Noëlie Ramuzat — accepted AI-conference papers

2022

Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

Noëlie Ramuzat, Sébastien Boria, Olivier Stasse

RA-L 2022

This letter presents a passivity-based inverse dynamics (ID) controller using a global energy tank. The proposed control approach allows us to achieve a safe multi-contact scenario on a torque controlled humanoid robot. The controller is primarily a task space ID quadratic programming (QP) which eff

Cited by 8 Source ↗Scholar ↗

2021

Human Trajectory Prediction Model and Its Coupling With a Walking Pattern Generator of a Humanoid Robot

Isabelle Maroger, Noëlie Ramuzat, Olivier Stasse, Bruno Watier

RA-L 2021

In order to smoothly perform interactions between a humanoid robot and a human, knowledge about the human locomotion can be efficiently used. Indeed, in a human-robot collaboration, a prediction model of the human behaviour allows the robot to act proactively. In this letter, an optimal control base

Cited by 24 Source ↗Scholar ↗