Members of the consortium

LAAS-CNRS, Gepetto team

Nicolas Mansard (CNRS) is CNRS Resarch Director. He received the MSc in computer science of University of Grenoble in 2003 and the PhD in robotics of University of Rennes in 2006. He was then post-doctoral researcher in Stanford University with O. Khatib in 2007 and in JRL-Japan with A. Kheddar in 2008. He was invited researcher in University of Washington with E. Todorov in 2014. He received the CNRS Bronze Medal in 2015 (one medal is award in France in automatic/robotic/signal-processing every year). He was coordinating French project Entracte that was awarded of the ``Grand Prix du Numerique de l'ANR'' (one price awarded for all French ICT projects over the last 3 years). His main research interests include the motion generation, planning and control of complex robots, with a special regard in humanoid robotics. His expertise covers sensor-based (vision and force) control, numerical mathematics for control, biped locomotion and locomotion planning. He published more than 70 papers in international journals and conferences and supervised 10 PhD thesis. He is the responsible for CNRS of the European Robotic Challenges (EUROC) and the coordinator of the French project Entracte.


Olivier Stasse (CNRS) is a CNRS Research Director in the Gepetto team at LAAS, Toulouse, France. He received the PhD in robotics of University of Paris VI in 2000, and the habilitation of University of Toulouse III in 2013. His main research topic is reactive and vision motivated motion generation for humanoid robotics. He is associate editor at Robotics Automation-Letters and the International Journal of Humanoid Robotics.
He is animating the technical group on humanoid robotics in the French Research Group in Robotics. He is recognized as one of the best experts in Europe for implementation of walking and whole-body behaviors on real full-scale humanoid robots.


Thomas Flayols (CNRS) is a PhD candidate at LAAS/CNRS in the Gepetto research team.  He graduated from the Ecole Normale Supérieure de Cachan (2015) in Embedded Systems and Information Processing. His research focuses on the state estimation and torque control of legged robots. He has a particular interest in analyzing the impact of technology choices on high-level control structures.



Justin Carpentier (CNRS) is a postdoctoral researcher at LAAS/CNRS in the Gepetto research team. He obtained a PhD in Robotics from Université de Toulouse in 2017. His research lies at the interface between Robotics, Machine Learning and Control. It is devoted to the embedding of Optimal Control theory inside the formalism of Machine Learning, with Humanoid Robotics as a main target application.



Mathieu Geisert (CNRS) received his M.Eng in Aerospace from Institut Superieur de l'Aeronautique et de l'Espace SUPAERO (Toulouse, France) in 2013. He is currently pursuing a Ph.D. in Robotics at the GEPETTO Group, LAAS-CNRS (Toulouse, France). His research interests focus on Optimal Control and Machine Learning for humanoid robots and UAVs.



Carlos Mastalli (CNRS)  is currently a Robotics Researcher in the Gepetto Team at LAAS-CNRS working on the topic of multi-contact planning and control in legged robots. He received his M.Sc. in Mechatronics, from Simon Bolivar University in 2013, working on a machine learning method for autonomous backhoe machines. After that, he completed his Ph.D. on “Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain” in April 2017 at Istituto Italiano di Tecnologia. He is also improved significantly the locomotion framework of the HyQ robot. He main motivation is to enable move everywhere. His research interests include optimal control, motion planning, whole-body control and machine learning for legged locomotion.


Hassan Hassan (CNRS) is a research engineer at LAAS-CNRS, IT department. He received his PhD in Computer Science from Toulouse university in 2006 and joined the CNRS in 2008. His activities include project management and IT infrastructure development.



IDIAP, Robot Learning and Interaction Group

Sylvain Calinon (Idiap) is a Senior Researcher at the Idiap Research Institute, with research interests covering robot learning and human-robot interaction. He is also a lecturer at the Ecole Polytechnique Federale de Lausanne (EPFL), and an external collaborator at the Department of Advanced Robotics (ADVR), Italian Institute of Technology (IIT). From 2009 to 2014, he was a Team Leader at ADVR, IIT. From 2007 to 2009, he was a Postdoc at the Learning Algorithms and Systems Laboratory, EPFL, where he obtained his PhD in 2007. He currently serves as Associate Editor in IEEE Transactions on Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), Intelligent Service Robotics (Springer), and Frontiers in Robotics and AI. Webpage:


Antonio Paolillo (Idiap) is a post-doc researcher at the Idiap Research Institute. Previously, from 2015 to 2017, he was post-doc at CNRS-UM LIRMM (Montpellier, France). In 2015, he has been a visiting researcher at the CNRS-AIST JRL (Tsukuba, Japan). In the same year, he received his PhD in System Engineering from Sapienza University of Rome (Italy). In 2014, he was a visiting scholar at LIRMM and, in 2010, a visiting student at Örebro University (Sweden). His research interest is focused on robotic control, estimation, physical interaction and learning.


Oxford Robotics Institute, Dynamic Robot Systems Group

Maurice Fallon (Oxford) is a Royal Society Research Fellow at the Oxford Robotics Institute (University of Oxford). His research is focused on probabilistic methods for localization and mapping. He has also made research contributions to state estimation on legged robots and is also interested in high dimensional motion planning and manipulation for walking robots. From 2013-2015 he was the perception lead on MIT's DARPA Robotics Challenge team - a multi-year competition developing technologies for semi-autonomous humanoid exploration and manipulation in disaster situations. He co-leads the Dynamic Robot Systems Group in ORI.


Ioannis Havoutis (Oxford) is a Departmental Lecturer in Robotics at the Department of Engineering Science of the University of Oxford. He is part of the Oxford Robotics Institute (ORI) and a co-lead, of the Dynamic Robot Systems Group. He leads the research direction of robotic legged locomotion as his expertise lies in the design and implementation of algorithms that enable autonomous legged mobility. Previously he worked on learning complex skills by demonstration at the Idiap Research institute, while before he led the locomotion group within the Dynamic Legged Systems lab (HyQ team) at the Department of Advanced Robotics, IIT. His focus is on approaches for dynamic whole-body motion planning and control that allow robots with arms and legs to robustly operate in a variety of challenging domains.