Kevin Chappellet — accepted AI-conference papers

2021

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa +2

RA-L 2021

In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object contact interactions. In this letter, we propose a bipedal contro

Cited by 30 Source ↗Scholar ↗

2021

Online Object Searching by a Humanoid Robot in an Unknown Environment

Masato Tsuru, Adrien Escande, Arnaud Tanguy, Kevin Chappellet, Kensuke Harada

RA-L 2021

This letter proposes a framework for an autonomous humanoid robot, aimed at searching for a target object in an unknown environment using 3D-simultaneous localization and mapping (SLAM). The robot determines, while walking, the next viewpoint from an environment map and aggregated object recognition

Cited by 15 Source ↗Scholar ↗

2018

Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects

Antonio Paolillo, Kevin Chappellet, Anastasia Bolotnikova, Abderrahmane Kheddar

RA-L 2018

Robotic manipulation tasks require the knowledge on the configuration of the object in use. Since most objects are generally not equipped with any sensor, an estimator is required. Furthermore, if an object is articulated, i.e., includes passive joints, the estimation process has to reconstruct the

Cited by 22 Source ↗Scholar ↗