Compliant Feedback Control of Legged Robots

The goal of this project is to achieve reliable locomotion behaviors in semi-structured environments with the humanoid robots HRP-2 and Pyrene. This project relies on model-based feedback control techniques, such as inverse-dynamics and model predictive control.

Robust Robotics

Nowadays legged robots are capable of performing locomotion and manipulation in semi-structured environments, but with a low level of reliability, which makes their application in disaster-recovery scenarios difficult, if not impossible. However, if we look at the results that researchers in robotics and animation have achieved in simulation, we can see that simulated robots/avatars can easily and reliably perform dynamic movements such as walking, running, jumping, kicking. What is preventing real robots from showing similar performance?

Recent Publications

More Publications


Task-Space Inverse Dynamics (TSID)

Memmo Winter School, January 28-31 2019, IDIAP (Martigny, Switzerland)

I have given a 3-hour class about TSID, covering both theory and implementation. Here you can find the slides of the class:

I have also given a class on robust TSID:


“Second Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains”

Organizers: D. Kanoulas, I. Havoutis, M. Fallon, A. Del Prete, E. Yoshida.

Full-day workshop at ICRA 2017, Singapore.

“Robust Optimization-Based Control and Planning for Legged Robots”

Co-organized with Russ Tedrake, (MIT, USA) and Alexander Herzog (Max Planck IS, Germany).

Full-day workshop at ICRA 2016, Stockholm (Sweden).

“Torque-Controlled Humanoids”

Co-organized with Luis Sentis (University of Texas, Austin).

Full-day workshop at Humanoids 2013, Atlanta (Georgia, USA).