Associate Editor at IEEE Transactions on Robotics
Chargé de Recherche at INRIA Grenoble on
Mathematical modeling and control design in industrial and humanoid robotics.Some of my interests are:
- Considering different priorities in control objectives. As discussed in Isaac Asimov's three laws of robotics, a robot is supposed to pursue multiple objectives, such as not injuring a human being, obeying orders, protecting itself, but there is a clear difference in priority between these objectives. Dealing with different priorities efficiently and reliably is an important aspect in the safety and autonomy of robots. I'm working on that.
- Biped walking and balance control. Assuming that the perception of the robot is fine (I'm not working on that) and the robot knows its current situation in its environment, what decisions should it make to avoid collisions, keep balance and finally act as desired? I'm working on that as well. Some results include the walking and balance control algorithms in Aldebaran's Nao and Pepper robots.
Preprints, Working Papers, ...