Papers
6
Total Citations
138
H-Index
5
About
Ewen Dantec is a leading researcher in legged robotics, specializing in whole-body model predictive control (MPC) for biped locomotion on torque-controlled humanoid robots. His work bridges the critical gap between high-performance control algorithms and real-time feasibility on physical hardware. Dantec’s most impactful contribution is the first successful experimental implementation of whole-body MPC with state feedback on a torque-controlled humanoid, demonstrated on the Talos robot—a breakthrough that enables robust whole-body target tracking and balance recovery under strong external perturbations. His papers, collectively garnering over 130 citations, tackle the fundamental challenge of computational limits on mobile robots. Notably, he introduced a first-order approximation of MPC solutions to achieve high-frequency feedback control, and his comparative analysis of centroidal versus whole-body models provides essential guidance for controller design. Dantec has also advanced real-time solvers through parallel and proximal linear-quadratic methods, enabling the solution of large-scale optimal control problems with thousands of variables. His work on torque-controlled locomotion with link flexibility addresses the structural deformations of heavy robots, pushing the frontier of practical, dynamic humanoid locomotion.
Research Focus
Key Achievements
Top Papers
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- 4Torque Controlled Locomotion of a Biped Robot with Link Flexibility6 citations · 2022
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