Matthieu Vigne
Statkraft (Norway), École Nationale Supérieure des Mines de Paris
Papers
2
Total Citations
35
H-Index
2
About
Matthieu Vigne is a leading researcher in legged robotics, with a primary focus on state estimation and control for robots with structural flexibilities. His work addresses a critical challenge in the field: accurately estimating a robot’s orientation and position when its body undergoes multiple, simultaneous deformations—a common issue in real-world walking machines. Vigne’s major contributions include the development of novel kinematic and velocity-aided observers that leverage low-cost IMUs to track these deformations in real time. His 2022 paper, "MOVIE: A Velocity-Aided IMU Attitude Estimator," has garnered 20 citations for its innovative approach to controlling multiple deformations during dynamic walking. Earlier, his 2019 work on "State Estimation for a Legged Robot With Multiple Flexibilities" (15 citations) established a generalizable kinematic framework applicable during both standing and walking phases on flat ground. By enabling robust balance applications despite internal flexibilities, Vigne’s research bridges the gap between theoretical estimation and practical deployment, making him a key figure in advancing the reliability and agility of next-generation legged robots.
Research Focus
Key Achievements
Top Papers
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- 2