Adrien Pajon

2 accepted papers

2019

Safe 3D Bipedal Walking through Linear MPC with 3D Capturability

ICRA 2019poster

We propose a linear MPC scheme for online computation of reactive walking motions, necessary for fast interactions such as physical collaboration with humans or collision avoidance in crowds. Unlike other existing schemes, it provides fully adaptable height, adaptable step placement and complete kin…

Cited by 17 Source ↗Scholar ↗

2016

Humanoid walking with compliant soles using a deformation estimator

Giovanni De Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane Kheddar

ICRA 2016

We study the effect of soft (i.e. compliant) soles in humanoid walking. Adding compliance at the foot sole is important for shock absorption during touchdown and to better cast the ground roughness. But, subsequent deformation needs to be considered in the attitude stabilization. We propose a sole d

Cited by 14 Source ↗Scholar ↗