Nicolas Mansard, Olivier Stasse — LAAS-CNRS, France.

Title: “Perception for multi-contact locomotion on the HRP-2 robot.”

In this talk, we will discuss the various progress in our lab toward effective locomotion on non-flat terrain combining perception and advanced locomotion planning and control: multi-contact planning, nonlinear model predictive control and inverse dynamics control.

Nicolas Mansard is a permanent researcher at LAAS-CNRS, Toulouse since October 2008. He is involved in the Gepetto research group, with Philippe Souères, Florent Lamiraux, Olivier Stasse and Jean-Paul Laumond. His research activities are concerned with sensor-based control, and more specifically the integration of sensor-based schemes into humanoid robot applications. It is an exciting research topic at the intersection of the fields of robotics, automatic control, signal processing and numerical mathematics. His main application field is currently the Humanoid robotics, as it causes serious challenges that are representative of many other robot domains. Before being in the Gepetto group, He was a post-doc in Tsukuba, and a post-doc at the IA Lab of Stanford University, in the group led by Prof.O.Khatib. Nicolas Mansard has done his PhD. with Francois Chaumette in the Lagadic group, at INRIA Rennes. He was a student of the École Normale Supérieure de Bretagne and did both MSc (Robotics) and BEng (CS) in the INP Grenoble (ENSIMAG).

Olivier Stasse is a senior CNRS research scientist at LAAS-CNRS, Toulouse, (Research Director/Directeur de Recherche). He was assistant professor in Computer Science at University of Paris 13. In 2000, he received a Ph.D. in Intelligent Systems from University of Paris 6 under the supervision of P. Coiffet, and the French  Habilitation to Direct Research (HDR) in Robotics (2013) from University of Toulouse III. His research interests are mostly focused on humanoid robotics, and more specifically motion generation motivated by vision. From 2003 to 2011, he had the chance to be part of the funding members of the Joint French-Japanese Robotics Laboratory (JRL) in Tsukuba, Japan created by P. Coiffet and K.Tanie.


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