Adrien Escande
Centre National de la Recherche Scientifique, Centre Inria de l'Université Grenoble Alpes, National Institute of Advanced Industrial Science and Technology, Commissariat à l'Énergie Atomique et aux Énergies Alternatives, Japan Lutheran College, Laboratoire d'Intégration des Systèmes et des Technologies, Centro de Investigación en Materiales Avanzados, Robotics Research (United States), Institut national de recherche en sciences et technologies du numérique, Université Grenoble Alpes, CEA Paris-Saclay - Etablissement de Fontenay-aux-roses, Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Papers
56
Total Citations
2,154
H-Index
22
About
Adrien Escande is a leading robotics researcher whose work has fundamentally shaped how humanoid and legged robots move, plan, and interact with complex environments. His research spans optimization-based motion generation, inverse kinematics, multi-contact planning, and whole-body control — areas where his contributions have become foundational references in the field. Escande's most influential work, "Hierarchical Quadratic Programming: Fast Online Humanoid-Robot Motion Generation" (2014, 529 citations), introduced an efficient framework for resolving competing motion objectives in real time — a breakthrough that transformed how robots handle tasks with conflicting constraints. His earlier work on fast hierarchical inverse kinematics (2010) laid critical groundwork for this line of research. Beyond theoretical contributions, Escande has demonstrated remarkable breadth: applying optimization to soft robot control, enabling humanoid robots to climb vertical ladders in multi-contact scenarios, and deploying these technologies in real industrial settings through the Airbus manufacturing project. His 2023 survey on optimization-based control for dynamic legged robots reflects his continued leadership as the field matures toward real-world deployment. With multiple papers exceeding 90 citations and a body of work spanning over 1,400 total citations, Escande's research sits at the intersection of mathematical rigor and practical robotics — making him an essential figure for anyone studying advanced robot motion and control.
Research Focus
Key Achievements
Top Papers
- 1Hierarchical quadratic programming: Fast online humanoid-robot motion generation529 citations · 2014
- 2Optimization-Based Control for Dynamic Legged Robots160 citations · 2023
- 3Planning contact points for humanoid robots106 citations · 2013
- 4Optimization-Based Inverse Model of Soft Robots With Contact Handling102 citations · 2017
- 5
- 6Multi-contact vertical ladder climbing with an HRP-2 humanoid96 citations · 2016
- 7Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases94 citations · 2019
- 8
- 9Real-time (self)-collision avoidance task on a hrp-2 humanoid robot79 citations · 2008
- 10