J-Y. Fourquet

Institut National Polytechnique de Toulouse, Laboratoire Génie de Production

Papers

Total Citations

H-Index

About

J-Y. Fourquet is a leading researcher in robotics, specializing in motion generation and control for complex anthropomorphic and mobile systems. His work focuses on enabling robots to perform dynamic, physically interactive tasks by addressing the challenges of constrained motion under real-world conditions. Fourquet’s major contribution lies in unifying task-based control schemes—both inverse kinematics and inverse dynamics—to compute full-body motions for humanoid robots while respecting prioritized equality and inequality constraints, such as dynamic balance and joint limits. His 2011 paper on this topic has garnered 37 citations, reflecting its foundational role in humanoid motion planning. Additionally, his 2006 study on contact transition for nonholonomic mobile manipulators, with 8 citations, advances the understanding of how robots can safely and efficiently interact with their environment during physical contact. Fourquet’s work is notable for bridging theoretical control frameworks with practical robotic applications, making his research essential for students and engineers developing agile, constraint-aware robots for real-world tasks.