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Philippe Souères

9 accepted papers

2024

CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning

Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard
IROS 2024

Deep Reinforcement Learning (RL) has demonstrated impressive results in solving complex robotic tasks such as quadruped locomotion. Yet, current solvers fail to produce efficient policies respecting hard constraints. In this work, we advocate for integrating constraints into robot learning and prese

Cited by 35Source ↗code ↗Scholar ↗
2022

Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers

Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères
RA-L 2022

This letter presents significant improvements to the nominal control architecture of the open-access Solo-12 quadruped that were done to implement and compare different centroidal Model Predictive Controllers (MPC). This work was motivated by our previous study in which various MPC schemes of increa

Cited by 6Source ↗Scholar ↗
2021

Comparison of predictive controllers for locomotion and balance recovery of quadruped robots

Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel +1
ICRA 2021poster

As locomotion decisions must be taken by considering the future, most existing quadruped controllers are based on a model predictive controller (MPC) with a reduced model of the dynamics to generate the motion and a whole- body controller to execute it. Yet the simplifying assumptions of the MPC are…

Cited by 19Source ↗Scholar ↗
2021

Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12

Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères
ICRA 2021poster

This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. It presents the implementation of a state-of-the-art control pipeline, close to the one that was previous…

Cited by 49Source ↗Scholar ↗
2019

Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach

François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères
RA-L 2019

Estimating the center of mass position and the angular momentum derivative of legged systems is essential for both controlling legged robots and analyzing human motion. In this letter, a novel recursive approach to concurrently and accurately estimate these two quantities together is introduced. The

Cited by 10Source ↗Scholar ↗
2017

A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

Maximilien Naveau, Manuel Kudruss, Olivier Stasse, Christian Kirches, Katja D. Mombaur, Philippe Souères
RA-L 2017

The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of “walking without thinking,” we propose a walking pattern generator that takes into account simultaneously the position an

Cited by 106Source ↗Scholar ↗
2015

Image-based control relying on conic curves foliation for passing through a gate

Paolo Salaris, Christian Vassallo, Philippe Souères, Jean-Paul Laumond
ICRA 2015poster

This paper presents a geometric approach to the problem of designing visual feedback control laws to steer a nonholonomic vehicle, equipped with a fixed monocular camera, through a gate. The originality of our approach is to introduce and exploit the natural geometry induced by the presence of a gat…

Cited by 2Source ↗Scholar ↗