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Pierre-Alexandre Léziart

5 accepted papers

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 ↗
2022

Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau
IROS 2022poster

Quadruped robots have proved their robustness to cross complex terrain despite little environment knowledge. Yet advanced locomotion controllers are expected to take advantage of exteroceptive information. This paper presents a complete method to plan and control the locomotion of quadruped robots w…

Cited by 20Source ↗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

Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs

Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà
ICRA 2021poster

State estimation, in particular estimation of the base position, orientation and velocity, plays a big role in the efficiency of legged robot stabilization. The estimation of the base state is particularly important because of its strong correlation with the underactuated dynamics, i.e. the evolutio…

Cited by 33Source ↗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 ↗