Pierre Lemerle

Institut National de Recherche et de Sécurité, Laboratoire de Mécanique et Procédés de Fabrication

Papers

Total Citations

H-Index

About

Pierre Lemerle is a leading researcher in humanoid robotics, specializing in whole-body balance control and dynamic stability for complex, multi-contact scenarios. His work addresses one of the most fundamental challenges in humanoid locomotion: enabling robots to maintain balance while interacting with their environment through multiple, non-coplanar grasps and frictional contacts. Lemerle’s major contributions include developing a conceptually simple yet powerful framework for human posture control, which adapts human-like balancing strategies to robots with redundant degrees of freedom. His seminal 2007 paper, cited over 50 times, introduced a general approach for dynamic balance control during multiple grasps, while his 2008 follow-up refined this into a robust optimization method for stability. More recently, his 2013 work on push recovery extended these principles to handle external perturbations, using kinetic energy minimization and controlled support changes. Collectively, his papers have accumulated nearly 100 citations, reflecting the foundational impact of his ideas on humanoid control. Lemerle’s research is essential reading for anyone working on bipedal locomotion, physical human-robot interaction, or whole-body motion planning.