Bio

I got my master's degree in Science and Executive Engineering in 2013 from Mines ParisTech, France. I subsequently started my Ph.D. in JRL. My research interests include multi-contact stability and motion, optimization and safe human-robot interaction. I am mostly developing in C++ and Python, and contributing to a full-stack control solution from planning to real-time control. Outside of work, I like to go biking or rock climbing.
Title Authors Conference/Book Year bib pdf
Multi-Contact Vertical Ladder Climbing with an HRP-2 Humanoid J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro Autonomous Robots 2016
Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots H. Audren, A. Kheddar, P. Gergondet IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016 2016
Model Preview Control in Multi-Contact Motion - Application to a Humanoid Robot H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida IEEE/RSJ Internation Conference on Intelligent Robots and Systems (IROS) 2014
Vertical Ladder Climbing by the HRP-2 Humanoid Robot J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro IEEE/RAS International Conference on Humanoid Robots (Humanoids) 2014