We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

The anthropomorphic body form is a complex articulated system of links/limbs and joints,
simultaneously redundant and underactuated, and capable of a wide range of sophisticated …

We present a contact planner for complex legged locomotion tasks: standing up, climbing
stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner …

With the rapid development of computing technology, three-dimensional (3D) human body
models and their dynamic motions are widely used in the digital entertainment industry …

Multiped locomotion in cluttered environments is addressed as the problem of planning
acyclic sequences of contacts, that characterize the motion. In order to overcome the …

We introduce a new inverse modeling method to interactively design crowd animations. Few
works focus on providing succinct high-level and large-scale crowd motion modeling. Our …

This dissertation describes an optimization-based framework to perform complex and
dynamic locomotion strategies for robots with legs and wheels. The proposed method allows …

Digital human simulations nowadays play an important role for various domains such as
entertainment, health care and production industries. Especially for the automotive industry …

We present a framework capable of producing contact plans describing complex multiped
motions (including humanoid): standing up, climbing stairs using a handrail, crossing rubble …

La synthèse automatique du mouvement de robots à pattes est un enjeu majeur de la
robotique: sa résolution permettrait le déploiement des robots hors de leurs laboratoire …