Jean-Pierre Sleiman
Papers
7
Total Citations
199
H-Index
5
About
Jean-Pierre Sleiman is at the forefront of legged mobile manipulation, pioneering real-time planning and control frameworks that enable robots to dynamically coordinate locomotion with manipulation. His most impactful work, a collision-free Model Predictive Control (MPC) approach for whole-body dynamic locomotion and manipulation (69 citations), introduces a real-time planner that enforces self- and environment-collision avoidance as soft constraints within a multi-contact optimal control problem. This breakthrough allows legged robots to safely navigate cluttered spaces while manipulating objects. Sleiman’s versatile multicontact planning and control framework (66 citations) further advances the field by enabling complex holistic movements and multiple contact interactions for loco-manipulation tasks. He has also developed methods for generating continuous motion and force plans in real-time (25 citations), addressing how manipulator contact forces affect legged systems. His work on contact-implicit trajectory optimization (20 citations) reformulates complementarity conditions for dynamic object manipulation, while his passivity-based control for haptic teleoperation (15 citations) tackles time-delay destabilization in multi-limbed mobile manipulators. With over 200 citations across his key publications, Sleiman’s contributions are shaping the next generation of agile, collision-aware robots capable of performing complex manipulation tasks in real-world environments.
Research Focus
Key Achievements
Top Papers
- 1A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation69 citations · 2022
- 2Versatile multicontact planning and control for legged loco-manipulation66 citations · 2023
- 3
- 4Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation20 citations · 2019
- 5
- 6A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation2 citations · 2022
- 7