Olivier Stasse
Centre National de la Recherche Scientifique, Laboratoire d'Analyse et d'Architecture des Systèmes, Université Fédérale de Toulouse Midi-Pyrénées, Université Toulouse III - Paul Sabatier, National Institute of Advanced Industrial Science and Technology, University of Notre Dame, Systems Research Institute, Roche (Switzerland), Robotics Research (United States), Université Sorbonne Paris Nord
Papers
115
Total Citations
7,150
H-Index
30
About
Olivier Stasse is a prominent robotics researcher whose work spans humanoid robot locomotion, whole-body motion control, and computer vision-based navigation. He is perhaps best known as a co-author of the landmark **MonoSLAM** paper (2007), the first successful application of simultaneous localization and mapping to a single monocular camera in real time — a contribution that has garnered nearly 4,000 citations and fundamentally shaped modern visual SLAM research. Beyond perception, Stasse has made substantial contributions to humanoid robotics. His development of the **Stack of Tasks** framework provided a versatile generalized inverse kinematics solution widely adopted for collaborative humanoid systems. He has advanced whole-body model predictive control on platforms like HRP-2, tackled collision-free footstep planning, and contributed to reactive nonlinear MPC-based walking pattern generation. He also played a key role in introducing **TALOS**, a humanoid platform designed for industrial human-robot interaction. His open-source **Pinocchio** library (344 citations) has become an essential tool in the robotics community, offering fast, flexible rigid body dynamics with analytical derivatives. Across his career, Stasse has consistently bridged foundational theory with practical implementation, making him a central figure in modern humanoid and mobile robotics research.
Research Focus
Key Achievements
Top Papers
- 1MonoSLAM: Real-Time Single Camera SLAM3,909 citations · 2007
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- 3Whole-body model-predictive control applied to the HRP-2 humanoid228 citations · 2015
- 4TALOS: A new humanoid research platform targeted for industrial applications150 citations · 2017
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- 6A versatile and efficient pattern generator for generalized legged locomotion114 citations · 2016
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- 10Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints89 citations · 2006