Videos summarizing the consortium results will be posted on the project youtube channel. Here after a selection of videos and related publications

1- Using a memory of motion to efficiently warm-start a nonlinear predictive controller [1]

2- Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics [2]


  1. N. Mansard, Del Prete, A., Geisert, M., Tonneau, S., and Stasse, O., Using a Memory of Motion to Efficiently Warm-Start a Nonlinear Predictive Controller, in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018.
  2. R. Budhiraja, Carpentier, J., Mastalli, C., and Mansard, N., Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics, in 2018 International Conference on Humanoid Robots, Beijing, China, 2018.