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hal-02487619v1  Conference papers
Zohaib AftabThomas RobertPierre-Brice Wieber. Ankle, hip and stepping strategies for humanoid balance recovery with a single Model Predictive Control scheme
IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Nov 2012, Osaka, Japan. pp.159-164, ⟨10.1109/HUMANOIDS.2012.6651514⟩
hal-02487853v1  Journal articles
Pierre-Brice Wieber. Model Predictive Control for Biped Walking Motion Generation
Journal of the Robotics Society of Japan, 2014, 32 (6), pp.503-507. ⟨10.7210/jrsj.32.503⟩
hal-01482878v1  Conference papers
Nicolas CazyPierre-Brice WieberPaolo Robuffo GiordanoFrançois Chaumette. Visual Servoing Using Model Predictive Control to Assist Multiple Trajectory Tracking
IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.2057-2064, ⟨10.1109/ICRA.2017.7989237⟩
hal-01062523v1  Conference papers
Vincent AcaryGuillaume JamesFranck Pérignon. Periodic motions of coupled impact oscillators
11th World Congress on Computational Mechanics (WCCM XI) 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI), Jul 2014, Barcelona, Spain
inria-00390555v1  Conference papers
Pierre-Brice Wieber. Viability and Predictive Control for Safe Locomotion
IROS 2008 - IEEE-RSJ International Conference on Intelligent Robots & Systems, Sep 2008, Nice, France. pp.1103-1108, ⟨10.1109/IROS.2008.4651022⟩
hal-00646982v1  Journal articles
Carmina GeorgescuBernard BrogliatoVincent Acary. Switching, relay and complementarity systems: A tutorial on their well-posedness and relationships
Physica D: Nonlinear Phenomena, 2012, Dynamics and Bifurcations of Nonsmooth Systems, 241 (22), pp.50. ⟨10.1016/j.physd.2011.10.014⟩
hal-00755941v1  Journal articles
Caishan LiuZhen ZhaoBernard Brogliato. Frictionless mutliple impacts in multibody systems. I Theoretical framework
Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2008, 464 (2100), pp.3193-3211. ⟨10.1098/rspa.2008.0078⟩
hal-00756195v1  Journal articles
W. P. Maurice H. HeemelsM. Kanat CamlibelJohannes M. SchumacherBernard Brogliato. Observer-based control of linear complementarity systems
International Journal of Robust and Nonlinear Control, 2011, Special Issue: New Directions on Hybrid Control Systems, 21 (10), pp.1193-1218. ⟨10.1002/rnc.1626⟩
hal-01717106v1  Conference papers
Vincent AcaryMaurice BrémondHong Phong CaoFrédéric DuboisSylvain Mazet et al.  The Saladyn toolbox
11e colloque national en calcul des structures, CSMA, May 2013, Giens, France
hal-01418462v1  Book sections
Pierre-Brice WieberAdrien EscandeDimitar DimitrovAlexander Sherikov. Geometric and numerical aspects of redundancy
Geometric and Numerical Foundations of Movements, 117, Springer, pp.67-85, 2017, Springer Tracts in Advanced Robotics, ⟨10.1007/978-3-319-51547-2_4⟩
hal-00834580v2  Conference papers
Maurice P. M. H. HeemelsKanat K. CamlibelBernard BrogliatoHans Schumacher. Observer-Based Control of Linear Complementarity Systems
11th International Workshop on Hybrid Systems: Computation and Control (HSCC 2008), Apr 2008, St-Louis, United States. pp.259-272, ⟨10.1007/978-3-540-78929-1_19⟩
hal-01066689v1  Conference papers
Olivier HuberVincent AcaryBernard BrogliatoFranck Plestan. Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method
CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.4373-4378, ⟨10.1109/CDC.2014.7040071⟩
hal-01075153v1  Conference papers
Olivier BrülsVincent AcaryAlberto Cardona. A Penetration-free Nonsmooth Dynamics Method for Frictionless Contact/Impact Problems
WCCM XI - 11th World Congress on Computational Mechanics - 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI), Eugenio Oñate, Jul 2014, Barcelona, Spain
hal-00525420v1  Journal articles
Arnaud Tonnelier. Propagation of spike sequences in neural networks
SIAM Journal on Applied Dynamical Systems, 2010, 9 (3), pp.1090-1118. ⟨10.1137/100782504⟩
hal-00317203v1  Journal articles
Aris DaniilidisAdrian LewisJérôme MalickHristo Sendov. Prox-Regularity of Spectral Functions and Spectral Sets
Journal of Convex Analysis, 2008, 15 (3), pp.547-560
hal-00494610v1  Conference papers
Zohaib AftabThomas RobertPierre-Brice Wieber. Comparison of Capture Point estimation with human foot placement: Applicability and Limitations
5èmes Journées Nationales de la Robotique Humanoïde, Jun 2010, Poitiers, France
hal-00484853v1  Conference papers
Adrien EscandeNicolas MansardPierre-Brice Wieber. Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints
ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, ⟨10.1109/ROBOT.2010.5509953⟩
hal-02487630v1  Conference papers
Andrei HerdtNicolas PerrinPierre-Brice Wieber. LMPC based online generation of more efficient walking motions
IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩