Denis Creusot

Papers

Total Citations

150

H-Index

About

Denis Creusot is a leading figure in robotics, whose work bridges foundational theory and practical humanoid control. His research focuses on robot modelling, kinematics, and human-robot interaction, with a particular emphasis on enabling fluid, natural motion in humanoid platforms. Creusot’s most influential contribution is the development of SYMORO+, a pioneering software system for the automatic symbolic modelling of robots. This tool, detailed in his 1997 paper (126 citations), revolutionised the field by automating the generation of complex geometric, kinematic, and dynamic models—a critical step for efficient robot design and control. More recently, Creusot has tackled the challenge of online human motion imitation by humanoids. His 2014 work (24 citations) introduces an inverse kinematics method that allows a robot to dynamically adjust its support during stepping and locomotion, avoiding the need for pre-planned foot placements. This innovation is vital for creating robots that can move and adapt in real-world environments. Through these contributions, Creusot has provided both foundational tools and advanced control strategies, making him a key researcher in the quest for more autonomous and responsive humanoid robots.