This paper presents a new condition, the fully physical consistency for a set of inertial
parameters to determine if they can be generated by a physical rigid body. The proposed …

This paper contributes to the field of physical human-robot collaboration. We present a
complete control framework, which aims at making humanoid robots capable of carrying …

The essence of humanoid robots is their ability to reproduce human skills in locomotion and
manipulation. Early efforts in humanoid research were dedicated to bipedal walking, first on …

We propose algorithms to compute the three-dimensional (3-D) robust stability region in
multicontact. It is well known that the stability region is a product of convex cones and …

We propose a framework to generate static robot configurations satisfying a set of physical
and geometrical constraints. This is done by formulating nonlinear constrained optimization …

This paper proposes a new algorithm for full body human motion estimation using 3D
marker position measurements. The joints are represented with Lie group members …

In this paper, we present a formulation of the collision avoidance constraints that relies on
the use of separating planes instead of a distance function. This formulation has the …

In this paper we propose a method to build a smooth and non-singular map from the unit
sphere to a Catmull-Clark subdivision surface. We use a tailored ray-casting algorithm to …

Humanoid robots are complex poly-articulated structures whose kinematics and dynamics
are governed by nonlinear equations. Finding viable postures to realize set-point task …

This thesis tackles the manipulation planning for documented objects. The difficulty of the
problem is the coupling of a symbolic and a geometrical problem. Classical approaches …