Justin Carpentier

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This paper presents a generic and efficient approach to generate dynamically consistent motions for under-actuated systems like humanoid or quadruped robots. The main contribution is a walking pattern generator, able to compute a stable trajectory of the center of mass of the robot along with the angular momentum, for any given configuration of contacts(More)
This paper presents an original approach to simply and efficiently estimate the center of mass position of a free-floating base system, like a humanoid robot or a human body. This approach relies on the theory of complementary filtering, which is a popular technique in aerial robotics, but rarely implemented in humanoid robotics. The main idea consists in(More)
In this contribution, Metapod, a novel C++ library computing efficiently dynamic algorithms is presented. It uses template-programming techniques together with codegeneration. The achieved performances shows a clear advantage over the state-of-the art dynamic library RBDL. The advantage of this library is that it is open-source and does not rely on any(More)
This paper deals with the problem of estimating the position of center of mass for a polyarticulated system (e.g. a humanoid robot or a human body), which makes contact with its environment. The only sensors providing measurements on this point are either interaction force sensors or kinematic reconstruction applied to a dynamic model of the system. We(More)
This paper discusses the problem of estimating the position of the center of mass for a polyarticulated system (e.g., a humanoid robot or a human body), which makes contact with its environment. The only sensors providing measurements on this point are either interaction force sensors or kinematic reconstruction applied to a dynamic model of the system. We(More)
In this paper, we propose a simulation framework which simultaneously computes both the design and the control of bipedal walkers. The problem of computing a design and a control is formulated as a single large-scale parametric optimal control problem on hybrid dynamics with path constraints (e.g. non sliding and non slipping contact constraints). Our(More)
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