Florent Lamiraux
Centre National de la Recherche Scientifique, Rice University, Université Toulouse III - Paul Sabatier, Laboratoire d'Analyse et d'Architecture des Systèmes, Université Fédérale de Toulouse Midi-Pyrénées, Institut National des Sciences Appliquées de Toulouse, Tecnológico de Monterrey, National Institute of Advanced Industrial Science and Technology, Institut national de recherche en sciences et technologies du numérique, Systems Research Institute, Robotics Research (United States)
Papers
90
Total Citations
3,551
H-Index
30
About
Florent Lamiraux is a prominent robotics researcher whose work spans mobile robot navigation, motion planning for nonholonomic systems, and whole-body control of humanoid robots. His research has made foundational contributions across two complementary domains: the autonomous navigation of wheeled mobile robots and the kinematic control of complex, redundant robotic systems. Lamiraux's early career focused on nonholonomic motion planning and control, with landmark contributions including integrated architectures for trailer-pulling robots and reactive path deformation techniques for cluttered environments — work that collectively has garnered hundreds of citations and shaped modern mobile robotics. His 2011 paper generalizing the task-priority framework to handle inequality constraints (396 citations) became a cornerstone reference for whole-body humanoid control, enabling robots to simultaneously manage competing objectives with physical limits. He also contributed to the development of the TALOS humanoid platform, targeting industrial applications. Among his most impactful recent contributions is co-authorship of Pinocchio (344 citations), a widely adopted open-source rigid body dynamics library that has become essential infrastructure for the robotics community. With consistent contributions across perception, planning, and control, Lamiraux's work reflects a rare breadth that bridges theoretical rigor with practical robotic systems.
Research Focus
Key Achievements
Top Papers
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- 3Guidelines in nonholonomic motion planning for mobile robots321 citations · 2006
- 4Reactive Path Deformation for Nonholonomic Mobile Robots168 citations · 2004
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- 6TALOS: A new humanoid research platform targeted for industrial applications150 citations · 2017
- 7Motion planning and control for Hilare pulling a trailer122 citations · 1999
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