Pierre Fernbach
Site: https://pfernbach.github.io/ |
Current Position
I have a PhD in robotic and I am currently in a postdoctoral research position at the LAAS-CNRS lab, in the GEPETTO team. My research interest focus on motion and contact planning for locomotion of legged robots in multi-contact scenario.
Research Interests
My research topic is about locomotion of legged robots in complex environments. I am focusing on motion and contact planning.
Papers
- C-CROC: Continuous and Convex Resolution of Centroidal dynamic trajectories for legged robots in multi-contact scenarios. Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier and Michel Taïx, October 2018. (working paper or preprint).
- CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. Pierre Fernbach, Steve Tonneau and Michel Taïx. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2018.
- 2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios. Steve Tonneau , Pierre Fernbach, Andrea Del Prete , Julien Pettré and Nicolas Mansard. Transaction on Graphics, July 2018.
- A Kinodynamic steering-method for legged multi-contact locomotion. Pierre Fernbach, Steve Tonneau, Andrea Del Prete and Michel Taïx. In IEEE/RSJ International Conference on Intelligent Robots and Systems, page 7p., Vancouver, Canada, September 2017.
- Multi-contact Locomotion of Legged Robots in Complex Environments -- The Loco3D project. Justin Carpentier, Andrea Del Prete, Steve Tonneau, Thomas Flayols, Florent Forget, Alexis Mifsud, Kevin Giraud, Dinesh Atchuthan, Pierre Fernbach, Rohan Budhiraja, Mathieu Geisert, Joan Sol{à, Olivier Stasse and Nicolas Mansard. In {RSS Workshop on Challenges in Dynamic Legged Locomotion}, page 3p., Boston, United States, July 2017.
- Ballistic motion planning for jumping superheroes. M. Campana, P. Fernbach, S. Tonneau, M. Taïx and J. P. Laumond. In Motion in Games Conference (MIG), pages 133-138, Burlingame, CA, USA, October 2016.
- Ballistic motion planning for jumping superheroes. Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx and Jean-Paul Laumond. In Motion in Games Conference, Burlingame, CA, United States, October 2016.
- HPP: a new software for constrained motion planning. Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppälä, Mylène Campana, Nicolas Mansard and Florent Lamiraux. In International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, October 2016.
- Rod Motion Planning in Admissible Space. Olivier Roussel, Pierre Fernbach and Michel Taïx. In IEEE Transactions on Robotics (submitted to), 2016.