Stéphane on Locomotion

Robotics - Master MVA - Fall 2025

Collision avoidance from monocular vision trained with novel view synthesis

From spatial to body acceleration

Modeling and control of legged locomotion

Reinforcement learning for legged robots

Robotics - Master MVA - Fall 2024

Between model-based and visuo-motor motion control

A Data-driven Contact Estimation Method for Wheeled-Biped Robots

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective

Balancing is a low-frequency task

Some elements of model engineering for optimal control

Introduction to optimal control: LQR

Lasso regularization in quadratic programming

The ZMP is an axis, not a point

Next iterations of quadratic programming for adaptive and robust motion control

Robotics - Master MVA - Fall 2023

ProxQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond

Wheeled inverted pendulum model

Twisting friction at surface contacts

Open source robots: to make, or not to make?

Jacobian of a kinematic task and derivatives on manifolds

Motion control software for homemade robots

Humanoid and wheeled-legged controllers in C++ and Python: balancing at different frequencies

Contact flexibility and force control

Optimality conditions and numerical tolerances in QP solvers

Computing torques to compensate gravity in humanoid robots

Motion control bits for homemade robots

Ideas and software for the locomotion of homemade robots

Kinematics of a symmetric leg

Open loop and closed loop model predictive control

Knee torque of a lumped mass model

Revolute joints

Spatial vector algebra cheat sheet

Au revoir Jean-Paul

Recursive Newton-Euler algorithm

Point mass model

Simple linear regression with online updates

Joint torques and Jacobian transpose

Principle of virtual work

Forward dynamics

3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation

Kinematics jargon