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Soutenance HDR Enrico Mingo Hoffman
25 June 2026 @ 10:30 am - 13:30 pm
La soutenance de HDR de Enrico Mingo Hoffman aura lieu au Loria le jeudi 25 juin à 10h30 au Loria, dans la salle A008.
Son habilitation est intitulée
“Whole-Body Contact-Rich Motion Planning and Control of Floating-Base Systems”.
Abstract:
I will present works I have supervised on topics related to model-based Multi-Contact Motion Planning and Control problem applied to floating-base systems, i.e., quadrupeds and bipeds.
In particular, I will present a framework for optimization-based whole-body Cartesian impedance control, optimal control for the locomotion of quadrupeds and bipedal systems, and a pipeline using sample-based planning to tackle the Multi-Contact Motion Planning and Control problem in complex environments.
Keywords: legged robots, motion planning and control, optimization
Following the presentation, two invited talks will be held: Máximo A. Roa Garzón will present “Compliant Manipulation for In-Space Operations and Services”, and Olivier Stasse will present “Towards Embodied Intelligent Humanoid Robots: Technical and Scientific Challenges”.
Marraine scientifique:
- Serena Ivaldi, LORIA/INRIA France
Reviewers:
- Christine Chevallereau, LS2N–CNRS/Nantes Université, France
- Máximo A. Roa Garzón, German Aerospace Center DLR, Germany
- Olivier Stasse, LAAS-CNRS, France
Examiners:
- Bernardetta Addis, LORIA/Université de Lorraine, France
- Nicolas Perrin-Gilbert, ISIR-CNRS, France
- Jochen Steil, Technical University of Braunschweig/Gauss Robotics, Germany
