Bio

  • Masters Degree in Computational Mechanics from Ecole Normale Superieure of Cachan

Research interests

  • Full-body posture generation (generalized inverse kinematics)
  • Development of a dedicated nonlinear optimization solver specialized for robotics problems
  • Description and resolution of robotics problems on non-Euclidean manifolds
  • Autonomous choice of contact points on complex surfaces
Title Authors Conference/Book Year bib pdf
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds (Submitted) S. Traversaro, S. Brossette, A. Escande, F. Nori IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016
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
Parametrization of Catmull-Clark Subdivision Surfaces for Posture generation A. Escande, S. Brossette, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2016
Humanoid posture generation on non-Euclidean manifolds S. Brossette, A. Escande, G. Duchemin, B. Chr├ętien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2015
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
Integration of Non-Inclusive Contacts in Posture Generation S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar Cybernetics and Intelligent Systems Robotics, Automation and Mechatronics (CISRAM) 2013