Publications

@article{layeghi2026amortising,
  title = {Amortising trajectory optimisation for residual {MPC} via implicit contact differentiation},
  author = {Layeghi, Daniel and Corbères, Thomas and Arnott, Calum and Kamireddypalli, Aditya and Al-Obaidi, Hashim and Tonneau, Steve and Mistry, Michael},
  journal = {arXiv preprint arXiv:2607.24959},
  year = {2026},
}

ICRA

CASSR: continuous A-Star search through reachability for real time footstep planning

Jiayi Wang and Steve Tonneau

In 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026

arXiv Bib PDF Video Website

@inproceedings{wang2026cassr,
  title = {CASSR: continuous {A-Star} search through reachability for real time footstep planning},
  author = {Wang, Jiayi and Tonneau, Steve},
  booktitle = {2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2026},
}

T-RO

System identification under constraints and disturbance: a Bayesian estimation approach

Sergi Martinez, Steve Tonneau, and Carlos Mastalli

IEEE Transactions on Robotics, 2026

Accepted

@article{martinez2026system,
  title = {System identification under constraints and disturbance: a {Bayesian} estimation approach},
  author = {Martinez, Sergi and Tonneau, Steve and Mastalli, Carlos},
  journal = {IEEE Transactions on Robotics},
  year = {2026},
  note = {Accepted},
}

2025

Humanoids

Scaling whole-body multi-contact manipulation with contact optimization

Victor Levé, João Moura, Sachiya Fujita, Tamon Miyake, Steve Tonneau, and Sethu Vijayakumar

In 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), 2025

@inproceedings{leve2025scaling,
  title = {Scaling whole-body multi-contact manipulation with contact optimization},
  author = {Levé, Victor and Moura, João and Fujita, Sachiya and Miyake, Tamon and Tonneau, Steve and Vijayakumar, Sethu},
  booktitle = {2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)},
  pages = {920--927},
  year = {2025},
  doi = {10.1109/humanoids65713.2025.11203010},
}

CoRL

Very high frequency interpolation for direct torque control

Rafael Kourdis, Maciej Stępień, Jérôme Manhes, Nicolas Mansard, Steve Tonneau, Philippe Souères, and Thomas Flayols

In CoRL 2025 Workshop on Open-Source Hardware in the Era of Robot Learning, 2025

arXiv HAL Bib PDF

@inproceedings{kourdis2025very,
  title = {Very high frequency interpolation for direct torque control},
  author = {Kourdis, Rafael and Stępień, Maciej and Manhes, Jérôme and Mansard, Nicolas and Tonneau, Steve and Souères, Philippe and Flayols, Thomas},
  booktitle = {CoRL 2025 Workshop on Open-Source Hardware in the Era of Robot Learning},
  address = {Seoul, South Korea},
  year = {2025},
}

IEEE Access

Perceptive locomotion through whole-body MPC and optimal region selection

Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, and Steve Tonneau

IEEE Access, 2025

@article{corberes2025perceptive,
  title = {Perceptive locomotion through whole-body {MPC} and optimal region selection},
  author = {Corbères, Thomas and Mastalli, Carlos and Merkt, Wolfgang and Shim, Jaehyun and Havoutis, Ioannis and Fallon, Maurice and Mansard, Nicolas and Flayols, Thomas and Vijayakumar, Sethu and Tonneau, Steve},
  journal = {IEEE Access},
  volume = {13},
  pages = {69062--69080},
  year = {2025},
  doi = {10.1109/access.2025.3558093},
}

2024

Humanoids

Explicit contact optimization in whole-body contact-rich manipulation

Victor Levé, João Moura, Namiko Saito, Steve Tonneau, and Sethu Vijayakumar

In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024

@inproceedings{leve2024explicit,
  title = {Explicit contact optimization in whole-body contact-rich manipulation},
  author = {Levé, Victor and Moura, João and Saito, Namiko and Tonneau, Steve and Vijayakumar, Sethu},
  booktitle = {2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  pages = {451--458},
  year = {2024},
  doi = {10.1109/humanoids58906.2024.10769591},
}

Humanoids

NAS: N-step computation of all solutions to the footstep planning problem

Jiayi Wang, Saeid Samadi, Hefan Wang, Pierre Fernbach, Olivier Stasse, Sethu Vijayakumar, and Steve Tonneau

In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024

DOI arXiv HAL Bib PDF Video Website

@inproceedings{wang2024nas,
  title = {NAS: {N-step} computation of all solutions to the footstep planning problem},
  author = {Wang, Jiayi and Samadi, Saeid and Wang, Hefan and Fernbach, Pierre and Stasse, Olivier and Vijayakumar, Sethu and Tonneau, Steve},
  booktitle = {2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  pages = {576--583},
  year = {2024},
  doi = {10.1109/humanoids58906.2024.10769878},
}

T-RO

Online multicontact receding horizon planning via value function approximation

Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, and Steve Tonneau

IEEE Transactions on Robotics, 2024

@article{wang2024online,
  title = {Online multicontact receding horizon planning via value function approximation},
  author = {Wang, Jiayi and Kim, Sanghyun and Lembono, Teguh Santoso and Du, Wenqian and Shim, Jaehyun and Samadi, Saeid and Wang, Ke and Ivan, Vladimir and Calinon, Sylvain and Vijayakumar, Sethu and Tonneau, Steve},
  journal = {IEEE Transactions on Robotics},
  volume = {40},
  pages = {2791--2810},
  year = {2024},
  doi = {10.1109/tro.2024.3392154},
}

IEEE Access

Reference-free model predictive control for quadrupedal locomotion

Gianni Lunardi, Thomas Corbères, Carlos Mastalli, Nicolas Mansard, Thomas Flayols, Steve Tonneau, and Andrea Del Prete

IEEE Access, 2024

DOI HAL Bib PDF

@article{lunardi2024reference,
  title = {Reference-free model predictive control for quadrupedal locomotion},
  author = {Lunardi, Gianni and Corbères, Thomas and Mastalli, Carlos and Mansard, Nicolas and Flayols, Thomas and Tonneau, Steve and Del Prete, Andrea},
  journal = {IEEE Access},
  volume = {12},
  pages = {689--698},
  year = {2024},
  doi = {10.1109/access.2023.3345157},
}

2023

ICRA

Topology-based MPC for automatic footstep placement and contact surface selection

Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, and Sethu Vijayakumar

In 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023

@inproceedings{shim2023topology,
  title = {Topology-based {MPC} for automatic footstep placement and contact surface selection},
  author = {Shim, Jaehyun and Mastalli, Carlos and Corbères, Thomas and Tonneau, Steve and Ivan, Vladimir and Vijayakumar, Sethu},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {12226--12232},
  year = {2023},
  doi = {10.1109/icra48891.2023.10160333},
}

arXiv

Neural Lyapunov and optimal control

Daniel Layeghi, Steve Tonneau, and Michael Mistry

arXiv preprint arXiv:2305.15244, 2023

@article{layeghi2023neural,
  title = {Neural {Lyapunov} and optimal control},
  author = {Layeghi, Daniel and Tonneau, Steve and Mistry, Michael},
  journal = {arXiv preprint arXiv:2305.15244},
  year = {2023},
}

T-RO

Inverse-dynamics MPC via nullspace resolution

Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, and Sethu Vijayakumar

IEEE Transactions on Robotics, 2023

@article{mastalli2023inverse,
  title = {Inverse-dynamics {MPC} via nullspace resolution},
  author = {Mastalli, Carlos and Chhatoi, Saroj Prasad and Corbères, Thomas and Tonneau, Steve and Vijayakumar, Sethu},
  journal = {IEEE Transactions on Robotics},
  volume = {39},
  number = {4},
  pages = {3222--3241},
  year = {2023},
  doi = {10.1109/tro.2023.3262186},
}

2022

IROS

Learning to guide online multi-contact receding horizon planning

Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar, and Steve Tonneau

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

@inproceedings{wang2022learning,
  title = {Learning to guide online multi-contact receding horizon planning},
  author = {Wang, Jiayi and Lembono, Teguh Santoso and Kim, Sanghyun and Calinon, Sylvain and Vijayakumar, Sethu and Tonneau, Steve},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {12942--12949},
  year = {2022},
  doi = {10.1109/iros47612.2022.9981234},
}

IROS

A versatile co-design approach for dynamic legged robots

Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, and Sethu Vijayakumar

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

DOI arXiv Bib Video

@inproceedings{dinev2022versatile,
  title = {A versatile co-design approach for dynamic legged robots},
  author = {Dinev, Traiko and Mastalli, Carlos and Ivan, Vladimir and Tonneau, Steve and Vijayakumar, Sethu},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {10343--10349},
  year = {2022},
  doi = {10.1109/iros47612.2022.9981378},
}

IROS

Real-time footstep planning and control of the Solo quadruped robot in 3D environments

Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, and Steve Tonneau

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

@inproceedings{risbourg2022real,
  title = {Real-time footstep planning and control of the {Solo} quadruped robot in {3D} environments},
  author = {Risbourg, Fanny and Corbères, Thomas and Léziart, Pierre-Alexandre and Flayols, Thomas and Mansard, Nicolas and Tonneau, Steve},
  booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {12950--12956},
  year = {2022},
  doi = {10.1109/iros47612.2022.9981539},
}

arXiv

Differentiable optimal control via differential dynamic programming

Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, and Sethu Vijayakumar

arXiv preprint arXiv:2209.01117, 2022

@article{dinev2022differentiable,
  title = {Differentiable optimal control via differential dynamic programming},
  author = {Dinev, Traiko and Mastalli, Carlos and Ivan, Vladimir and Tonneau, Steve and Vijayakumar, Sethu},
  journal = {arXiv preprint arXiv:2209.01117},
  year = {2022},
}

RA-L

Improved control scheme for the Solo quadruped and experimental comparison of model predictive controllers

Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, and Philippe Souères

IEEE Robotics and Automation Letters, 2022

@article{leziart2022improved,
  title = {Improved control scheme for the {Solo} quadruped and experimental comparison of model predictive controllers},
  author = {Léziart, Pierre-Alexandre and Corbères, Thomas and Flayols, Thomas and Tonneau, Steve and Mansard, Nicolas and Souères, Philippe},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {4},
  pages = {9945--9952},
  year = {2022},
  doi = {10.1109/lra.2022.3192581},
}

ICRA

Optimal control via combined inference and numerical optimization

Daniel Layeghi, Steve Tonneau, and Michael Mistry

In 2022 International Conference on Robotics and Automation (ICRA), 2022

@inproceedings{layeghi2022optimal,
  title = {Optimal control via combined inference and numerical optimization},
  author = {Layeghi, Daniel and Tonneau, Steve and Mistry, Michael},
  booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
  pages = {3429--3435},
  year = {2022},
  doi = {10.1109/icra46639.2022.9811908},
}

ICRA

Convex strategies for trajectory optimisation: application to the polytope traversal problem

Steve Tonneau

In 2022 International Conference on Robotics and Automation (ICRA), 2022

@inproceedings{tonneau2022convex,
  title = {Convex strategies for trajectory optimisation: application to the polytope traversal problem},
  author = {Tonneau, Steve},
  booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
  pages = {3335--3340},
  year = {2022},
  doi = {10.1109/icra46639.2022.9811719},
}

Editorial

Editorial: creating lifelike digital humans

Fabien Danieau, Philippe Guillotel, Ludovic Hoyet, Steve Tonneau, and Yajie Zhao

Frontiers in Virtual Reality, 2022

DOI Bib

@article{danieau2022editorial,
  title = {Editorial: creating lifelike digital humans},
  author = {Danieau, Fabien and Guillotel, Philippe and Hoyet, Ludovic and Tonneau, Steve and Zhao, Yajie},
  journal = {Frontiers in Virtual Reality},
  volume = {3},
  articleno = {906118},
  year = {2022},
  doi = {10.3389/frvir.2022.906118}
}

2021

Humanoids

Multi-fidelity receding horizon planning for multi-contact locomotion

Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, and Steve Tonneau

In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021

@inproceedings{wang2021multi,
  title = {Multi-fidelity receding horizon planning for multi-contact locomotion},
  author = {Wang, Jiayi and Kim, Sanghyun and Vijayakumar, Sethu and Tonneau, Steve},
  booktitle = {2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)},
  pages = {53--60},
  year = {2021},
  doi = {10.1109/humanoids47582.2021.9555778},
}

RA-L

Solving footstep planning as a feasibility problem using L1-norm minimization

Daeun Song, Pierre Fernbach, Thomas Flayols, Andrea Del Prete, Nicolas Mansard, Steve Tonneau, and Young J. Kim

IEEE Robotics and Automation Letters, 2021

@article{song2021solving,
  title = {Solving footstep planning as a feasibility problem using {L1-norm} minimization},
  author = {Song, Daeun and Fernbach, Pierre and Flayols, Thomas and Del Prete, Andrea and Mansard, Nicolas and Tonneau, Steve and Kim, Young J.},
  journal = {IEEE Robotics and Automation Letters},
  volume = {6},
  number = {3},
  pages = {5961--5968},
  year = {2021},
  doi = {10.1109/lra.2021.3088797},
}

ICRA

Learning to steer a locomotion contact planner

Jason Chemin, Pierre Fernbach, Daeun Song, Guilhem Saurel, Nicolas Mansard, and Steve Tonneau

In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

@inproceedings{chemin2021learning,
  title = {Learning to steer a locomotion contact planner},
  author = {Chemin, Jason and Fernbach, Pierre and Song, Daeun and Saurel, Guilhem and Mansard, Nicolas and Tonneau, Steve},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {4430--4437},
  year = {2021},
  doi = {10.1109/icra48506.2021.9561160},
}

ICRA

Whole body model predictive control with a memory of motion: experiments on a torque-controlled Talos

Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taix, and Nicolas Mansard

In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

@inproceedings{dantec2021whole,
  title = {Whole body model predictive control with a memory of motion: experiments on a torque-controlled {Talos}},
  author = {Dantec, Ewen and Budhiraja, Rohan and Roig, Adria and Lembono, Teguh and Saurel, Guilhem and Stasse, Olivier and Fernbach, Pierre and Tonneau, Steve and Vijayakumar, Sethu and Calinon, Sylvain and Taix, Michel and Mansard, Nicolas},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {8202--8208},
  year = {2021},
  doi = {10.1109/icra48506.2021.9560742},
}

2020

IROS

Automatic gait pattern selection for legged robots

Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, and Sethu Vijayakumar

In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

@inproceedings{wang2020automatic,
  title = {Automatic gait pattern selection for legged robots},
  author = {Wang, Jiayi and Chatzinikolaidis, Iordanis and Mastalli, Carlos and Wolfslag, Wouter and Xin, Guiyang and Tonneau, Steve and Vijayakumar, Sethu},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3990--3997},
  year = {2020},
  doi = {10.1109/iros45743.2020.9340789},
}

ICRA

SL1M: sparse L1-norm minimization for contact planning on uneven terrain

Steve Tonneau, Daeun Song, Pierre Fernbach, Nicolas Mansard, Michel Taix, and Andrea Del Prete

In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020

@inproceedings{tonneau2020sl1m,
  title = {SL1M: sparse {L1-norm} minimization for contact planning on uneven terrain},
  author = {Tonneau, Steve and Song, Daeun and Fernbach, Pierre and Mansard, Nicolas and Taix, Michel and Del Prete, Andrea},
  booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {6604--6610},
  year = {2020},
  doi = {10.1109/icra40945.2020.9197371},
}

T-RO

C-CROC: continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios

Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, and Michel Taix

IEEE Transactions on Robotics, 2020

DOI HAL Bib PDF Video Code Website

@article{fernbach2020c,
  title = {C-CROC: continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios},
  author = {Fernbach, Pierre and Tonneau, Steve and Stasse, Olivier and Carpentier, Justin and Taix, Michel},
  journal = {IEEE Transactions on Robotics},
  volume = {36},
  number = {3},
  pages = {676--691},
  year = {2020},
  doi = {10.1109/tro.2020.2964787},
}

2018

TOG

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

ACM Transactions on Graphics, 2018

DOI HAL Bib PDF Video Code Website

@article{tonneau2018pac,
  title = {2PAC: two point attractors for center of mass trajectories in multi contact scenarios},
  author = {Tonneau, Steve and Fernbach, Pierre and Del Prete, Andrea and Pettré, Julien and Mansard, Nicolas},
  journal = {ACM Transactions on Graphics},
  volume = {37},
  number = {5},
  pages = {1--14},
  year = {2018},
  doi = {10.1145/3213773},
}

IROS

CROC: convex resolution of centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem

Pierre Fernbach, Steve Tonneau, and Michel Taix

In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

DOI HAL Bib PDF Video Code Website

@inproceedings{fernbach2018croc,
  title = {CROC: convex resolution of centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem},
  author = {Fernbach, Pierre and Tonneau, Steve and Taix, Michel},
  booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1--9},
  year = {2018},
  doi = {10.1109/iros.2018.8593888},
}

T-RO

Zero step capturability for legged robots in multicontact

Andrea Del Prete, Steve Tonneau, and Nicolas Mansard

IEEE Transactions on Robotics, 2018

@article{delprete2018zero,
  title = {Zero step capturability for legged robots in multicontact},
  author = {Del Prete, Andrea and Tonneau, Steve and Mansard, Nicolas},
  journal = {IEEE Transactions on Robotics},
  volume = {34},
  number = {4},
  pages = {1021--1034},
  year = {2018},
  doi = {10.1109/tro.2018.2820687},
}

ICRA

Using a memory of motion to efficiently warm-start a nonlinear predictive controller

Nicolas Mansard, Andrea Del Prete, Mathieu Geisert, Steve Tonneau, and Olivier Stasse

In 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018

@inproceedings{mansard2018memory,
  title = {Using a memory of motion to efficiently warm-start a nonlinear predictive controller},
  author = {Mansard, Nicolas and Del Prete, Andrea and Geisert, Mathieu and Tonneau, Steve and Stasse, Olivier},
  booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2986--2993},
  year = {2018},
  doi = {10.1109/icra.2018.8463154},
}

T-RO

An efficient acyclic contact planner for multiped robots

Steve Tonneau, Andrea Del Prete, Julien Pettre, Chonhyon Park, Dinesh Manocha, and Nicolas Mansard

IEEE Transactions on Robotics, 2018

@article{tonneau2018efficient,
  title = {An efficient acyclic contact planner for multiped robots},
  author = {Tonneau, Steve and Del Prete, Andrea and Pettre, Julien and Park, Chonhyon and Manocha, Dinesh and Mansard, Nicolas},
  journal = {IEEE Transactions on Robotics},
  volume = {34},
  number = {3},
  pages = {586--601},
  year = {2018},
  doi = {10.1109/tro.2018.2819658},
}

2017

IROS

A kinodynamic steering-method for legged multi-contact locomotion

Pierre Fernbach, Steve Tonneau, Andrea Del Prete, and Michel Taix

In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

@inproceedings{fernbach2017kinodynamic,
  title = {A kinodynamic steering-method for legged multi-contact locomotion},
  author = {Fernbach, Pierre and Tonneau, Steve and Del Prete, Andrea and Taix, Michel},
  booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3701--3707},
  year = {2017},
  doi = {10.1109/iros.2017.8206217},
}

ISRR

A reachability-based planner for sequences of acyclic contacts in cluttered environments

Steve Tonneau, Nicolas Mansard, Chonhyon Park, Dinesh Manocha, Franck Multon, and Julien Pettré

In Robotics Research: Volume 2 (ISRR 2015), 2017

@incollection{tonneau2017reachability,
  title = {A reachability-based planner for sequences of acyclic contacts in cluttered environments},
  author = {Tonneau, Steve and Mansard, Nicolas and Park, Chonhyon and Manocha, Dinesh and Multon, Franck and Pettré, Julien},
  booktitle = {Robotics Research: Volume 2 (ISRR 2015)},
  series = {Springer Proceedings in Advanced Robotics},
  pages = {287--303},
  publisher = {Springer},
  year = {2017},
  doi = {10.1007/978-3-319-60916-4_17},
}

RSS

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-Esclasse, Dinesh Atchuthan, Pierre Fernbach, Rohan Budhiraja, Mathieu Geisert, Joan Solà, Olivier Stasse, and Nicolas Mansard

In RSS Workshop on Challenges in Dynamic Legged Locomotion, 2017

HAL Bib PDF

@inproceedings{carpentier2017multi,
  title = {Multi-contact locomotion of legged robots in complex environments -- the {Loco3D} project},
  author = {Carpentier, Justin and Del Prete, Andrea and Tonneau, Steve and Flayols, Thomas and Forget, Florent and Mifsud, Alexis and Giraud-Esclasse, Kevin and Atchuthan, Dinesh and Fernbach, Pierre and Budhiraja, Rohan and Geisert, Mathieu and Solà, Joan and Stasse, Olivier and Mansard, Nicolas},
  booktitle = {RSS Workshop on Challenges in Dynamic Legged Locomotion},
  address = {Boston, MA, USA},
  year = {2017},
}

2016

MIG

Ballistic motion planning for jumping superheroes

Mylène Campana, Pierre Fernbach, Steve Tonneau, Michel Taïx, and Jean-Paul Laumond

In Proceedings of the 9th International Conference on Motion in Games, 2016

@inproceedings{campana2016ballistic,
  title = {Ballistic motion planning for jumping superheroes},
  author = {Campana, Mylène and Fernbach, Pierre and Tonneau, Steve and Taïx, Michel and Laumond, Jean-Paul},
  booktitle = {Proceedings of the 9th International Conference on Motion in Games},
  pages = {133--138},
  year = {2016},
  doi = {10.1145/2994258.2994279},
}

IROS

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 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

@inproceedings{mirabel2016hpp,
  title = {HPP: a new software for constrained motion planning},
  author = {Mirabel, Joseph and Tonneau, Steve and Fernbach, Pierre and Seppälä, Anna-Kaarina and Campana, Mylène and Mansard, Nicolas and Lamiraux, Florent},
  booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {383--389},
  year = {2016},
  doi = {10.1109/iros.2016.7759083},
}

ICRA

A versatile and efficient pattern generator for generalized legged locomotion

Justin Carpentier, Steve Tonneau, Maximilien Naveau, Olivier Stasse, and Nicolas Mansard

In 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016

@inproceedings{carpentier2016versatile,
  title = {A versatile and efficient pattern generator for generalized legged locomotion},
  author = {Carpentier, Justin and Tonneau, Steve and Naveau, Maximilien and Stasse, Olivier and Mansard, Nicolas},
  booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3555--3561},
  year = {2016},
  doi = {10.1109/icra.2016.7487538},
}

ICRA

Fast algorithms to test robust static equilibrium for legged robots

Andrea Del Prete, Steve Tonneau, and Nicolas Mansard

In 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016

@inproceedings{delprete2016fast,
  title = {Fast algorithms to test robust static equilibrium for legged robots},
  author = {Del Prete, Andrea and Tonneau, Steve and Mansard, Nicolas},
  booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {1601--1607},
  year = {2016},
  doi = {10.1109/icra.2016.7487299},
}

CGF

Character contact re-positioning under large environment deformation

Steve Tonneau, Rami Ali Al-Ashqar, Julien Pettré, Taku Komura, and Nicolas Mansard

Computer Graphics Forum, 2016

DOI HAL Bib PDF Video Slides Website

@article{tonneau2016character,
  title = {Character contact re-positioning under large environment deformation},
  author = {Tonneau, Steve and Al-Ashqar, Rami Ali and Pettré, Julien and Komura, Taku and Mansard, Nicolas},
  journal = {Computer Graphics Forum},
  volume = {35},
  number = {2},
  pages = {127--138},
  year = {2016},
  doi = {10.1111/cgf.12817},
}

I3D

Dynamically balanced and plausible trajectory planning for human-like characters

Chonhyon Park, Jae Sung Park, Steve Tonneau, Nicolas Mansard, Franck Multon, Julien Pettré, and Dinesh Manocha

In Proceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, 2016

@inproceedings{park2016dynamically,
  title = {Dynamically balanced and plausible trajectory planning for human-like characters},
  author = {Park, Chonhyon and Park, Jae Sung and Tonneau, Steve and Mansard, Nicolas and Multon, Franck and Pettré, Julien and Manocha, Dinesh},
  booktitle = {Proceedings of the 20th ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games},
  pages = {39--48},
  year = {2016},
  doi = {10.1145/2856400.2856405},
}

2015

Thesis

Motion planning and synthesis for virtual characters in constrained environments

Steve Tonneau

INSA Rennes, 2015

French title: Synthèse de mouvement pour des personnages virtuels en environnements contraints

HAL Bib PDF Video Slides

@phdthesis{tonneau2015motion,
  title = {Motion planning and synthesis for virtual characters in constrained environments},
  author = {Tonneau, Steve},
  school = {INSA Rennes},
  year = {2015},
  note = {French title: Synthèse de mouvement pour des personnages virtuels en environnements contraints},
}

2014

Task efficient contact configurations for arbitrary virtual creatures

Steve Tonneau, Julien Pettré, and Franck Multon

In Graphics Interface 2014, 2014

HAL Bib PDF Video Website

@inproceedings{tonneau2014task,
  title = {Task efficient contact configurations for arbitrary virtual creatures},
  author = {Tonneau, Steve and Pettré, Julien and Multon, Franck},
  booktitle = {Graphics Interface 2014},
  pages = {9--16},
  year = {2014},
}

C&G

Using task efficient contact configurations to animate creatures in arbitrary environments

Steve Tonneau, Julien Pettré, and Franck Multon

Computers & Graphics, 2014