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Technical University of Munich
Technical University of Munich

Leboutet, Quentin


Picture of Quentin Leboutet

M.Sc. Quentin Leboutet

Chair of Cognitive Systems (Prof. Cheng)

Research Interests

Short Bio

After studying Electrical Engineering and Information Technologies in France where I received an Engineering degree, I then pursued a Master of Science in Robotics at the Technical University of Munich (TUM). My master thesis topic was: "Tactile-based Hierarchical Compliance for Stiff Robots using Quadratic Programming". Now working towards a PhD degree, I am mainly focusing on Whole-body Dynamic behavior and Control of Humanoid Robots, namely how to exploit robot dynamic properties in order to make their movements more natural and effective.

Interests

  • robot dynamics
  • optimal control
  • sensor fusion
  • human-robot interaction/collaboration

Teaching

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Publications

2021

  • Quentin Leboutet , Julien Roux , Alexandre Janot , Julio Rogelio Guadarrama-Olvera and Gordon Cheng: Inertial Parameter Identification in Robotics: A Survey. Applied Sciences Vol. 11 (Issue 9), 2021 more… BibTeX Full text ( DOI )

2020

  • Quentin Leboutet ; J. Rogelio Guadarrama-Olvera ; Florian Bergner ; Gordon Cheng: Second-order Kinematics for Floating-base Robots using the Redundant Acceleration Feedback of an Artificial Sensory Skin. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 more… BibTeX Full text ( DOI )
  • Quentin Leboutet, Florian Bergner and Gordon Cheng: Online Configuration Selection for Redundant Arrays of Inertial Sensors: Application to Robotic Systems Covered with a Multimodal Artificial Skin. IROS 2020, 2020 more… BibTeX Full text (mediaTUM)

2019

  • Cheng, Gordon; Dean-Leon, Emmanuel; Bergner, Florian; Olvera, Julio Rogelio Guadarrama; Leboutet, Quentin; Mittendorfer, Philipp: A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications. Proceedings of the IEEE Volume 107 (10), 2019, 2034 - 2051 more… BibTeX Full text ( DOI )
  • Quentin Leboutet, Emmanuel Dean-Leon, Florian Bergner and Gordon Cheng: Tactile-based Whole-body Compliance with Force Propagation for Mobile Manipulators. IEEE-TRO Transaction on Robotics, 2019 more… BibTeX Full text (mediaTUM)

2016

  • Quentin Leboutet, Emmanuel Dean-Leon and Gordon Cheng: Tactile-based Compliance with Hierarchical Force Propagation for Omnidirectional Mobile Manipulators. IEEE/RAS International Conference on Humanoid Robots (Humanoids2016), 2016 more… BibTeX Full text (mediaTUM)
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