Papers
6
Total Citations
148
H-Index
6
About
Mathieu Poirier is a leading researcher in humanoid robotics, specializing in whole-body motion planning and dexterous manipulation. His work centers on enabling humanoid robots to perform complex, real-world tasks—particularly the manipulation of bulky or heavy objects that are difficult for other robot types. Poirier’s major contribution is the development and analysis of pivoting-based manipulation, a technique that allows humanoids to move large objects without lifting them, enhancing both stability and safety. His foundational paper, “Pivoting based manipulation by a humanoid robot” (2009), has garnered 53 citations, while his earlier work on controllability (2007) and whole-body motion planning (2008) each earned 33 and 15 citations, respectively. Poirier also explored human-robot interaction in “Give me the purple ball” (2007, 17 citations), highlighting critical challenges in robot autonomy. His research on regrasp planning (2009, 15 citations) further advanced the field by enabling humanoids to navigate narrow spaces while carrying objects. With a focus on integrating locomotion, reaching, and manipulation, Poirier’s work has significantly influenced the design of autonomous humanoid systems capable of assisting in industrial, domestic, and disaster-response settings.
Research Focus
Key Achievements
Top Papers
- 1Pivoting based manipulation by a humanoid robot53 citations · 2009
- 2Whole-body motion planning for pivoting based manipulation by humanoids33 citations · 2008
- 3“Give me the purple ball” - he said to HRP-2 N.1417 citations · 2007
- 4Regrasp planning for pivoting manipulation by a humanoid robot15 citations · 2009
- 5Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation15 citations · 2010
- 6Pivoting based manipulation by humanoids: a controllability analysis15 citations · 2007