Publications

List of my publications. See also my Google Scholar.

2020

  1. Crocoddyl: Fast computation, Efficient solvers, Receding horizon and Learning
    Budhiraja Rohan, Parag Amit, Dantec Ewen, Carpentier Justin, Mastalli Carlos, and Mansard Nicolas
    Journées Nationales de la Robotique Humanoïde 2020

2021

  1. Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos
    Dantec Ewen, Budhiraja Rohan, Roig Adria, Lembono Teguh, Saurel Guilhem, Stasse Olivier, Fernbach Pierre, Tonneau Steve, Vijayakumar Sethu, Calinon Sylvain, Taix Michel, and Mansard Nicolas
    IEEE International Conference on Robotics and Automation (ICRA) 2021

2022

  1. Introducing Force Feedback in Model Predictive Control
    Kleff Sebastien, Dantec Ewen, Saurel Guilhem, Mansard Nicolas, and Righetti Ludovic
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
  2. First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback
    Dantec Ewen, Taix Michel, and Mansard Nicolas
    IEEE Robotics and Automation Letters 2022
  3. Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot
    Dantec Ewen, Naveau Maximilien, Fernbach Pierre, Villan Nahuel, Saurel Guilhem, Stasse Olivier, Taix Michel, and Mansard Nicolas
    IEEE-RAS International Conference on Humanoid Robots 2022
  4. Torque Controlled Locomotion of a Biped Robot with Link Flexibility
    Villan Nahuel, Fernbach Pierre, Naveau Maximilien, Saurel Guilhem, Dantec Ewen, Mansard Nicolas, and Stasse Olivier
    IEEE-RAS International Conference on Humanoid Robots 2022

2023

  1. A whole-body predictive control approach to biped locomotion
    Dantec Ewen
    Thesis at INSA Toulouse 2023

2024

  1. Parallel and Proximal Constrained Linear-Quadratic Methods for Real-Time Nonlinear MPC
    Jallet Wilson, Dantec Ewen, Arlaud Etienne, Mansard Nicolas, and Carpentier Justin
    Robotics: Science and Systems 2024
  2. From centroidal to whole-body models for legged locomotion: a comparative analysis
    Dantec Ewen, Jallet Wilson, and Carpentier Justin
    IEEE Humanoids 2024