Antonin Dallard — accepted AI-conference papers

2026

Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers

Antonin Dallard, Mehdi Benallegue, Nicola Scianca, Fumio Kanehiro, Abderrahmane Kheddar

ICRA 2026poster

We propose a novel walking control scheme based on the dynamics of the Linear Inverted Pendulum (LIP) model. The pattern generation incorporates a model of contact forces, enabling closed-loop control of the humanoid robot’s state, including the Center of Mass (CoM) position, velocity, and Zero Mome…

Cited by 0 Source ↗Scholar ↗

2023

Synchronized Human-Humanoid Motion Imitation

Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar

RA-L 2023

We present a tele-operation control framework that (i) enhances the upper motion synchrony between a user and a robot using the minimum-jerk model coupled with a recursive least-square filter, and (ii) synchronizes the walking pace by predicting user's stepping frequency using motion capture data an

Cited by 21 Source ↗Scholar ↗