Biography

I am a postdoctoral researcher whose main research interests are Humanoid Robotics, Optimal Control and Motion Generation. I am working on the quadruped robot Go2 to increase the autonomy and robustness of optimization-based locomotion methods.

My thesis subject aimed at deploying Whole-Body Model Predictive Control algorithms on the humanoid robot Talos. I also worked on the potential use of Machine Learning techniques to build a Memory of Motion which could provide relevant pre-computed guesses to standard optimization algorithms. I started my thesis in October 2020 in the Gepetto research group at LAAS-CNRS in Toulouse, France under the supervision of Nicolas Mansard and Michel Taix. Before my thesis, I did an internship in the RAP research group of LAAS-CNRS on embedded computer vision applied to aerial drones. A few years before that, I did another intership in the Japanese Aerospace Exploration Agency where I worked on the problem of spacecraft re-entry and aerothermodynamics predictions.

I graduated from Ecole polytechnique in 2018 with a specialization in Applied Mathematics and Electrical Engineering. I also obtained a degree in Design and Operation of Space Systems and Automatic Control in Engineering from ISAE-Supaero.

Softwares

I am a contributor to the optimal control libraries Crocoddyl and Aligator, both based on novel and efficient Differential Dynamic Programming (DDP) algorithms. I am also the developer of a ready-to-use library for MPC algorithms called simple-mpc.