Papers
13
Total Citations
318
H-Index
5
About
Jean-Yves Fourquet is a leading figure in humanoid robotics and human-robot collaboration, whose work has fundamentally shaped how robots generate whole-body motion under physical constraints. His seminal 2013 paper on dynamic whole-body motion generation under rigid contacts and unilateral constraints (215 citations) established the most widely used inverse kinematics framework for coordinating a humanoid robot's movements to execute multiple tasks simultaneously—a cornerstone technique in the field. Fourquet's research spans robust admittance control for co-manipulation (57 citations), where he pioneered methods for robots to safely handle unknown loads alongside humans, and impedance control enhanced with energy tanks, ensuring passivity and compliance in flexible robots. He has also advanced multi-layer path planning that integrates semantics and topology for complex manipulation tasks. Notably, his work on coupling manipulation and locomotion in humanoid systems addresses the core challenge of coordinating whole-body joints to combine walking and object handling. With a career that bridges foundational theory and practical control, Fourquet's contributions enable robots to work safely and effectively in unstructured, human-centered environments, making him a key innovator in the next generation of collaborative robotics.
Research Focus
Key Achievements
Top Papers
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- 5Coupling manipulation and locomotion tasks for a humanoid robot5 citations · 2009
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- 7Génération de mouvements des manipulateurs mobiles3 citations · 2001
- 8Control of a rover-mounted manipulator3 citations · 1998
- 9Coordinated control of a nonholonomic mobile manipulator3 citations · 2008
- 10GENERATION OF POSTURE AND HUMAN MOVEMENT FOR WORKSPACE DESIGN3 citations · 2006