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Nicolas Perrin

Nicolas Perrin-Gilbert

Researcher, CNRS

perrin at isir.upmc.fr
Institut des Systèmes Intelligents et de Robotique (ISIR)
Sorbonne Université, CNRS UMR 7222
4, place Jussieu, 75005 PARIS - France

general | short bio | videos | github | arXiv picks | online radios

NB: Some of the videos are without sound or explanations, but more information can be found in the links below them.

Quelles mathématiques pour le contrôle du mouvement humanoïde ?

"IREM | Quelles mathématiques pour le contrôle du mouvement humanoïde ?"

Push recovery experiments with COMAN:

"Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN"

Compliant attitude control with COMAN:

"Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN"

A continuous approach to legged locomotion planning:

"Continuous Legged Locomotion Planning"
"A Continuous Approach to Legged Locomotion Planning"

Non-gaited locomotion planning with a hexapod:

"Continuous Legged Locomotion Planning"
"From Discrete to Continuous Motion Planning"

Fast footstep planning with a hybrid bounding box for collision checks:

"Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box"

Fast humanoid robot collision-free footstep planning using swept volume approximations:

"Fast humanoid robot collision-free footstep planning using swept volume approximations"
"Sound and fast footstep planning for humanoid robots"

HRP-2 planning the motion of stepping over a small fence:

"Fast humanoid robot collision-free footstep planning using swept volume approximations"
"Sound and fast footstep planning for humanoid robots"

Real-time replanning with 3D obstacles for HRP2:

"Real-time Replanning Using 3D Environment for Humanoid Robot"
"Fast humanoid robot collision-free footstep planning using swept volume approximations"
"Real-time Walking Path Planning with 3D Collision Avoidance"

HRP-2 planning the motion of stepping over a bar:

"Real-time Replanning Using 3D Environment for Humanoid Robot"
"Fast humanoid robot collision-free footstep planning using swept volume approximations"
"Real-time Walking Path Planning with 3D Collision Avoidance"

Weakly collision-free paths for continuous humanoid footstep planning:

"Weakly collision-free paths for continuous humanoid footstep planning"

Footstep planning among 2D obstacles with HRP-2:

"A biped walking pattern generator based on "half-steps" for dimensionality reduction"

Tandem gait walk of HRP-2 using a half-steps based walking pattern generator:

"A biped walking pattern generator based on "half-steps" for dimensionality reduction"

Teleoperation of HRP-2 with a joystick:

"Approximation of Feasibility Tests for Reactive Walk on HRP-2"

Fast footstep replanning during physical human-humanoid interaction:

"Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction"
"Very fast decision making for whole body motion generation with humanoid robots"