St'ephane Caron

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The paper presents a compact power amplifier (PA) topology for reducing quiescent current and current consumption under power backoff operation. The final stage of the PA consists of two parallel transistor cells designed for two different output power operations. By switching between the two cells, terminated with different load impedances, through a(More)
— We present a real-time rough-terrain dynamic walking pattern generator. Our method automatically finds step durations, which is a critical issue over rough terrains where they depend on terrain topology. To achieve this level of generality, we introduce the Floating-base Inverted Pendulum (FIP) model where the center of mass can translate freely and the(More)
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