Movement primitives
Pinocchio: kinematics and derivatives in C++ and python
Optimal control solvers
Contact planner
Walking robot navigation and state estimation
Motion planning for legged locomotion (tentative title, probably focus on quadrupedal locomotion)
Motion planning workflow for the atalante exoskeleton
TALOS control system architecture and whole body controller
Deep RL
QP-based task-space inverse
Dynamics: theory and implementation
Robust optimization with application to task-space inverse dynamics