Justin Carpentier
Excontinuum |
Tianwei ZHANG
Description: Stéphane Caron's homepage
I'm Stéphane, a robotics researcher in the Willow team at Inria Paris working on visual locomotion and manipulation tasks. I have developed motion control software for HRP-4 humanoids, ANYmal quadrupeds, and Upkie wheeled bipeds. You can read the algorithms in the corresponding publications or grab the code on GitHub. Occasionally, I toot and post technical notes to this website. Don't hesite to send me an e-mail , answer guaranteed if you use my GPG key :-)
What's keeping walking machines from being useful yet? Perhaps it has to do with the way we design their behaviors , which is geared toward repeatable demos and has a hard time dealing with the variability that happens in the real world. For example, the walking controller I worked on for the HRP-4 humanoid achieved relatively complex tasks like stair climbing , but wouldn't know how to react to unscriped situations like banging the head on a ceiling (crouch) or falling forward after missing a step (extend
I search for methods and sensory representations that will allow us to go beyond the complexity ceiling we hit with control systems. On the way I built Upkie , a wheeled biped that proudly stands on sawed broomsticks (among other mechanical marvels), is fully makeable at home and moves around with open source locomotion software . Upkie is a great testing partner to try all kinds of things. Its Python brain runs at a slow pace on a Raspberry Pi, which is OK because valuable tasks like balancing can be perfo
Justin Carpentier
Excontinuum |
Tianwei ZHANG