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Pierre-Alexandre Leziart

Pierre-Alexandre Léziart

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2020 – today

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2024
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  - journals/corr/abs-2403-18765
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Elliot Chane-Sane, Pierre-Alexandre Leziart, Thomas Flayols, Olivier Stasse, Philippe Souères, Nicolas Mansard:
CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. CoRR abs/2403.18765 (2024)
2023
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  - conf/humanoids/AractingiLFPSS23
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Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères:
A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. Humanoids 2023: 1-8
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  - journals/corr/abs-2309-16683
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Michel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères:
Controlling the Solo12 Quadruped Robot with Deep Reinforcement Learning. CoRR abs/2309.16683 (2023)
2022
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Pierre-Alexandre Leziart:
Locomotion control of a lightweight quadruped robot. (Contrôle de la locomotion d'un robot quadrupède léger). Paul Sabatier University, Toulouse, France, 2022
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Pierre-Alexandre Léziart, Thomas Corbères, Thomas Flayols, Steve Tonneau, Nicolas Mansard, Philippe Souères:
Improved Control Scheme for the Solo Quadruped and Experimental Comparison of Model Predictive Controllers. IEEE Robotics Autom. Lett. 7(4): 9945-9952 (2022)
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  - conf/iros/RisbourgCLFMT22
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Fanny Risbourg, Thomas Corbères, Pierre-Alexandre Léziart, Thomas Flayols, Nicolas Mansard, Steve Tonneau:
Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. IROS 2022: 12950-12956
2021
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  - conf/icra/FourmyFLMS21
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Médéric Fourmy, Thomas Flayols, Pierre-Alexandre Léziart, Nicolas Mansard, Joan Solà:
Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. ICRA 2021: 1372-1378
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Pierre-Alexandre Léziart, Thomas Flayols, Felix Grimminger, Nicolas Mansard, Philippe Souères:
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12. ICRA 2021: 5007-5013
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Thomas Corbères, Thomas Flayols, Pierre-Alexandre Léziart, Rohan Budhiraja, Philippe Souères, Guilhem Saurel, Nicolas Mansard:
Comparison of predictive controllers for locomotion and balance recovery of quadruped robots. ICRA 2021: 5021-5027
2020
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  - journals/ras/HauserMLKBI20
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Simon Hauser, Mehmet Mutlu, Pierre-Alexandre Leziart, Hala Khodr, Alexandre Bernardino, Auke Jan Ijspeert:
Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture. Robotics Auton. Syst. 127: 103467 (2020)

2010 – 2019

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2017
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Merwan Achibet, Benoit Le Gouis, Maud Marchal, Pierre-Alexandre Leziart, Ferran Argelaguet, Adrien Girard, Anatole Lécuyer, Hiroyuki Kajimoto:
FlexiFingers: Multi-finger interaction in VR combining passive haptics and pseudo-haptics. 3DUI 2017: 103-106

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