Nicolas Mansard

4.9k total citations · 1 hit paper
74 papers, 2.3k citations indexed

About

Nicolas Mansard is a scholar working on Biomedical Engineering, Control and Systems Engineering and Computer Vision and Pattern Recognition. According to data from OpenAlex, Nicolas Mansard has authored 74 papers receiving a total of 2.3k indexed citations (citations by other indexed papers that have themselves been cited), including 43 papers in Biomedical Engineering, 38 papers in Control and Systems Engineering and 33 papers in Computer Vision and Pattern Recognition. Recurrent topics in Nicolas Mansard's work include Robotic Locomotion and Control (40 papers), Prosthetics and Rehabilitation Robotics (24 papers) and Robot Manipulation and Learning (19 papers). Nicolas Mansard is often cited by papers focused on Robotic Locomotion and Control (40 papers), Prosthetics and Rehabilitation Robotics (24 papers) and Robot Manipulation and Learning (19 papers). Nicolas Mansard collaborates with scholars based in France, United States and Japan. Nicolas Mansard's co-authors include Adrien Escande, Pierre-Brice Wieber, Justin Carpentier, Olivier Stasse, Abderrahmane Kheddar, François Chaumette, Andrea Del Prete, Oussama Khatib, Oscar E. Ramos and Steve Tonneau and has published in prestigious journals such as IEEE Transactions on Automatic Control, Communications of the ACM and IEEE Access.

In The Last Decade

Nicolas Mansard

70 papers receiving 2.3k citations

Hit Papers

Hierarchical quadratic programming: Fast online humanoid-... 2014 2026 2018 2022 2014 100 200 300
What are hit papers?

Hit papers significantly outperform the citation benchmark for their cohort. A paper qualifies if it has ≥500 total citations, achieves ≥1.5× the top-1% citation threshold for papers in the same subfield and year (this is the minimum needed to enter the top 1%, not the average within it), or reaches the top citation threshold in at least one of its specific research topics.

  1. Hierarchical quadratic programming: Fast online humanoid-robot motion generation
    2014 364 citations Adrien Escande, Nicolas Mansard et al. profile →

Peers — A (Enhanced Table)

Peers by citation overlap · career bar shows stage (early→late) cites · hero ref

Name h Career Trend Papers Cites
Nicolas Mansard France 24 1.5k 1.3k 821 318 260 74 2.3k
S. Kagami Japan 27 965 0.6× 1.6k 1.2× 844 1.0× 236 0.7× 474 1.8× 99 2.3k
G. Hirzinger Germany 27 2.0k 1.3× 1.7k 1.3× 638 0.8× 864 2.7× 379 1.5× 91 3.2k
Fabio Ruggiero Italy 19 1.3k 0.9× 549 0.4× 828 1.0× 349 1.1× 574 2.2× 91 1.9k
Pierre-Brice Wieber France 21 1.2k 0.8× 1.7k 1.3× 484 0.6× 234 0.7× 184 0.7× 51 2.3k
Rohan Paul United States 19 1.3k 0.8× 438 0.3× 685 0.8× 483 1.5× 461 1.8× 65 2.1k
Alberto Rodríguez United States 26 1.8k 1.2× 1.2k 0.9× 831 1.0× 496 1.6× 444 1.7× 71 2.9k
Patrick M. Wensing United States 23 1.3k 0.9× 2.5k 1.9× 419 0.5× 487 1.5× 344 1.3× 92 3.0k
Shiqiang Zhu China 23 775 0.5× 565 0.4× 293 0.4× 642 2.0× 200 0.8× 140 1.8k
F. Miyazaki Japan 23 2.5k 1.7× 940 0.7× 1.3k 1.6× 763 2.4× 314 1.2× 75 3.1k
Zhen Kan United States 26 923 0.6× 302 0.2× 470 0.6× 202 0.6× 300 1.2× 120 2.2k

Countries citing papers authored by Nicolas Mansard

Since Specialization
Citations

This map shows the geographic impact of Nicolas Mansard's research. It shows the number of citations coming from papers published by authors working in each country. You can also color the map by specialization and compare the number of citations received by Nicolas Mansard with the expected number of citations based on a country's size and research output (numbers larger than one mean the country cites Nicolas Mansard more than expected).

Fields of papers citing papers by Nicolas Mansard

Since Specialization
Physical SciencesHealth SciencesLife SciencesSocial Sciences

This network shows the impact of papers produced by Nicolas Mansard. Nodes represent research fields, and links connect fields that are likely to share authors. Colored nodes show fields that tend to cite the papers produced by Nicolas Mansard. The network helps show where Nicolas Mansard may publish in the future.

Co-authorship network of co-authors of Nicolas Mansard

This figure shows the co-authorship network connecting the top 25 collaborators of Nicolas Mansard. A scholar is included among the top collaborators of Nicolas Mansard based on the total number of citations received by their joint publications. Widths of edges represent the number of papers authors have co-authored together. Node borders signify the number of papers an author published with Nicolas Mansard. Nicolas Mansard is excluded from the visualization to improve readability, since they are connected to all nodes in the network.

All Works

20 of 20 papers shown
1.
Mansard, Nicolas, et al.. (2025). ProxDDP: Proximal Constrained Trajectory Optimization. IEEE Transactions on Robotics. 41. 2605–2624. 2 indexed citations
2.
Meduri, Avadesh, et al.. (2025). Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control. IEEE Transactions on Robotics. 41. 4960–4974. 1 indexed citations
3.
4.
Dumas, Raphaël, et al.. (2024). Lower Limbs Human Motion Estimation from Sparse Multi-Modal Measurements. SPIRE - Sciences Po Institutional REpository. 401–406.
5.
Flayols, Thomas, et al.. (2024). CaT: Constraints as Terminations for Legged Locomotion Reinforcement Learning. SPIRE - Sciences Po Institutional REpository. 13303–13310. 8 indexed citations
6.
Wensing, Patrick M., Michael Posa, Yue Hu, et al.. (2023). Optimization-Based Control for Dynamic Legged Robots. IEEE Transactions on Robotics. 40. 43–63. 83 indexed citations
7.
Taïx, Michel, et al.. (2022). First Order Approximation of Model Predictive Control Solutions for High Frequency Feedback. IEEE Robotics and Automation Letters. 7(2). 4448–4455. 17 indexed citations
8.
Mansard, Nicolas, et al.. (2022). Implicit Differential Dynamic Programming. 2022 International Conference on Robotics and Automation (ICRA). 1455–1461. 14 indexed citations
9.
Flayols, Thomas, et al.. (2022). Real-time Footstep Planning and Control of the Solo Quadruped Robot in 3D Environments. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 12950–12956. 9 indexed citations
10.
Flayols, Thomas, Andrea Del Prete, Majid Khadiv, Nicolas Mansard, & Ludovic Righetti. (2020). Reactive Balance Control for Legged Robots under Visco-Elastic Contacts. Applied Sciences. 11(1). 353–353. 4 indexed citations
11.
Carpentier, Justin, Guilhem Saurel, Gabriele Buondonno, et al.. (2019). The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. HAL (Le Centre pour la Communication Scientifique Directe). 7 indexed citations
12.
Tonneau, Steve, et al.. (2017). 2PAC: Two Point Attractors for Center of Mass Trajectories in Multi Contact Scenarios. Université Pierre et Marie CURIE (UPMC). 4 indexed citations
13.
Ramos, Oscar E., et al.. (2013). Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints. IEEE Transactions on Robotics. 29(2). 346–362. 128 indexed citations
14.
Souères, Philippe, et al.. (2012). Generation of human-like motion on anthropomorphic systems using inverse dynamics. Computer Methods in Biomechanics & Biomedical Engineering. 15(sup1). 156–158. 3 indexed citations
15.
Mansard, Nicolas, et al.. (2012). Reverse Control for Humanoid Robot Task Recognition. IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics). 42(6). 1524–1537. 11 indexed citations
16.
Mansard, Nicolas, Olivier Stasse, Paul Evrard, & Abderrahmane Kheddar. (2009). A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks. HAL (Le Centre pour la Communication Scientifique Directe). 1–6. 73 indexed citations
17.
Evrard, Paul, Nicolas Mansard, Olivier Stasse, et al.. (2009). Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot. SPIRE - Sciences Po Institutional REpository. 31. 5635–5640. 12 indexed citations
18.
Mansard, Nicolas, et al.. (2007). Task Sequencing for High-Level Sensor-Based Control. IEEE Transactions on Robotics. 23(1). 60–72. 141 indexed citations
19.
Mansard, Nicolas, Olivier Stasse, François Chaumette, & Kazuhito Yokoi. (2007). Visually-Guided Grasping while Walking on a Humanoid Robot. Proceedings - IEEE International Conference on Robotics and Automation/Proceedings. 3041–3047. 47 indexed citations
20.
Remazeilles, Anthony, Nicolas Mansard, & François Chaumette. (2006). A Qualitative visual servoing: Application to the visibility constraint. HAL (Le Centre pour la Communication Scientifique Directe). 4297–4303. 9 indexed citations

Rankless uses publication and citation data sourced from OpenAlex, an open and comprehensive bibliographic database. While OpenAlex provides broad and valuable coverage of the global research landscape, it—like all bibliographic datasets—has inherent limitations. These include incomplete records, variations in author disambiguation, differences in journal indexing, and delays in data updates. As a result, some metrics and network relationships displayed in Rankless may not fully capture the entirety of a scholar's output or impact.

Explore authors with similar magnitude of impact

Breakdown of academic impact, for papers by S. Kagami Breakdown of academic impact, for papers by G. Hirzinger Breakdown of academic impact, for papers by Fabio Ruggiero Breakdown of academic impact, for papers by Pierre-Brice Wieber Breakdown of academic impact, for papers by Rohan Paul Breakdown of academic impact, for papers by Alberto Rodríguez Breakdown of academic impact, for papers by Patrick M. Wensing Breakdown of academic impact, for papers by Shiqiang Zhu Breakdown of academic impact, for papers by F. Miyazaki Breakdown of academic impact, for papers by Zhen Kan
Rankless by CCL
2026