Joris Vaillant

About

Joris Vaillant is a leading researcher in humanoid robotics, specializing in whole-body motion planning, multi-contact control, and multi-robot coordination. His most significant contribution lies in developing optimization-based frameworks that enable humanoid robots to perform complex, dynamic motions in non-gaited, multi-contact scenarios—such as climbing vertical ladders or navigating disaster environments. His seminal 2013 paper on generating whole-body optimal dynamic multi-contact motions (137 citations) introduced a B-spline parameterization and semi-infinite programming to solve motion planning as a nonlinear optimization problem. Vaillant also pioneered the use of quadratic programming (QP) for multi-robot and task-space force control (115 citations), extending centralized control to handle multiple robots and interaction constraints simultaneously. His work has been practically validated on the HRP-2 humanoid, notably in vertical ladder climbing (96 citations) and model preview control for multi-contact motion (91 citations). Additionally, he has explored brain-machine interfacing for whole-body control and compliant human-robot interaction for assistive tasks. Vaillant’s research bridges theoretical optimization with real-world robotic applications, making him a key figure in advancing humanoid locomotion and dexterous manipulation.

Research Focus

Key Achievements

Top Papers

1. 1
   Generation of whole-body optimal dynamic multi-contact motions

   137 citations · 2013
2. 2
   Quadratic Programming for Multirobot and Task-Space Force Control

   115 citations · 2018
3. 3
   Multi-contact vertical ladder climbing with an HRP-2 humanoid

   96 citations · 2016
4. 4
   Model preview control in multi-contact motion-application to a humanoid robot

   91 citations · 2014
5. 5
   Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios

   56 citations · 2012
6. 6
   Vertical ladder climbing by the HRP-2 humanoid robot

   39 citations · 2014
7. 7
   Brain-machine interfacing control of whole-body humanoid motion

   19 citations · 2014
8. 8
   Compliant control of a humanoid robot helping a person stand up from a seated position

   16 citations · 2014
9. 9
   Point-cloud multi-contact planning for humanoids: Preliminary results

   14 citations · 2013
10. 10
    Multi-robot and task-space force control with quadratic programming

    9 citations · 2017

Key Collaborators

Contact & Links