Pierre Gergondet — accepted AI-conference papers

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 19 Source ↗Scholar ↗

2018

Robust Humanoid Control Using a QP Solver with Integral Gains

Rafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Hervé Audren, Pierre Gergondet +3

IROS 2018poster

We propose a control framework for torque controlled humanoid robots that efficiently minimizes the tracking error in a Quadratic Programming (QP)formulated as multiobjective weighted tasks with constraints. It results in an optimal dynamically-feasible reference that can be tracked robustly, with e…

Cited by 25 Source ↗Scholar ↗

2015

An integrated framework for humanoid embodiment with a BCI

Damien Petit, Pierre Gergondet, Andrea Cherubini, Abderrahmane Kheddar

ICRA 2015poster

This paper presents a framework to embody a user (e.g. disabled persons) into a humanoid robot controlled by means of brain-computer interfaces (BCI). With our framework, the robot can interact with the environment, or assist its user. The low frequency and accuracy of the BCI commands is compensate…

Cited by 29 Source ↗Scholar ↗