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Florent Lamiraux

13 accepted papers

2026

Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring

Krzysztof Wojciechowski, Ege Gursoy, Arthur Haffemayer, Sebastien Kleff, Vincent Bonnet, Florent Lamiraux +1
ICRA 2026poster

Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in particular requires precise tool insertion, stable force regulation,…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Warm-Starting Collision-Free Model Predictive Control With Object-Centric Diffusion

Arthur Haffemayer, Alexandre Chapin, Armand Jordana, Krzysztof Wojciechowski, Florent Lamiraux, Nicolas Mansard +1
RA-L 2026

Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible solutions quickly when many obstacles are present. Diffusion models

Cited by 1Source ↗Scholar ↗
2025

Collision Avoidance in Model Predictive Control Using Velocity Damper

Arthur Haffemayer, Armand Jordana, Ludovic De Matteïs, Krzysztof Wojciechowski, Ludovic Righetti, Florent Lamiraux +1
ICRA 2025

<div> We propose an advanced method for controlling the motion of a manipulator robot with strict collision avoidance in dynamic environments, leveraging a velocity damper constraint. Unlike conventional distance-based constraints, which tend to saturate near obstacles to reach optimality, the veloc

Cited by 4Source ↗Scholar ↗
2023

Multi-Contact Task and Motion Planning Guided by Video Demonstration

Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic +1
ICRA 2023poster

This work aims at leveraging instructional video to guide the solving of complex multi-contact task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which simultaneously grows multiple trees around…

Cited by 3Source ↗Scholar ↗
2020

Continuous Tension Validation for Cable-Driven Parallel Robots

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2020poster

This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable…

Cited by 9Source ↗Scholar ↗
2019

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury, Jean-Baptiste Izard, Marc Gouttefarde, Florent Lamiraux
IROS 2019poster

A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bo…

Cited by 21Source ↗Scholar ↗
2018

Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement

Mehdi Benallegue, Pierre Gergondet, Herve Audrerr, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux +2
ICRA 2018poster

The dynamics of a humanoid robot cannot be correctly described independently from the external forces acting on it. These forces have to be reconstructed to enable the robot to control them or to compensate for them. Force sensors are usually used to measure these forces, but because of their cost,…

Cited by 19Source ↗Scholar ↗
2016

HPP: A new software for constrained motion planning

Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppälä, Mylène Campana, Nicolas Mansard +1
IROS 2016poster

We present HPP, a software designed for complex classes of motion planning problems, such as navigation among movable objects, manipulation, contact-rich multiped locomotion, or elastic rods in cluttered environments. HPP is an open-source answer to the lack of a standard framework for these importa…

Cited by 78Source ↗Scholar ↗
2016

Stabilization of a compliant humanoid robot using only Inertial Measurement Units with a viscoelastic reaction mass pendulum model

Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
IROS 2016poster

To guarantee its balance, a humanoid robot has to respect some contact force constraints. Therefore, traditional controllers generate motions complying with these constraints, but they usually consider the robot as stiff and the joint position perfectly known. However, several robots contain complia…

Cited by 13Source ↗Scholar ↗
2015

Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units

Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
IROS 2015poster

A humanoid robot is underactuated and only relies on contacts with environment to move in the space. The ability to measure contact forces and torques enables then to predict the robot dynamics including balance. In classical cases, a humanoid robot is considered as a multi-body system with rigid li…

Cited by 20Source ↗Scholar ↗