Leboutet, Quentin

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.


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



  • 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 mehr… BibTeX Volltext ( DOI )


  • 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 mehr… BibTeX Volltext ( 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 mehr… BibTeX Volltext (mediaTUM)


  • 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 mehr… BibTeX Volltext ( 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 mehr… BibTeX Volltext (mediaTUM)


  • 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 mehr… BibTeX Volltext (mediaTUM)