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Florent Lamiraux

78
Documents
Publications
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Practical whole-body elasto-geometric calibration of a humanoid robot: Application to the TALOS robot

 Vincent Bonnet , Joseph Mirabel , David Daney , Florent Lamiraux , Maxime Gautier
Robotics and Autonomous Systems, 2023, 164, pp.104365. ⟨10.1016/j.robot.2023.104365⟩
Article dans une revue hal-04222944v1
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Prehensile Manipulation Planning: Modeling, Algorithms and Implementation

 Florent Lamiraux , Joseph Mirabel
IEEE Transactions on Robotics, 2022, 38 (4), pp.2370-2388. ⟨10.1109/TRO.2021.3130433⟩
Article dans une revue hal-02995125v2
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Continuous Legged Locomotion Planning

 Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux
IEEE Transactions on Robotics, 2016, 33 (1), pp. 234-239. ⟨10.1109/TRO.2016.2623329⟩
Article dans une revue hal-01433866v1
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A gradient-based path optimization method for motion planning

 Mylène Campana , Florent Lamiraux , Jean-Paul Laumond
Advanced Robotics, 2016, 30 (17-18), pp.1126-1144. ⟨10.1080/01691864.2016.1168317⟩
Article dans une revue hal-01301233v1
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Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information

 Mehdi Benallegue , Florent Lamiraux
International Journal of Humanoid Robotics, 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, 12 (3), pp.15500255. ⟨10.1142/S0219843615500255⟩
Article dans une revue hal-01169149v2
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Dynamic Walking and Whole-Body Motion Planning for Humanoid Robots: an Integrated Approach

 Sébastien Dalibard , Antonio El Khoury , Florent Lamiraux , Alireza Nakhaei , Michel Taïx
The International Journal of Robotics Research, 2013, 32 (9-10), pp.1089-1103
Article dans une revue hal-00654175v2
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Humanoid motion generation and swept volumes: theoretical bounds for safe steps

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
Advanced Robotics, 2013, 27 (14), pp.1045 - 1058. ⟨10.1080/01691864.2013.805468⟩
Article dans une revue hal-01113510v1
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Fast humanoid robot collision-free footstep planning using swept volume approximations

 Nicolas Perrin , Olivier Stasse , Léo Baudouin , Florent Lamiraux , Eiichi Yoshida
IEEE Transactions on Robotics, 2012, 28 (2), p.427-439. ⟨10.1109/TRO.2011.2172152⟩
Article dans une revue hal-00662550v1
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Kinematic control of redundant manipulators: generalizing the task priority framework to inequality tasks

 Oussama Kanoun , Florent Lamiraux , Pierre-Brice Wieber
IEEE Transactions on Robotics, 2011, 27 (4), pp.785-792. ⟨10.1109/TRO.2011.2142450⟩
Article dans une revue hal-00486755v2
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A General Framework for Planning Landmark-Based Motions for Mobile Robots

 Abed Malti , Florent Lamiraux , Michel Taïx
Advanced Robotics, 2011, 25 (11-12), pp.1427-1450 ⟨10.1163/016918611X579457⟩
Article dans une revue hal-01537687v1
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Pivoting based manipulation by a humanoid robot

 Eiichi Yoshida , Mathieu Poirier , Jean-Paul Laumond , Oussama Kanoun , Florent Lamiraux
Autonomous Robots, 2010, 28 (1), pp.77-88. ⟨10.1007/s10514-009-9143-x⟩
Article dans une revue hal-01972688v1
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Integration of humanoid robots in collaborative working environment: a case study on motion generation

 Olivier Stasse , Rudolf Ruland , Florent Lamiraux , Abderrahmane Kheddar , Kazuhito Yokoi
Intelligent Service Robotics, 2009, 2 (3), pp.153-160. ⟨10.1007/s11370-009-0045-8⟩
Article dans une revue hal-00451346v1
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Metric-Based Iterative Closest Point Scan Matching for Sensor Displacement Estimation

 Javier Minguez , Luis Montesano , Florent Lamiraux
IEEE Transactions on Robotics, 2006, 22 (5), pp.1047-1054. ⟨10.1109/TRO.2006.878961⟩
Article dans une revue hal-02295157v1
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Reactive Path Deformation for Nonholonomic Mobile Robots

 Florent Lamiraux , David Bonnafous , Olivier Lefebvre
IEEE Transactions on Robotics, 2004, 20 (6), pp.967-977. ⟨10.1109/TRO.2004.829459⟩
Article dans une revue hal-02294191v1
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Smooth motion planning for car-like vehicles

 Florent Lamiraux , Jean-Paul Laumond
IEEE Transactions on Robotics and Automation, 2001, 17 (4), pp.498-502. ⟨10.1109/70.954762⟩
Article dans une revue hal-02962892v1
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Planning paths for elastic objects under manipulation constraints

 Florent Lamiraux , Lydia Kavraki
The International Journal of Robotics Research, 2001, 20 (3), pp.188-208
Article dans une revue hal-02962879v1
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Motion Planning and Control for Hilare Pulling a Trailer

 Florent Lamiraux , Sepanta Sekhavat , Jean-Paul Laumond
IEEE Transactions on Robotics and Automation, 1999, 15 (4), pp.640-652. ⟨10.1109/70.781968⟩
Article dans une revue hal-02295152v1
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Model predictive control under hard collision avoidance constraints for a robotic arm

 Arthur Haffemayer , Armand Jordana , Médéric Fourmy , Krzysztof Wojciechowski , Guilhem Saurel
Ubiquitous Robots 2024, Korea Robotics Society, Jun 2024, New York (USA), United States. ⟨10.1109/UR61395.2024.10597485⟩
Communication dans un congrès hal-04425002v2
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Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters

 Thanh D V Nguyen , Vincent Bonnet , Pierre Fernbach , Thomas Flayols , Florent Lamiraux
IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids 2024), Nov 2024, Nancy, France. ⟨10.1109/Humanoids58906.2024.10769790⟩
Communication dans un congrès hal-04769368v1
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FIGAROH: a Python toolbox for dynamic identification and geometric calibration of robots and humans

 Dinh Vinh Thanh Nguyen , Vincent Bonnet , Sabbah Maxime , Maxime Gautier , Pierre Fernbach
IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin (TX), United States. ⟨10.1109/Humanoids57100.2023.10375232⟩
Communication dans un congrès hal-04234676v2
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Multi-Contact Task and Motion Planning Guided by Video Demonstration

 Kateryna Zorina , David Kovar , Florent Lamiraux , Nicolas Mansard , Justin Carpentier
ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom
Communication dans un congrès hal-03945110v2
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Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control

 Joseph Mirabel , Florent Lamiraux , Thuc Long Ha , Alexis Nicolin , Olivier Stasse
2021 IEEE International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨10.1109/CASE49439.2021.9551576⟩
Communication dans un congrès hal-03308202v1
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Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers

 Alexis Nicolin , Joseph Mirabel , Sébastien Boria , Olivier Stasse , Florent Lamiraux
IEEE/SICE International Symposium on System Integration, Jan 2020, Honolulu, United States
Communication dans un congrès hal-02466543v1
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Continuous Tension Validation for Cable-Driven Parallel Robots

 Diane Bury , Jean-Baptiste Izard , Marc Gouttefarde , Florent Lamiraux
IROS 2020 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2020, Las Vegas, United States. pp.6558-6563, ⟨10.1109/IROS45743.2020.9341202⟩
Communication dans un congrès hal-02900961v1
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The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

 Justin Carpentier , Guilhem Saurel , Gabriele Buondonno , Joseph Mirabel , Florent Lamiraux
SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France
Communication dans un congrès hal-01866228v2
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Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

 Diane Bury , Jean-Baptiste Izard , Marc Gouttefarde , Florent Lamiraux
IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.8097-8102, ⟨10.1109/IROS40897.2019.8967836⟩
Communication dans un congrès hal-02294402v1
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Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement

 Mehdi Benallegue , Pierre Gergondet , Hervé Audren , Alexis Mifsud , Mitsuharu Morisawa
ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩
Communication dans un congrès hal-01746095v1
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Handling implicit and explicit constraints in manipulation planning

 Joseph Mirabel , Florent Lamiraux
Robotics: Science and Systems 2018, Jun 2018, Pittsburg, United States. 9p
Communication dans un congrès hal-01804774v1
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Manipulation planning: addressing the crossed foliation issue

 Joseph Mirabel , Florent Lamiraux
IEEE International Conference on Robotics and Automation 2017, May 2017, Singapour, Singapore
Communication dans un congrès hal-01358767v1
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TALOS: A new humanoid research platform targeted for industrial applications

 Olivier Stasse , Thomas Flayols , Rohan Budhiraja , Kevin Giraud-Esclasse , Justin Carpentier
International Conference on Humanoid Robotics, ICHR, Birmingham 2017, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/HUMANOIDS.2017.8246947⟩
Communication dans un congrès hal-01485519v2
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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground

 Nirmal Giftsun , Andrea del Prete , Florent Lamiraux
International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Jul 2017, Madrid, Spain
Communication dans un congrès hal-01533136v1
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HPP: a new software for constrained motion planning

 Joseph Mirabel , Steve Tonneau , Pierre Fernbach , Anna-Kaarina Seppälä , Mylène Campana
International Conference on Intelligent Robots and Systems (IROS 2016), Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759083⟩
Communication dans un congrès hal-01290850v2
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Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model

 Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux
IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759795⟩
Communication dans un congrès hal-01285643v1
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Motion Planning and Irreducible Trajectories

 Andreas Orthey , Olivier Stasse , Florent Lamiraux
ICRA, May 2015, Seattle, United States. ⟨10.1109/ICRA.2015.7139695⟩
Communication dans un congrès hal-01121025v1
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Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation

 Mehdi Benallegue , Alexis Mifsud , Florent Lamiraux
2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea
Communication dans un congrès hal-01202155v1
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Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units

 Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p
Communication dans un congrès hal-01142399v2
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Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information

 Mehdi Benallegue , Florent Lamiraux
2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain
Communication dans un congrès hal-01079797v1
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Optimal Motion Planning for Humanoid Robots

 Antonio El Khoury , Florent Lamiraux , Michel Taïx
IEEE International Conference on Robotics and Automation ( ICRA ), May 2013, Karlsruhe, Germany. 7p
Communication dans un congrès hal-00715419v3
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RobOptim: an Optimization Framework for Robotics

 Thomas Moulard , Florent Lamiraux , Karim Bouyarmane , Eiichi Yoshida
Robomec, May 2013, Tsukuba, Japan. 4p
Communication dans un congrès hal-00802083v1
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Trajectory Following for Legged Robots

 Thomas Moulard , Florent Lamiraux , Olivier Stasse
International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662, ⟨10.1109/BioRob.2012.6290282⟩
Communication dans un congrès hal-00601291v3
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Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Youn J. Kim , Dinesh Manocha
IEEE International Conference on Robotics and Automation, May 2012, Saint Paul, Minnesota, United States. pp.0-0
Communication dans un congrès hal-00668794v1
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Experiments on whole-body manipulation and locomotion with footstep real-time optimization

 Duong Dang , Jean-Paul Laumond , Florent Lamiraux
IEEE-RAS International Conference on Humanoid Robots, Nov 2012, Osaka, Japan. 6p
Communication dans un congrès hal-00727600v2
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Weakly collision-free paths for continuous humanoid footstep planning

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ, Sep 2011, San Francisco, United States. pp.4408 -4413, ⟨10.1109/IROS.2011.6048120⟩
Communication dans un congrès hal-00639026v1
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Real-time Replanning Using 3D Environment for Humanoid Robot

 Léo Baudouin , Nicolas Perrin , Thomas Moulard , Florent Lamiraux , Olivier Stasse
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589, ⟨10.1109/Humanoids.2011.6100844⟩
Communication dans un congrès hal-00601300v1
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Small-Space Controllability of a Walking Humanoid Robot

 Sébastien Dalibard , Antonio El Khoury , Florent Lamiraux , Michel Taïx , Jean-Paul Laumond
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, Oct 2011, Bled, Slovenia. pp.739 - 744, ⟨10.1109/Humanoids.2011.6100807⟩
Communication dans un congrès hal-00602384v2
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A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨10.1109/ICRA.2011.5979917⟩
Communication dans un congrès hal-00593659v1
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A framework for manipulation and locomotion with realtime footstep replanning

 Dang Duong , Florent Lamiraux , Jean-Paul Laumond
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. pp.676 - 681, ⟨10.1109/Humanoids.2011.6100889⟩
Communication dans un congrès hal-00697564v1
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Path Optimization for Humanoid Walk Planning: an Efficient Approach

 Antonio El Khoury , Michel Taïx , Florent Lamiraux
Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, Jul 2011, Noordwijkerhout, Netherlands. pp.179 - 184
Communication dans un congrès hal-00572375v3
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Approximation of Feasibility Tests for Reactive Walk on HRP-2

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6, ⟨10.1109/ROBOT.2010.5509395⟩
Communication dans un congrès hal-00455454v1
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Manipulation of Documented Objects by a Walking Humanoid Robot

 Sébastien Dalibard , Alireza Nakhaei , Florent Lamiraux , Jean-Paul Laumond
10th IEEE-RAS International Conference on Humanoid Robots, Dec 2010, Nashville, United States. pp. 518-523
Communication dans un congrès hal-00518187v1
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Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots

 Oussama Kanoun , Florent Lamiraux , Pierre-Brice Wieber , Fumio Kanehiro , Eiichi Yoshida
ICRA 2009 - IEEE International Conference on Robotics & Automation, May 2009, Kobe, Japan. pp.2939-2944, ⟨10.1109/ROBOT.2009.5152293⟩
Communication dans un congrès inria-00390581v1
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Potential Field Guide for Humanoid Multicontacts Acyclic Motion Planning

 Karim Bouyarmane , Adrien Escande , Florent Lamiraux , Abderrahmane Kheddar
ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1165-1170, ⟨10.1109/ROBOT.2009.5152353⟩
Communication dans un congrès lirmm-00776642v1
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Regrasp planning for pivoting manipulation by a humanoid robot

 Eiichi Yoshida , Mathieu Poirier , Jean-Paul Laumond , Oussama Kanoun , Florent Lamiraux
2009 IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. ⟨10.1109/ROBOT.2009.5152540⟩
Communication dans un congrès hal-01976059v1
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Whole-Body Task Planning for a Humanoid Robot: a Way to Integrate Collision Avoidance

 Sébastien Dalibard , Alireza Nakhaei , Florent Lamiraux , Jean-Paul Laumond
IEEE International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.1-6
Communication dans un congrès hal-00450897v1
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Architectures and models for humanoid robots in collaborative working environments

 Olivier Stasse , Neo Ee Sian , Florent Lamiraux , Takeshi Sakaguchi , Abderrahmane Kheddar
ISR'08: International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359
Communication dans un congrès lirmm-00798785v1
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Integrating Dynamics into Motion Planning for Humanoid Robots

 Fumio Kanehiro , Wael Suleiman , Florent Lamiraux , Eiichi Yoshida , Jean-Paul Laumond
International Conference on Intelligent Robots and Systems ( 2008), IEEE; RSJ, Sep 2008, Nice, France
Communication dans un congrès hal-04453597v1
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Taking into account velocity and acceleration bounds in nonholonomic trajectory deformation

 Mathieu Hillion , Florent Lamiraux
IEEE International Conference on Robotics and Automation, Apr 2007, Roma, Italy
Communication dans un congrès hal-00125707v1
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Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation

 Olivier Lefebvre , Florent Lamiraux , David Bonnafous
IEEE International Conference on Robotics and Automation (ICRA 2005), May 2005, Barcelona, Spain. ⟨10.1109/ROBOT.2005.1570831⟩
Communication dans un congrès hal-04189255v1
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Obstacles Avoidance for Car-Like Robots. Integration And Experimentation on Two Robots

 Olivier Lefebvre , Florent Lamiraux , Cédric Pradalier , Thierry Fraichard
Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France. pp.4277--4282
Communication dans un congrès inria-00182068v1
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Move3D: a generic platform for path planning

 Thierry Simeon , Jean-Paul Laumond , Florent Lamiraux
4th International Symposium on Assembly and Task Planning (ISATP), May 2001, Tsukuba, Japan
Communication dans un congrès hal-04295844v1
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Towards a software development kit for motion synthesis in virtual worlds

 Thierry Simeon , Jean-Paul Laumond , Florent Lamiraux
7th International Conference on Virtual Systems and Multi-Media (VSMM), Oct 2001, Berkeley, United States
Communication dans un congrès hal-04295924v1
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Sensor-based trajectory deformation: application to reactive navigation of nonholonomic robots

 Florent Lamiraux , Olivier Lefebvre
Chesi, Graziano; Hashimoto, Koichi. Visual Servoing via Advanced Numerical Methods, Springer, p.315-334, 2010, Lecture Notes in Control and Information Sciences n° 401
Chapitre d'ouvrage hal-00451341v1
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Collision Avoidance in Model Predictive Control using Velocity Damper

 Arthur Haffemayer , Armand Jordana , Ludovic de Matteis , Krzysztof Wojciechowski , Florent Lamiraux
2024
Pré-publication, Document de travail hal-04707324v2
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States Path Finder: a general and efficient algorithm for prehensile manipulation planning

 Quang Anh Le , Alexandre Thiault , Florent Lamiraux
2023
Pré-publication, Document de travail hal-03777018v2
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Exact collision detection along paths: Optimization and proof of convergence

 Diane Bury , Joseph Mirabel , Florent Lamiraux , Marc Gouttefarde , Pierre-Elie Hervé
2023
Pré-publication, Document de travail hal-04056297v1
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Integrating Path Planning and Visual Servoing in Manipulation Tasks

 Joseph Mirabel , Alexis Nicolin , Florent Lamiraux , Olivier Stasse , Sébastien Boria
2020
Pré-publication, Document de travail hal-02494731v1
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Constraint Graphs: Unifying task and motion planning for Navigation and Manipulation Among Movable Obstacles

 Joseph Mirabel , Florent Lamiraux
2016
Pré-publication, Document de travail hal-01281348v1
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Manipulation planning: building paths on constrained manifolds

 Joseph Mirabel , Florent Lamiraux
2016
Pré-publication, Document de travail hal-01360409v3
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A simple path optimization method for motion planning

 Mylène Campana , Florent Lamiraux , Jean-Paul Laumond
2015
Pré-publication, Document de travail hal-01137844v2
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HPP: a new software framework for manipulation planning

 Florent Lamiraux , Joseph Mirabel
2015
Pré-publication, Document de travail hal-01138118v1
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A Continuous Approach to Legged Locomotion Planning

 Nicolas Perrin , Christian Ott , Johannes Englsberger , Olivier Stasse , Florent Lamiraux
2013
Pré-publication, Document de travail hal-00805981v1
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Reliable Indoor Navigation on Humanoid Robots using Vision-Based Localization

 Thomas Moulard , Pablo Fernández Alcantarilla , Florent Lamiraux , Olivier Stasse , Frank Dellaert
2012
Pré-publication, Document de travail hal-00733666v1
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Adaptive sampling-based approximation of the sign of multivariate real-valued functions

 Nicolas Perrin , Olivier Stasse , Florent Lamiraux , Eiichi Yoshida
2010
Pré-publication, Document de travail hal-00544891v1
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Collision-free walk planning for humanoid robots using numerical optimization

 Thomas Moulard , Florent Lamiraux , Pierre-Brice Wieber
2010
Pré-publication, Document de travail hal-00486997v1
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Optimizing paths in manipulation planning

 Joseph Mirabel , Florent Lamiraux
2021
Rapport hal-03202250v1
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Algorithmique et commande du mouvement en robotique

 Florent Lamiraux
Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2004
HDR tel-00010407v1
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Motion planning

 Florent Lamiraux
Doctoral. GdR Robotics Winter School: Robotica Principia, Centre de recherche Inria Sophia Antipolis – Méditérranée, France. 2019
Cours cel-02130128v1
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Integrating Path Planning and Visual Servoing in Manipulation Tasks

 Joseph Mirabel , Alexis Nicolin , Florent Lamiraux , Olivier Stasse , Sébastien Boria
2020
Vidéo hal-02494737v1