Papers
10
Total Citations
753
H-Index
7
About
Guilhem Saurel is a leading researcher in robotics, specializing in model predictive control, optimal control, and whole-body locomotion for humanoid and quadruped robots. His most impactful contribution is the development of **Pinocchio** (344 citations), an open-source C++ library that revolutionized rigid body dynamics by enabling fast, flexible computation of algorithms and their analytical derivatives—a critical tool for modern robotics research. Saurel also co-created **Crocoddyl** (257 citations), a highly efficient framework for multi-contact optimal control, which has become a standard for trajectory optimization in complex robotic systems. His work on whole-body model predictive control achieved a landmark milestone: the first successful experiment on a torque-controlled humanoid robot, Talos, demonstrating robust balance recovery and target tracking under strong external perturbations (47 citations). Saurel’s research extends to quadruped locomotion, actuator design, and collision avoidance, consistently pushing the boundaries of real-time, torque-controlled robotics. With over 750 total citations, his open-source tools and pioneering control strategies have become foundational for researchers and engineers advancing legged locomotion and dynamic manipulation.
Research Focus
Key Achievements
Top Papers
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- 7Actuator design of compliant walkers via optimal control11 citations · 2017
- 8Torque Controlled Locomotion of a Biped Robot with Link Flexibility6 citations · 2022
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- 10Learning to steer a locomotion contact planner2 citations · 2021