Stanislas Brossette — accepted AI-conference papers

2016

Identification of fully physical consistent inertial parameters using optimization on manifolds

Silvio Traversaro, Stanislas Brossette, Adrien Escande, Francesco Nori

IROS 2016poster

This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existin…

Cited by 83 Source ↗Scholar ↗

2016

Parametrization of Catmull-Clark subdivision surfaces for posture generation

Adrien Escande, Stanislas Brossette, Abderrahmane Kheddar

ICRA 2016

In this paper we propose a method to build a smooth and non-singular map from the unit sphere to a Catmull-Clark subdivision surface. We use a tailored ray-casting algorithm to associate a point of the surface to each point of the sphere. This allows us to have smooth approximate representations for

Cited by 5 Source ↗Scholar ↗