Context. Low-mass extrasolar planets are presently being discovered at an increased pace by radial velocity and transit surveys, which opens a new window on planetary systems. <BR /> Aims: We are conducting a high-precision radial velocity survey with the HARPS spectrograph, which aims at characterizing the population of ice giants and super-Earths around nearby solar-type stars. This will lead to a better understanding of their formation and evolution, and will yield a global picture of planetary systems from gas giants down to telluric planets. <BR /> Methods: Progress has been possible in this field thanks in particular to the sub-m s-1 radial velocity precision achieved by HARPS. We present here new high-quality measurements from this i...