<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04731043</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-17T16:23:46+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection</title>
            <author role="aut">
              <persName>
                <forename type="first">Thomas</forename>
                <surname>Corbères</surname>
              </persName>
              <email type="md5">843666c67161eb3a2edf80f9e45c1a72</email>
              <email type="domain">sms.ed.ac.uk</email>
              <idno type="idhal" notation="numeric">1425552</idno>
              <idno type="halauthorid" notation="string">2091054-1425552</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Carlos</forename>
                <surname>Mastalli</surname>
              </persName>
              <email type="md5">0a9498fe93baf74b6a3f61344df64359</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">carlos-mastalli</idno>
              <idno type="idhal" notation="numeric">16538</idno>
              <idno type="halauthorid" notation="string">37957-16538</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-0725-4279</idno>
              <affiliation ref="#struct-388790"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Wolfgang</forename>
                <surname>Merkt</surname>
              </persName>
              <idno type="halauthorid">1656393-0</idno>
              <affiliation ref="#struct-61277"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jaehyun</forename>
                <surname>Shim</surname>
              </persName>
              <idno type="halauthorid">3260044-0</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Ioannis</forename>
                <surname>Havoutis</surname>
              </persName>
              <idno type="halauthorid">903674-0</idno>
              <affiliation ref="#struct-520054"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Maurice</forename>
                <surname>Fallon</surname>
              </persName>
              <idno type="halauthorid">2371040-0</idno>
              <affiliation ref="#struct-520054"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Nicolas</forename>
                <surname>Mansard</surname>
              </persName>
              <email type="md5">303eaadd7b8ed73ac2e9a1ff13f13e28</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">nicolas-mansard</idno>
              <idno type="idhal" notation="numeric">13958</idno>
              <idno type="halauthorid" notation="string">27218-13958</idno>
              <idno type="IDREF">https://www.idref.fr/111691591</idno>
              <affiliation ref="#struct-388790"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Thomas</forename>
                <surname>Flayols</surname>
              </persName>
              <email type="md5">f47da23f55c1dbedfcd0040a94b33d4c</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">thomas-flayols</idno>
              <idno type="idhal" notation="numeric">740785</idno>
              <idno type="halauthorid" notation="string">34555-740785</idno>
              <idno type="IDREF">https://www.idref.fr/233626999</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-8078-2206</idno>
              <affiliation ref="#struct-388790"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Sethu</forename>
                <surname>Vijayakumar</surname>
              </persName>
              <idno type="halauthorid">903900-0</idno>
              <affiliation ref="#struct-61277"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Steve</forename>
                <surname>Tonneau</surname>
              </persName>
              <idno type="halauthorid">25932-0</idno>
              <affiliation ref="#struct-61277"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Nicolas</forename>
                <surname>Mansard</surname>
              </persName>
              <email type="md5">303eaadd7b8ed73ac2e9a1ff13f13e28</email>
              <email type="domain">laas.fr</email>
            </editor>
            <funder ref="#projanr-57761"/>
            <funder ref="#projeurop-712474"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2024-10-11 09:52:11</date>
              <date type="whenModified">2025-10-22 18:04:09</date>
              <date type="whenReleased">2024-10-11 11:43:54</date>
              <date type="whenProduced">2024-10-11</date>
              <date type="whenEndEmbargoed">2024-10-10</date>
              <ref type="file" target="https://hal.science/hal-04731043v1/document">
                <date notBefore="2024-10-10"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-04731043v1/file/2305.08926v2.pdf" id="file-4731043-4118354">
                <date notBefore="2024-10-10"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="151539">
                <persName>
                  <forename>Nicolas</forename>
                  <surname>Mansard</surname>
                </persName>
                <email type="md5">303eaadd7b8ed73ac2e9a1ff13f13e28</email>
                <email type="domain">laas.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04731043</idno>
            <idno type="halUri">https://hal.science/hal-04731043</idno>
            <idno type="halBibtex">corberes:hal-04731043</idno>
            <idno type="halRefHtml">2024</idno>
            <idno type="halRef">2024</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-4731043-4118354"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INSA-TOULOUSE">Institut National des Sciences Appliquées de Toulouse</idno>
            <idno type="stamp" n="LAAS">Laboratoire d'analyse et d'architecture des systèmes</idno>
            <idno type="stamp" n="OPENAIRE">OpenAIRE</idno>
            <idno type="stamp" n="LAAS-GEPETTO" corresp="LAAS-ROBOTIQUE">Équipe Mouvement des Systèmes Anthropomorphes</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="LAAS-ROBOTIQUE" corresp="LAAS">LAAS-Robotique</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="TEST7-HALCNRS">test 7 du portail hal cnrs</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Thomas</forename>
                    <surname>Corbères</surname>
                  </persName>
                  <email type="md5">843666c67161eb3a2edf80f9e45c1a72</email>
                  <email type="domain">sms.ed.ac.uk</email>
                  <idno type="idhal" notation="numeric">1425552</idno>
                  <idno type="halauthorid" notation="string">2091054-1425552</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Carlos</forename>
                    <surname>Mastalli</surname>
                  </persName>
                  <email type="md5">0a9498fe93baf74b6a3f61344df64359</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">carlos-mastalli</idno>
                  <idno type="idhal" notation="numeric">16538</idno>
                  <idno type="halauthorid" notation="string">37957-16538</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-0725-4279</idno>
                  <affiliation ref="#struct-388790"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Wolfgang</forename>
                    <surname>Merkt</surname>
                  </persName>
                  <idno type="halauthorid">1656393-0</idno>
                  <affiliation ref="#struct-61277"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jaehyun</forename>
                    <surname>Shim</surname>
                  </persName>
                  <idno type="halauthorid">3260044-0</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Ioannis</forename>
                    <surname>Havoutis</surname>
                  </persName>
                  <idno type="halauthorid">903674-0</idno>
                  <affiliation ref="#struct-520054"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Maurice</forename>
                    <surname>Fallon</surname>
                  </persName>
                  <idno type="halauthorid">2371040-0</idno>
                  <affiliation ref="#struct-520054"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Nicolas</forename>
                    <surname>Mansard</surname>
                  </persName>
                  <email type="md5">303eaadd7b8ed73ac2e9a1ff13f13e28</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">nicolas-mansard</idno>
                  <idno type="idhal" notation="numeric">13958</idno>
                  <idno type="halauthorid" notation="string">27218-13958</idno>
                  <idno type="IDREF">https://www.idref.fr/111691591</idno>
                  <affiliation ref="#struct-388790"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Thomas</forename>
                    <surname>Flayols</surname>
                  </persName>
                  <email type="md5">f47da23f55c1dbedfcd0040a94b33d4c</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">thomas-flayols</idno>
                  <idno type="idhal" notation="numeric">740785</idno>
                  <idno type="halauthorid" notation="string">34555-740785</idno>
                  <idno type="IDREF">https://www.idref.fr/233626999</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-8078-2206</idno>
                  <affiliation ref="#struct-388790"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Sethu</forename>
                    <surname>Vijayakumar</surname>
                  </persName>
                  <idno type="halauthorid">903900-0</idno>
                  <affiliation ref="#struct-61277"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Steve</forename>
                    <surname>Tonneau</surname>
                  </persName>
                  <idno type="halauthorid">25932-0</idno>
                  <affiliation ref="#struct-61277"/>
                </author>
              </analytic>
              <monogr>
                <idno type="localRef">Rapport LAAS n° 24341</idno>
                <imprint>
                  <date type="datePub">2024-02-06</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Robotics (cs.RO)</term>
                <term xml:lang="en">FOS: Computer and information sciences</term>
                <term xml:lang="en">perceptive locomotion</term>
                <term xml:lang="en">model predictive control</term>
                <term xml:lang="en">contact planning</term>
                <term xml:lang="en">quadruped robots</term>
              </keywords>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
              <classCode scheme="halOldTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
              <classCode scheme="halTreeTypology" n="UNDEFINED">Preprints, Working Papers, ...</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>&lt;div&gt;&lt;p&gt;Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several steps ahead while generating whole-body motions close to the robot's limits. State estimation and perception errors impose the practical constraint of fast re-planning motions in a model predictive control (MPC) framework. We first observe that the computational limitation of perceptive locomotion pipelines lies in the combinatorics of contact surface selection. Re-planning contact locations on selected surfaces can be accomplished at MPC frequencies (50-100 Hz). Then, whole-body motion generation typically follows a reference trajectory for the robot base to facilitate convergence. We propose removing this constraint to robustly address unforeseen events such as contact slipping, by leveraging a state-of-the-art whole-body MPC (CROCCODYL). Our contributions are integrated into a complete framework for perceptive locomotion, validated under diverse terrain conditions, and demonstrated in challenging trials that push the robot's actuation limits, as well as in the ICRA 2023 quadruped challenge simulation.&lt;/p&gt;&lt;/div&gt;</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-388790" status="OLD">
          <orgName>Équipe Mouvement des Systèmes Anthropomorphes</orgName>
          <orgName type="acronym">LAAS-GEPETTO</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/gepetto</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-61277" status="VALID">
          <idno type="IdRef">02663483X</idno>
          <idno type="ROR">https://ror.org/01nrxwf90</idno>
          <orgName>The University of Edinburgh</orgName>
          <date type="start">1583-01-01</date>
          <desc>
            <address>
              <addrLine>Old College South Bridge Edinburgh EH8 9YL</addrLine>
              <country key="GB"/>
            </address>
            <ref type="url">http://www.ed.ac.uk/home</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-520054" status="VALID">
          <orgName>Oxford Robotics Institute</orgName>
          <orgName type="acronym">ORI</orgName>
          <desc>
            <address>
              <country key="GB"/>
            </address>
            <ref type="url">https://ori.ox.ac.uk/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-302612" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-459" status="OLD">
          <idno type="IdRef">199278792</idno>
          <idno type="ISNI">0000 0001 2188 216X </idno>
          <idno type="RNSR">199517454Y</idno>
          <idno type="ROR">https://ror.org/03vcm6439</idno>
          <orgName>Laboratoire d'analyse et d'architecture des systèmes</orgName>
          <orgName type="acronym">LAAS</orgName>
          <date type="start">1968-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.laas.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UPR8001" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116255" status="VALID">
          <idno type="IdRef">026388766</idno>
          <idno type="ISNI">0000 0001 2286 8343</idno>
          <idno type="ROR">https://ror.org/01h8pf755</idno>
          <idno type="Wikidata">Q858979</idno>
          <orgName>Institut National des Sciences Appliquées - Toulouse</orgName>
          <orgName type="acronym">INSA Toulouse</orgName>
          <date type="start">1963-10-21</date>
          <desc>
            <address>
              <addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-toulouse.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-302612" status="VALID">
          <idno type="ROR">https://ror.org/052gg0110</idno>
          <orgName>University of Oxford</orgName>
          <desc>
            <address>
              <addrLine>Wellington Square, Oxford OX1 2JD</addrLine>
              <country key="GB"/>
            </address>
            <ref type="url">http://www.ox.ac.uk/</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-57761" status="VALID">
          <idno type="anr">ANR-21-LCV3-0002</idno>
          <orgName>Dynamo-Grade</orgName>
          <desc>Dynamograde - La force de la marche</desc>
          <date type="start">2021</date>
        </org>
        <org type="europeanProject" xml:id="projeurop-712474" status="VALID">
          <idno type="number">780684</idno>
          <idno type="program">H2020-ICT-2016-2017</idno>
          <idno type="call">H2020-ICT-2017-1</idno>
          <orgName>MEMMO</orgName>
          <desc>Memory of Motion</desc>
          <date type="start">2018-01-01</date>
          <date type="end">2022-06-30</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>