiro, Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement, in IEEE International Conference on Robotics and Automation. HAL

2017

  1. Hervé Audren and Abderrahmane Kheddar, Model-Predictive Control in Multi-Contact Based on Stability Polyhedrons in IEEE-RAS International Conference on Humanoid Robots. HAL

  2. Hervé Audren and Abderrahmane Kheddar, 3D Robust Stability Polyhedron in Multi-Contact, in IEEE Transactions on Robotics (TRO). HAL

  3. Hervé Audren, On Multi-Contact Dynamic Motion Using Reduced Models, Ph.D. Thesis. TEL

2016

  1. Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarmane, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Shuuji Kajita and Fumio Kanehiro Multi-Contact Vertical Ladder Climbing with an HRP-2 Humanoid In Autonomous Robots Vol. 40, Issue 3, pp 561-580 HAL

  2. Hervé Audren, Abderrahmane Kheddar and Pierre Gergondet Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots, In IEEE-RAS International Conference on Humanoid Robots, pp 1037-1044. HAL

2014

  1. Hervé Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, Eiichi Yoshida Model Preview Control in Multi-Contact Motion– Application to a Humanoid Robot, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014 PDF BibTeX

  2. Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Kenji Kaneko, Mitsuharu Morisawa, Eiichi Yoshida and Fumio Kanehiro Vertical Ladder Climbing by HRP-2 Humanoid Robot, In IEEE-RAS International Conference on Humanoid Robots, pp 671-676. HAL