I obtained a double degree in 2014. I graduated as an Electrical Engineer from École Polytechnique, France. and obtained a Master of Science in “System, Control and Robotics” from the Royal Institute of Technology, Sweden.

In September 2013, I joined the Gepetto team at LAAS-CNRS for my master thesis project. From March 2014 to February 2017, I had been a PhD student in the same team, under supervision of Florent Lamiraux. From 2017, I have been a post-doc at LAAS-CNRS, working on manipulation planning.


My research is focused on motion planning for object manipulation. I have worked on the continuity of paths in constrained manifolds. I proposed an approach to address the manipulation planning problem.

The implementation of my research is integrated in the Humanoid Path Planner library. The library contains features dedicated to humanoid robots, but is suited for any type of robots. I have also been working on an - still - unofficial graphical user interface.

I mostly interact with Florent Lamiraux but have collaborated with contributors to the HPP library, Steve Tonneau, Nicolas Mansard, and Jean-Paul Laumond.

Highlighted publications

21 Feb 2017 . Manipulation planning for documented objects (BIBTEX)
Joseph Mirabel
Université Fédérale de Toulouse

09 Oct 2016 . HPP: A new software for constrained motion planning (BIBTEX)
Joseph Mirabel, Steve Tonneau, Pierre Fernbach, Anna-Kaarina Seppälä, Mylène Campana, Nicolas Mansard and Florent Lamiraux.
IEEE/RSJ Intelligent Robots and Systems 2016

15 Jan 2017 . Manipulation planning: addressing the crossed foliation issue (BIBTEX)
Joseph Mirabel and Florent Lamiraux
IEEE International Conference on Robotics and Automation 2017

All publications


  • February 2017 - Today

    Gepetto Team, LAAS-CNRS
    Toulouse, France

  • Mar. 2014 - February 2017

    PhD student
    Gepetto Team, LAAS-CNRS
    Toulouse, France

  • Aug. 2012 - Feb. 2014

    MSc System, Control and Robotics
    KTH Royal Institute of Technology
    Stockholm, Sweden

  • Sept. 2009 - July 2012

    “Diplôme d’ingénieur” - Electrical engineering
    Ecole Polytechnique
    Palaiseau, France


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