Abderrahmane KHEDDAR

Texte alternatif

Building : 5 R+1 Sud

Office : 02/063

Phone : 04 67 41 86 04

Fax : 04 67 41 85 00

Email : Abderrahmane.Kheddar@lirmm.fr

Web site :

Status : Permanent

Abderrahmane Kheddar received the BSCS degree from the Institut National d’Informatique (INI), Algiers, the MSc and PhD degrees in robotics, both from the University of Pierre and Marie Curie, Paris 6. He is presently Directeur de Recherche at CNRS. He is the Director of the CNRS-AIST Joint Robotic Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan; and team leader of the Interactive Digital Humans (IDH) team at CNRS-UM LIRMM at Montpellier, France. Prior to this, he was (1999-2003) assistant professor and (2004-2008) full professor at the University of Evry where he created and headed the virtual reality and haptics group. His current research interests include humanoid robotics, haptics, and thought-based control using brain machine interfaces en physical re-embodiment. He is a founding member of the IEEE/RAS chapter on haptics (acting also as a senior advisor), the co-chair and co-founding member of the IEEE/RAS Technical committee on model-based optimization. He is presently Editor of the IEEE Transactions on Robotics and the Journal of Intelligent and Robotic Systems, and Frontiers in Bionics; he is a founding member of the IEEE Transactions on Haptics and served in its editorial board during three years (2007-2010) and served as AE also the MIT Press PRESENCE journal (2013-2014). He also coordinated or acted as a PI for several EU projects and JSPS Kakenhi projects.

Research

To come soon...

Projects

To come soon...

Editorial Activities

Journals

♦ IEEE Transactions on Robotics (TRO), Editor (June 2012 - now), Associate Editor (2008 - June 2012)

♦ Journal of Intelligent Robotic Systems (JINT), Senior Editor (2009 - now) 

♦ Frontiers in Robotics and AI, Chapter Humanoid Robotics, Review Editor (2014 - now)

♦ Frontiers in Bioengineering and Biotechnology, Chapter Bionics and Biomimetics, Review Editor (2013 - now)  

♦ PRESENCE: Teleoperators and Virtual Environments (PRESENCE), Associate Editor (2013 - 2014)

♦ IEEE Transactions on Haptics (ToH), Founding Editorial Board (2008 - 2010) 

Conferences

2015

Publicity chair: IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 1-3 July, Lyon, France.

PC member: Robotics Science & Systems (RSS), 13-17 July, Roma, Italy; 

2014

Tutorial and Workshop Co-chair: IEEE/RAS Humanoids, 17-19 November, Madrid, Spain.

Publications

Chapters and Book Edition

♦ A. Kheddar, R. Chellali, Ph. Coiffet, Virtual environment–assisted teleoperation, (Chapter 43), Hand Book of Virtual Environments: Design, Implementation, and Application. 2nd Edition par Kelly S. Hale and Kay M. Stanney, CRC Press, pp. 1109-1144, 8 September 2014, ISBN 9781466511842

♦ S. Endo, P. Evrard, A. Kheddar, A. Wing, Human-robot adaptive control of object-oriented action, Chapter 6, In Immersive Multimodal Interactive Presence, A. Peer and C. Giachritsis (Eds), Springer series on Touch and Haptic Systems, pp. 91–104, May 2012

♦ A. Escande, A. Kheddar, Contact support planning for humanoids acyclic motion, Chapter 6 in Humanoid Motion Planning, K. Harada, E. Yoshida and K. Yokoi (Eds), Springer, STAR series, pp. 161–180, 2012

♦ J. Citérin, A. Kheddar, Electro-Active Polymer actuators for tactile displays, Chapter 6, « The Sense of Touch and its Rendering: Progresses in Haptics Research », A. Bicchi, M. Buss, M. Ernst and A. Peer (Eds), Springer, STAR series, pp. 131–154, 2008

♦ A. Drif, B. Le Mercier, A. Kheddar, Design of a multilevel haptic display, Chapter 9 In "The Sense of Touch and its Rendering: Progresses in Haptics Research", A. Bicchi, M. Buss, M. Ernst and A. Peer (Eds), Springer, STAR series, pp. 207–224, 2008

♦ A. Kheddar, E-S. Neo, R. Tadakuma, K. Yokoi, Enhanced teleoperation through virtual reality techniques, pp. 136–159, June 2007. Chapter 9 in: Advances in Telerobotics, Series: Springer Tracts in Advanced Robotics, Vol 31, M. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer (Eds.), Springer-Verlag, ISBN: 978-3-540-71363-0

♦ H. Mohellebi, S. Espié, A. Kheddar, H. Arioui, A. Amouri, Design of low-clearance motion platform for driving simulator, Mechatronics for Safety, Security and Dependability in a New Era E. Arai and T. Arai (Eds), Elsevier. ISBN : 0-08-044963-8, 2006

♦ Ph. Meseure, A. Kheddar, Détection de collisions, Chapter 4, in Traité de la Réalité Virtuelle (3ème Edition), Volume 3, ISBN 2-911762-64-9 (in French), 2006

♦ Ph. Meseure, A. Kheddar, Modèles pour le rendu haptique, Chapter 5, both chapters in Traité de la Réalité Virtuelle (3ème Edition), Volume 3, ISBN 2-911762-64-9 (in French), 2006

♦ Ph. Coiffet, A. Kheddar Eds (in French), Téléopération et télérobotique, Octobre 2002, Collection I2C Hermès – Lavoisier, ISBN 2-7462-0447-9. Author of Chapter 4: A. Kheddar, Retours haptiques, 2002

♦ A. Kheddar, Ph. Coiffet Eds (in French), Téléopération et réalité virtuelle, Octobre 2002, Collection I2C Hermès – Lavoisier, ISBN 2-7462-0448-7. Author of Chapter 3: A. Kheddar, Téléopération assistée par les techniques de réalité virtuelle, 2002

♦ A. Kheddar, R. Chellali, Ph. Coiffet, Virtual environment–assisted teleoperation, (Chapter 48), pp. 959–1026, Hand Book of Virtual Environments. Edité par Kay M. Stanney, Lawrence Erlbaum Associates, USA. ISBN 0–8058–3270–X, 2002 (new edition in 2014)

♦ A. Kheddar, A. Senouci, Ph. Coiffet, Applications modernes de la robotique de service– applications médicales, Chapitre de Book (in French) « Robotique, domotique et handicap », sous la direction des docteurs M. Enjalbert, M. Busnel et J-C. Gabus, Edition Masson, ISBN 2-294-00595-3, 2001

♦ C.S. Tzafestas, A. Kheddar, Ph. Coiffet, Kinaesthetic feedback on the human hand interacting with virtual environment. In: Progress in System and Robot Analysis and Control Design. Part V (Industrial Robot Analysis, Design and Control), Chapter 32, pp. 397-422. Lecture Notes in Control and Information Sciences 243, S.G. Tzafestas and G. Schmidt Eds. Springer Verlag, 1999. ISBN 1-85233-123-2, 1999

International Journals

♦ O. Cohen, S. Druon, S. Lengagne, A. Mendelsohn, R. Malach, A. Kheddar, D. Fridman, fMRI-based robotic embodiment: Controlling a humanoid robot by thought using real-time fMRI, PRESENCE: Teleoperators and virtual environments, Vol. 23, No 3, pp. 229–241, Summer 2014, MIT Press. doi:10.1162/PRES_a_00191 BibTex

♦ K. Mombaur, A. Kheddar, K. Harada, T. Buschmann, C. Atkeson, Model-based optimization for robotics, IEEE Robotics & Automation Magazine, Vol. 21, Issue 3, TC Spotlight section, pp. 24-25 and 161, September 2014. Doi: 10.1109/MRA.2014.2334973 BibTex

♦ E. Tidoni, P. Gergondet, A. Kheddar, S.M. Aglioti, Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot, Frontiers in Neurorobotics, Vol. 8, No 20, 17 June 2014. Doi:10.3389/fnbot.2014.00020 BibTeX

♦ A. Escande, S. Miossec, M. Benallègue, A. Kheddar, A strictly convex hull for computing proximity distances with continuous gradient, IEEE Transactions on Robotics, Vol. 30, Issue 3, pp. 666 – 678, June 2014. Doi: 10.1109/TRO.2013.2296332 BibTex

♦ S. Lengagne, J. Vaillant, E. Yoshida, A. Kheddar, Generation of whole-body optimal dynamic multi-contact motions, International Journal of Robotics Research, Special Issue on “Motion Planning for Physical Robots Interaction”, Vol. 32, Issue 9-10, pp. 1104-1119, August/September 2013. doi:10.1177/0278364913478990 BibTex

♦ M. Guiatni, V. Riboulet, C. Duriez, A. Kheddar, S. Cotin, A combined force and thermal feedback interface for minimally-invasive procedure simulation, IEEE/ASME Transactions on Mechatronics, pp. 1170–1181, Vol. 18, No 3, June 2013 BibTex

♦ A. Escande, A. Kheddar, S. Miossec, Planning contact points for humanoid robots, Robotics and Autonomous Systems, Vol. 61, Issue 5, pp. 428-442, May 2013 BibTex

♦ K. Bouyarmane, A. Kheddar, Humanoid robot locomotion and manipulation step planning, Advanced Robotics, Special Issue on Cutting edge robotics in Japan 2012 (2), invited paper (selected from RSJ conference), Vol. 26, Issue 10, pp. 1099-1126, July 2012 BibTex

♦ I. Peterlík, M. Nouicer, C. Duriez, S. Cotin, A. Kheddar, Constraint-based haptic rendering of multirate compliant mechanisms, IEEE Transactions on Haptics, Special section on Haptics in Medicine and Clinical Skill Acquisition, Vol. 4(3), pp. 175–187, July-September 2011 Bibtex

♦ M. Guiatni, A. Kheddar, Modelling, identification and control of Peltier thermoelectric modules for telepresence, ASME Transactions: Journal of Dynamic Systems, Measurement and Control, Vol. 133(2), pp. 031010-1–031010-8, 2011 BibTex

♦ T. Foissotte, O. Stasse, P-B. Wieber, A. Escande, A. Kheddar, Autonomous 3D object modeling by a humanoid using an optimization-driven next-best-view formulation, International Journal of Humanoid Robotics, Vol. 7(3), pp. 407-428, 2010 BibTeX

♦ F. Vidal, C. Plesse, P-H. Aubert, L. Beouch, F. Tran-Van, G. Palaprat, P. Verge, P. Yammine, J. Citérin, A. Kheddar, L. Sauques, C. Chevrot, D. Teyssié, PEDOT containing semi-interpenetrating polymer networks: a versatile concept for the design of optical or mechanical electroactive devices, Polymer International, Wiley, Vol. 59 (mars), pp. 313–320, 2010 BibTex

♦ N. Mansard, O. Khatib, A. Kheddar, A unified approach to integrate unilateral constraints in the stack of tasks, IEEE Transactions on Robotics, Vol. 25, No 3, pp. 670–685, 2009 BibTex

♦ O. Stasse, R. Ruland, F. Lamiraux, A. Kheddar, K. Yokoi, W. Prinz, Integration of humanoid robots in collaborative working environments: a case study on motion generation. Intelligent Service Robotics, Vol. 2, No 3, pp. 1861-2276, 2009 BibTeX

♦ H. Mohellebi, A. Kheddar, S. Espié, Adaptive haptic feedback steering wheel for driving simulators, IEEE Transactions on Vehicular Technology, Vol. 58, No 4, May, pp. 1654–1666, 2009 BibTex

♦ M. Guiatni, A. Bénallegue, A. Kheddar, Thermal display for telepresence based on neural identification and heat flux servoing, PRESENCE: Teleoperators and virtual environments, Vol. 18, No 2, pp. 156–169, April, MIT Press, 2009 BibTex

♦ F. Vidal, C. Plesse, G. Palaprat, J. Juger, J. Citérin, A. Kheddar, C. Chevrot, D. Teyssié, Synthesis and Characterization of IPN’s for Electrochemical Actuators, Advances in Science and Technology, Vol. 61: Artificial Muscle Actuators using Electroactive Polymers, September, pp. 8–17, 2008 BibTex

♦ O. Stasse, B. Verrelst, P-B. Wieber, B. Vanderborght, P. Evrard, A. Kheddar, K. Yokoi, Modular architecture for humanoid walking pattern prototyping and experiments, Advanced Robotics, Vol 22, No 6, pp. 589–611, 2008 BibTex

♦ L. Nehaoua, H. Mohellebi, A. Amouri, H. Arioui, S. Espié, A. Kheddar, Design and control of small-clearance driving simulator, IEEE Transactions on Vehicular Technology, Vol. 57, No 2, March, pp. 736–746, 2008 BibTeX

♦ M. Benali-Khoudja, M. Hafez, A. Kheddar, VITAL: an electromagnetic integrated tactile display, DISPLAYS, Vol. 28, Issue 3, pp. 133–144, 2007 BibTex

♦ F. Vidal, C. Plesse, G. Palaprat, A. Kheddar, J. Citérin, D. Teyssié, C. Chevrot, Conducting IPN actuators: From polymer chemistry to actuator with linear actuation, Synthetic Metals, Vol. 156, Issues 21-24, 1 December 2006, pp. 1299-1304 BibTex

♦ C. Duriez, F. Dubois, A. Kheddar, C. Andriot, Realistic haptic rendering of interactive deformable objects in virtual environments, IEEE Transactions on Visualization and Computer Graphics, Vol. 12, No 1, pp. 36-47, January/February 2006 BibTex

♦ J-P. Bresciani, M. Ernst, K. Drewing, G. Bouyer, V. Maury, A. Kheddar, Feeling what you hear: auditory signals can modulate tactile tap perception, Experimental Brain Research, Vol. 162, No 2, pp. 172-180, 2005 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, A model-based controller for interactive force reflecting virtual environment under time-delay, Journal of Intelligent and Robotic Systems, Vol. 37, No 2, pp. 193–207, June 2003 BibTex

♦ S. Redon, A. Kheddar, S. Coquillart, Fast continuous collision detection between rigid bodies, Computer Graphics Forum, Vol. 21, N° 3, pp. 279–288, September 2002 BibTeX

♦ A. Kheddar, Teleoperation based on the hidden robot concept, IEEE Transactions on Systems Man and Cybernetics, Part A, Vol. 31, N° 1, pp. 1–13, January 2001 BibTex

♦ A. Kheddar, C. Tzafestas, Ph. Coiffet et T. Kotoku, K. Tanie, Multi-robot teleoperation using direct human hand actions, International Journal of Advanced Robotics, Vol. 8, N° 11, pp. 799-825, 1998 Bibtex

International Conferences

2015

♦A. Pajon, G. De Magistris, S. Miossec, K. Kaneko, A. Kheddar, A humanoid walking pattern generator for sole design optimization. International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, July 27-31, 2015.

♦ L. Aymerich-Franch, D. Petit, G. Gowrishankar, A. Kheddar, Embodiment of a humanoid robot avatar is preserved during partial and delayed control, IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), Lyon, France, July 1-3, 2015.

♦ T-H. Pham, A. Kheddar, A. Qammaz, A. Argyros, Towards force sensing from vision: observing hand-object interactions to infer manipulation forces, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston, MA, June 7-12, 2015.

♦ D. Petit, P. Gergondet, A. Cherubini, A. Kheddar, An integrated framework for humanoid embodiment with a BCI, IEEE International Conference on Robotics and Automation, May 26-30, 2015, Seattle, Washington.

♦ P. Gergondet, Ch. Kapeller, K. Kamada, H. Ogawa, Ch. Guger, A. Kheddar, Online classification of CSP based feature in human ECoG applied to robot control, (poster), IEEE EMBS Conference on Neural Engineering, April 22-24, 2015, Montpellier, France.

♦ B. Chrétien, A. Escande, A. Kheddar, GPU-based robot dynamics simulator for semi-Infinite nonlinear optimization, International Conference on High Performance Scientific Computing (HPSC) Modeling, Simulation and Optimization of Complex Processes, 16-20 March 2015, Hanoi, Vietnam. BibTex

2014

♦ A. Kumar Pandey, R. Gelin, R. Alami, R. Viry, A. Buendia, R. Meertens, M. Chetouani, L. Devilliers, M. Tahon, D. Filliat, Y. Grenier, M. Maazaoui, A. Kheddar, F. Lerasle, L. Fitte Duval, Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social Intelligence, International Workshop on Artificial Intelligence and Cognition (AIC), Short paper, pp. 140-147, November 26-27, Torino, Italy, 2014 BibTex

♦ J. Vaillant, A. Kheddar, H. Audren, F. Keith, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro, Vertical ladder climbing by the HRP-2 humanoid robot, IEEE-RAS International Conference on Humanoid Robots, 18-20 November, Madrid, Spain, 2014 BibTex

♦ A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, M. Vindetelli, Toward autonomous car driving by a humanoid robot-- A sensor-based framework, IEEE-RAS International Conference on Humanoid Robots, 18-20 November, Madrid, Spain, 2014 BibTex

♦ A. Montellano-Lopèz, J. Vaillant, F. Keith, Ph. Fraisse, A. Kheddar, Compliant control of a humanoid robot helping a person stand up from a seated position, IEEE-RAS International Conference on Humanoid Robots, 18-20 November, Madrid, Spain, 2014 BibTex

♦ P. Gergondet, D. Petit, M. Meilland, A. Kheddar, A. I. Comport, A. Cherubini, Combining 3D SLAM and visual tracking to reach and retriev objects in daily-life indoor environments, International Conference on Ubiquitous and Ambiant Intelligence (URAI), 12-15 November, Kuala Lumpur, Malaysia, 2014 BibTex

♦ S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar, Integration of non-inclusive contacts in posture generation, IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, Sept. 14-18, 2014 BibTex

♦ H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida, Model preview control in multi-contact motion– Application to a humanoid robot, IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, Sept. 14-18, 2014 BibTex

♦ B. Chrétien, A. Escande, A. Kheddar, GPU-based semi-infinite optimization for whole-body robot control, Poster presentation in Robotics Science and Systems, Workshop on Optimization techniques for motion generation in robotics, July 12, Berkley, USA, 2014 BibTex

♦ F. Maamir, M. Guiatni, Y. Morsly, A. Kheddar, PSO algorithm based thermal contact resistance estimation for variable force hand/object interaction, Mediterranean Conference on Control and Automation (MED), Palermo, Italy, June 16-19, 2014 BibTex

♦ D. Petit, P. Gergondet, A. Cherubini, M. Meilland, A.I. Comport, A. Kheddar, Navigation assistance for a BCI-controlled humanoid robot, IEEE-CYBER, Hong-Kong, 4 – 7 June, 2014 Bibtex

♦ D-J. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar, Collaborative human-humanoid carrying using vision and haptic sensing, IEEE International Conference on Robotics and Automation, pp. 607-612, Hong-Kong, May 31 – June 7, 2014 BibTex

2013

♦ P. Gergondet, A. Kheddar, Object-Affordance Control of a Humanoid Robot with BMI, IEEE Life Sciences Grand Challenges Conference (LSGCC), 2 – 3 December, Singapore, 2013 BibTex

♦ D.J. Agravante, A. Cherubini, A. Kheddar, Using vision and haptic sensing for human-humanoid haptic joint actions, IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 12 – 15 Novembre, Manila, Philippines, 2013 BibTex

♦ S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar, Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results, IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 12–15 November, Manila, Philippines, 2013 BibTex

♦ D. J. Agravante, A. Cherubini, A. Bussy, A. Kheddar, Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 3-7, Tokyo, Japan, 2013 BibTex

♦ D. J. Agravante, A. Cherubini, A. Kheddar, Visio-haptic control for Human-Humanoid Cooperative Carrying, 6th International Workshop on Human-Friendly Robotics (HFR), 25-26 September, Roma, Italy, 2013 BibTex

2012

♦ K. Bouyarmane, J. Vaillant, F. Keith, A. Kheddar, Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios, IEEE-RAS International Conference on Humanoid Robots, pp. 337–342, 29 Nov. – 1 Dec., Osaka, Japan, 2012 Bibtex

♦ K. Bouyarmane, A. Kheddar, On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control, IEEE-RAS International Conference on Humanoid Robots, pp. 36–42, 29 Nov. – 1 Dec., Osaka, Japan, 2012 BibTex

♦ P. Evrard, A. Kheddar, Human-humanoid co-working in a joint table transportation, International Conference on Social Robotics (ICSR), LNAI No 7621, S.S. Ge et al. Eds, pp. 357–366, 29–31 October, Chengdu, China, 2012 BibTex

♦ A. Bussy, A. Kheddar, A. Crosnier, F. Keith, Human-humanoid haptic joint object transportation case study, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3633–3637, October 7-12, Vilamoura, Algarve, Portugal Best paper award finalist, 2012 BibTex

♦ Y. Lee, S. Lengagne, A. Kheddar, Y-J. Kim, Accurate evaluation of a distance function for optimization-based motion planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1513–1518, October 7-12, Vilamoura, Algarve, Portugal, 2012 Bibtex

♦ A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier, Proactive behavior of a humanoid robot in a haptic transportation task with a human partner, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Paris, France. 9-13 September, 2012 BibTex

♦ P. Gergondet, D. Petit, A. Kheddar, Steering a robot with a brain-computer interface: impact of the video feedback on BCI performance, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Paris, France. 9-13 September, 2012 BibTex

♦ O. Cohen, S. Druon, S. Lengagne, A. Mendelsohn, R. Malach, A. Kheddar, D. Friedman, fMRI based robotic embodiment: a pilot study, IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 314-319, Oral presentation, Roma, Italy, June 24-28, 2012 BibTex

♦ P. Gergondet, A. Kheddar, C. Hintermuller, C. Guger, M. Slater, Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2, 13th International Symposium on Experimental Robotics (ISER), June 17-21, Québec City, Canada, 2012 Bibtex

2011

♦ S. Lengagne, A. Kheddar, S. Druon, E. Yoshida, Emulating human leg impairments and disabilities in walking with humanoid robots, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7–11, Phuket, Thailand, 2011 BibTex

♦ P. Gergondet, S. Druon, A. Kheddar, Ch. Hintermuller, Ch. Guger, M. Slater, Using a Brain-Computer Interface to steer a HRP-2 humanoid robot, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7–11, Phuket, Thailand, 2011 BibTex

♦ A. Kheddar, A. Billard, A tactile matrix for whole-body humanoids haptic sensing and safe interaction, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7–11, Phuket, Thailand, 2011 BibTex

♦ S. Lengagne, A. Kheddar, E. Yoshida, Considering floating contact and un-modeled effects for multi-contact motion generation, 1st Workshop on Humanoid Service Robot Navigation in Crowded and Dynamic Environments, J. Andrade-Cetto, L. Marchionni and R. Téllez (Eds.) Part of the IEEE-RAS International Conference on Humanoid Robots, October 26th, Bled, Slovenia, 2011 BibTex

♦ K. Bouyarmane, A. Kheddar, Static posture planning for a humanoid robot on deformable contact support, IEEE-RAS International Conference on Humanoid Robots, October 26 – 28, Bled, Slovenia, 2011 BibTex

♦ F. Keith, P-B. Wieber, N. Mansard, A. Kheddar, Analysis of the discontinuities in the task priority scheme when switching priorities, IEEE/RSJ IROS, Los Angeles, USA, 2011 BibTex

♦ K. Bouyarmane, A. Kheddar, Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations, IEEE/RSJ IROS, Los Angeles, USA, 2011 BibTex

♦ A. Kheddar, Human-robot haptic joint actions: is an equal control-sharing approach possible?, International Conference on Human System Interactions (HSI), May 19-21, Yokohama, Japan, 2011 BibTex

♦ K. Bouyarmane, A. Kheddar, Multi-contacts planning for multiple agents, IEEE International Conference on Robotics and Automation, Shanghai, China, 2011 Bibtex

♦ E. Gribovskaya, A. Kheddar, A. Billard, Motion learning and adaptive impedance for robot control during physical interaction with humans, IEEE International Conference on Robotics and Automation, Shanghai, China, 2011 Bibtex

2010

♦ M. Benallegue, P-B. Wieber, A. Kheddar, B. Espiau, The mirror controller: a computational model for motion imitation by humans – stepping motions, IEEE-RAS International Conference on Humanoid Robots, Dec. 6 – 8, Nashville, TN, USA, 2010 BibTex

♦ K. Bouyarmane, A. Kheddar, Static multi-contact inverse problem for multiple humanoid robots and manipulated objects, IEEE-RAS International Conference on Humanoid Robots, Dec. 6 – 8, Nashville, TN, USA (Oral) Best paper award finalist, 2010 BibTex

♦ S. Lengagne, P. Mathieu, A. Kheddar, E. Yoshida, Generation of dynamic multi-contact motions; 2D case studies, IEEE-RAS International Conference on Humanoid Robots, Dec. 6 – 8, Nashville, TN, USA (Oral), 2010 BibTex

♦ M. Arbulu, A. Kheddar, E. Yoshida, An approach of generic solution for humanoid stepping over motion, IEEE-RAS International Conference on Humanoid Robots, Dec. 6 – 8, Nashville, TN, USA, 2010 BibTex

♦ S. Lengagne, P. Mathieu, A. Kheddar, E. Yoshida, Generation of dynamic motions under continuous constraints: efficient computation using B-Splines and Taylor polynomials, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Oct. 18 – 22, Taipei, Taiwan, 2010 BibTex

♦ M. Guiatni, A. Abane, A. Kheddar, Modeling and Instrumentation for position and torque control of a 4DOF force-feedback device, IEEE Systems Man and Cybernetics, Oct. 10 – 13, Istanbul, Turkey, 2010 BibTex

2009

♦ O. Stasse, P. Evrard, N. Perrin, N. Mansard, A. Kheddar, Fast foot prints re-planning and generation during walking in physical human-humanoid interaction, IEEE-RAS International Conference on Humanoid Robots (poster presentation), December 7-10, Paris, 2009 BibTex

♦ P. Evrard, E. Griboskaya, S. Calinon, A. Billard, A. Kheddar, Teaching physical collaborative tasks : object-lifting case study with a humanoid, IEEE-RAS International Conference on Humanoid Robots (Oral presentation selection 14%), December 7-10, Paris, 2009 BibTex

♦ P. Pierro, O. Stasse, A. Kheddar, K. Yokoi, C. Balaguer, Humanoid feet trajectory generation for the reduction of the dynamical effects, IEEE-RAS International Conference on Humanoid Robots (poster presentation), December 7-10, Paris, 2009 BibTex

♦ F. Keith, N. Mansard, S. Miossec, A. Kheddar, From discrete mission schedule to continuous implicit trajectory using optimal time warping, 19th International conference on automated planning and scheduling, (submitted as short paper), September 19-23, Thessaloniki, Greece, 2009 BibTex

♦ F. Keith, N. Mansard, S. Miossec, A. Kheddar, Optimization of tasks warping and scheduling for smooth sequencing of robotic actions, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp. 1609–1614, 11-15 October, Saint Louis, MO, USA, 2009 BibTex

♦ P. Evrard, N. Mansard, O. Stasse, A. Kheddar, T. Schauß, C. Weber, A. Peer, M. Buss, Intercontinental, Multimodal, Wide-Range Tele-Cooperation Using a Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp. 5635–5640, 11-15 October, Saint Louis, MO, USA, 2009 BibTex

♦ A. Escande, A Kheddar, Contact planning for acyclic motion with tasks constraints, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), 11-15 October, Saint Louis, MO, USA, 2009 BibTex

♦ A. Escande, A Kheddar, Contact planning for acyclic motion with tasks constraints, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), (VIDEO Session), 11-15 October, Saint Louis, MO, USA, 2009 BibTex

♦ M. Battaglia, A. Kheddar, S. Kajita, K. Yokoi, Combining haptic sensing with safe physical interaction, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp. 231–236, 11-15 October, Saint Louis, MO, USA, 2009 BibTex

♦ F. Keith, N. Mansard, S. Miossec, A. Kheddar, Optimized time-warping tasks scheduling for smooth sequencing, IFAC Symposium on Robot Control, 9-12 September, Gifu, Japan, 2009 BibTex

♦ A. Escande, A. Kheddar, Planning contact supports for acyclic motion with task constraints and experiment on HRP-2, IFAC Symposium on Robot Control, 9-12 September, Gifu, Japan, 2009 BibTex

♦ J. Citérin, A. Kheddar, Patterning IPN-CP actuators and applications, IEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM), July 14-17, Singapour, 2009 BibTex

♦ M. Guiatni, V. Riboulet, A. Kheddar, Design and evaluation of a haptic interface for interactive simulation of minimally-invasive surgeries, IEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM), July 14-17, Singapour, 2009 BibTex

♦ P. Evrard, A. Kheddar, Homotopy-based controller for human-robot physical collaboration, IEEE International Symposium on Robot and Human Interactive Collaboration, (RO-MAN), Sep. 27-Oct. 2, Toyama, Japan, 2009 BibTex

♦ S. Endo, P. Evrard, A. Kheddar, A. Wing, Joint action and reaction: adaptive control in cooperative object lifting, Neuroscience (poster), October 17-21, Chicago, US, 2009 BibTex

♦ N. Mansard, O. Stasse, P. Evrard, A. Kheddar, A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks, International Conference in Advanced Robotics (ICAR), June 22-26, Munich, Germany, 2009 BibTex

♦ S. Calinon, P. Evrard, E. Gribovskaya, A. Billard, A. Kheddar, Learning collaborative manipulation tasks by demonstration using a haptic interface, International Conference in Advanced Robotics (ICAR), June 22-26, Munich, Germany, 2009 BibTex

♦ T. Foissotte, O. Stasse, P-B. Wieber, A. Kheddar, Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot, IEEE Conference on Information and Automation (ICIA), pp. 78-83, 22-24 June, Zhuhai, Macau, 2009 BibTex

♦ S. Endo, P. Evrard, A. Kheddar, R.M. Bracewell, A. Wing, An adaptive behavioural change in cooperative object lifting, 3rd Joint Action Meeting (poster), July 27-29, Het Trippenhuis Tinbergenzaal Amsterdam, The Netherlands. Also presented in Workshop on Motion analysis and timing of coordinated movements (MatCom), 28 May, Birmingham, UK, 2009 BibTex

♦ M. Benallegue, A. Escande, S. Miossec, A. Kheddar, Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes, IEEE International Conference on Robotics and Automation (ICRA), May 12-17, Kobe, Japan, 2009 BibTex

♦ K. Bouyarmane, A. Escande, F. Lamiraux, A. Kheddar, Potential field guide for humanoid multicontacts acyclic motion planning, IEEE International Conference on Robotics and Automation (ICRA), May 12-17, Kobe, Japan, 2009 BibTex

♦ T. Foissotte, O. Stasse, A. Escande, P-B. Wieber, A. Kheddar, A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot, IEEE International Conference on Robotics and Automation (ICRA), May 12-17, Kobe, Japan, 2009 BibTex

♦ P. Evrard, A. Kheddar, Homotopy switching model for dyad haptic interaction in physical collaborative tasks, WorldHaptics, 18-20 March, Utah, USA, 2009 BibTex

2008

♦ S. Miossec, A. Kheddar, Human hand motion in cooperative tasks: moving object case study, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 14–17, Bangkok, Thailand, 2008 BibTex

♦ A. David, J-R. Chardonnet, A. Kheddar, K. Kaneko, K. Yokoi, Study of an external passive shock-absorbing mechanism for walking robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), (poster presentation paper), Dec. 1-3, Daejeon, Korea, 2008 BibTex

♦ T. Foissotte, O. Stasse, A. Escande, A. Kheddar, A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot, IEEE-RAS International Conference on Humanoid Robots (Humanoids), (poster presentation paper), Dec. 1-3, Daejeon, Korea, 2008 BibTex

♦ O. Stasse, R. Ruland, F. Lamiraux, A. Kheddar, K. Yokoi, W. Prinz, Integration of humanoid robots in a collaborative working environments: a case study on motion generation, 5th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI’08), Nov. 20-22, Seoul, Korea, 2008 Bibtex

♦ A. Kheddar, A. Escande, Challenges in contact-support planning for acyclic motion of humanoids and androids, 39th International Symposium on Robotics, October 15–17, Coex, Korea, 2008 BibTex

♦ O. Stasse, E-S. Neo, F. Lamiraux, T. Sakaguchi, A. Kheddar, K. Yokoi, Architectures and models for humanoid robots software in collaborative working environments, 39th International Symposium on Robotics, October 15–17, Coex, Korea, 2008 BibTex

♦ A. Peer, S. Hirche, C. Weber, I. Krause, M. Buss, S. Miossec, P. Evrard, O. Stasse, E-S. Neo, A. Kheddar, K. Yokoi, Intercontinental multimodal tele-cooperation using a humanoid robot, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), September 22-26, Nice, France, 2008 BibTex

♦ A. Peer, S. Hirche, C. Weber, I. Krause, M. Buss, S. Miossec, P. Evrard, O. Stasse, E-S. Neo, A. Kheddar, K. Yokoi, Intercontinental cooperative telemanipulation between Germany and Japan, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), September 22-26, Nice, France (VIDEO Session), 2008 BibTex

♦ M. Guiatni, A. Kheddar, Theoretical and experimental study of a heat transfer model for thermal feedback in virtual environments, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), September 22-26, Nice, France, 2008 BibTex

♦ M. Arbulu, K. Yokoi, A. Kheddar, C. Balaguer, Dynamic acyclic motion from a planar contact-stance to another, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), September 22-26, Nice, France, 2008 BibTex

♦ P. Evrard, F. Keith, J-R. Chardonnet, A. Kheddar, Haptic interaction with virtual avatars, IEEE International Symposium on Robot and Human Interactive Collaboration, (RO-MAN), August 1–3, Munich, Germany, 2008 BibTex

♦ A. Escande, A. Kheddar, S. Miossec, S. Garsault, Planning support contact-points for acyclic motions and experiments on HRP-2, International Symposium on Experimental Robotics, July 14–17, Athens, Greece, 2008 BibTex

♦ J-R. Chardonnet, F. Keith, A. Kheddar, K. Yokoi, F. Pierrot, Interactive dynamic simulator for humanoids with haptic feedback, 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy), July 5–9, Tokyo, Japan, 2008 BibTex

♦ B. Bayart, J-Y. Didier, A. Kheddar, Interacting with a virtual tool on a real object, 1st Mediterranean Conference on Intelligent Systems and Automation CISA 2008 (poster), June 30- July 2, Annaba, Algeria, 2008 BibTex

♦ B. Bayart, J-Y. Didier, A. Kheddar, Force feedback virtual painting on real objects: a paradigm of augmented reality haptics, EuroHaptics (long, oral presentation), June 11-13 2008, Madrid, Spain, 2008 BibTex

♦ F. Keith, P. Evrard, J-R. Chardonnet, S. Miossec, A. Kheddar, Haptic interaction with virtual avatars, EuroHaptics (long, oral presentation), June 11-13, Madrid, Spain, 2008 BibTex

♦ M. Guiatni, A. Bénallègue, A. Kheddar, Learning-based thermal rendering in telepresence, EuroHaptics (short, poster), June 11-13, Madrid, Spain, 2008 BibTex

♦ A. Kheddar, V. Gourishankar, P. Evrard, A PHANTOM device with 6DOF force feedback display and sensing capabilities, Lecture Notes on Computer Science 5024, pp. 146-150, EuroHaptics (short, poster), June 11-13, Madrid, Spain, 2008 BibTex

♦ O. Stasse, A. Escande, N. Mansard, S. Miossec, P. Evrard, A. Kheddar, Real-time (self)-collision avoidance task on a HRP-2 humanoid robot, IEEE International Conference on Robotics and Automation (ICRA 2008), May 19-23, Pasadena, California, 2008 BibTex

♦ N. Talbi, P. Joli, Z-Q. Feng, A. Kheddar, HAPCO: real-time simulation of interaction between deformable objects with haptic feedback for solving friction multiple contacts, 3rd International Conference on Computer Graphics Theory and Applications (GRAPP), 22–25 January, Funchal, Madeira, Portugal, 2008 BibTex

2007

♦ J. Citérin, A. Kheddar, IPN-CP actuators with improved fabrication process, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 15–18, Sanya, China, 2007 BibTex

♦ A. Escande, S. Miossec, A. Kheddar, Continuous gradient proximity distances for humanoids free-collision optimized-postures generation, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 29–Dec. 1, Pittsburg, Pennsylvania, 2007 BibTex

♦ O. Stasse, D. Larlus, B. Lagarde, A. Escande, F. Saïdi, A. Kheddar, K. Yokoi, F. Jurie, Toward autonomous object reconstruction for visual search by the humanoid robot HRP-2, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov. 29 – Dec. 1, Pittsburg, Pennsylvania, 2007 BibTex

♦ C. Plesse, G. Palaprat, J. Juger, J. Citérin, F.Vidal, A. Kheddar, D. Teyssié, C. Chevrot, Conducting IPN based actuators. From IPN characterization to actuators, IV World Congress on Biomimetics, Artificial Muscles and Nano-Bio, 6 – 9 November, Cartagena, Spain, 2007 BibTex

♦ M. Guiatni, A. Drif, A. Kheddar, Thermoelectric modules: Recursive non-linear ARMA modeling, identification and robust control, The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), pp. 568–573, Nov. 5–8, Taipei, Taiwan, 2007 BibTex

♦ B. Bayart, A. Kheddar, Evaluation of an haptic step-guidance algorithm through a teaching 2D/3D path scenario, IEEE International Workshop on Haptic Audio Visual Environment and their Applications (HAVE), Ottawa, Canada, 12–14 October, 2007 BibTex

♦ B. Le Mercier, A. Kheddar, How can stochastic and periodic textures be graphically and haptically rendered, IEEE International Workshop on Haptic Audio Visual Environment and their Applications (HAVE), Ottawa, Canada, 12–14 October, 2007 BibTex

♦ P. Joli, N. Talbi, Z.Q. Feng, A. Kheddar, A contact solver for surface-based haptic rendering between two interacting deformable objects, Surgetica, September 19–21, Chambéry, France, 2007 BibTex

♦ F. Vidal, G. Palaprat, J. Juger, A. Kheddar, D. Teyssié, C. Chevrot, Ionic liquid swollen IPNs influence of the morphology on the ionic conductivity, European polymer congress, July 2–6, Portorož, Slovenia, 2007 BibTex

♦ F. Vidal, G. Palaprat, J. Juger, A. Kheddar, D. Teyssié, C. Chevrot, Polymeric ionic liquid based interpenetrating polymer network: new all solid electrolyte materials, European polymer congress, July 2–6, Portorož, Slovenia (Poster), 2007 BibTex

♦ H. Arisumi, J-R. Chardonnet, A. Kheddar, K. Yokoi, Dynamic lifting motion of humanoid robots, IEEE International Conference on Robotics and Automation (ICRA 2007), April 10–14, Roma, Italy, 2007 BibTex

♦ B. Bayart, A. Drif, A. Kheddar, J.-Y. Didier, Visuo-Haptic blending applied to a tele-touch-diagnosis application, In the proceedings of the 12th International Conference on Human-Computer Interaction (HCI'07), vol. 14, pp. 617–626, July 22–27, Beijing, China, 2007 BibTex

2006

♦ J-R. Chardonnet, S. Miossec, A. Kheddar, H. Arisumi, H. Hirukawa, F. Pierrot, K. Yokoi, Dynamic simulator for humanoids using constraint-based method with static friction, IEEE International Conferences on Robotics and Biomimetics (ROBIO), December 17–20, Kunming, China, 2006 BibTex

♦ S. Miossec, K. Yokoi, A. Kheddar, Development of a software for motion optimization of robots- Application to the kick motion of the HRP-2 robot, IEEE International Conferences on Robotics and Biomimetics (ROBIO), December 17–20, Kunming, China, 2006 BibTex

♦ M. Hatab, A. Kheddar, GJK for deformable object collision detection, IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE), Nov 4-5, Ottawa, Canada, 2006 BibTex

♦ A. Escande, A. Kheddar, S. Miossec, Planning support contact-points for humanoid robots and experiments on HRP–2, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), October 9-15, Beijing, China, 2006 BibTex

♦ R. Sellaouti, O. Stasse, S. Kajita, K. Yokoi, A. Kheddar, Faster and smoother walking of humanoid HRP-2 with passive toe-joints, IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), October 9-15, Beijin, China, 2006 BibTex

♦ K. Tourbah, H. Arioui, N. Séguy, A. Kheddar, Transparent collaborative haptic simulation, IEEE International Conference on Control Application (CCA), October 4-6, Munich, Germany, 2006 BibTex

♦ M. Hatab, A. Kheddar, Partial hierarchy construction for detecting deformable objects collisions and self-collisions, Computer Animation & Social Agents (CASA), Geneva, Switzerland, July 5-7, 2006 BibTex

♦ B. Bayart, A. Kheddar, Haptic augmented reality: haptic enhancing and enhanced haptics, EuroHaptics, Paris, July 3-6, 2006 BibTex

♦ S. Miossec, K. Yokoi, A. Kheddar, A method for trajectory optimization of robots having contacts or motion constraints, IEEE international conference on Robotics, Automation and Mechatronics, IEEE RAM, June 7–9, Bangkok, Thailand, 2006 BibTex

♦ J. Citérin, A. Pocheville, A. Kheddar, A touch rendering device in virtual environment with kinesthetic and thermal feedback, IEEE International Conference on Robotics and Automation, May 15-19, Orlando, Florida, 2006 BibTex

♦ J. Citérin, A. Kheddar, F. Vidal, C. Chevrot, D. Teyssié, Fabrication and characterization of linear-moving in air ionic polymers actuators with design and motion simulation tools, SPIE Conference on Electro-active Polymer Actuators and Devices (EAPAD), Feb. 26–March 2, San Diego, CA, 2006 BibTex

♦ J. Citérin, A. Kheddar, A MRI-compatible tactile display device based on IPN-CP pastille-shaped actuators, SPIE Conference on Electro-active Polymer Actuators and Devices (EAPAD), Feb. 26–March 2, San Diego, CA, 2006 BibTex

2005

♦ J. Neimer, H. Mohellebi, S. Espié, A. Kheddar, Optimization of linear motion base dedicated to normal driving conditions, Driving Simulator Conference, Nov. 30-Dec 2, Orlando, Florida, 2005 BibTex

♦ A. Kheddar, O. Stasse, N. Ee Sian, K. Yokoi, A visio-haptic percept using guarded motion and augmented reality occlusion checking for humanoid self-body extraction and primary touch function, 36th International Symposium on Robotics (ISR 2005), Nov. 29-Dec. 1, Tokyo, Japan, 2005 BibTex

♦ B. Bayart, A. Pocheville, A. Kheddar, An adaptive haptic guidance plug-in for I-TOUCH : example through handwriting teaching simulation and 3D maze, IEEE International workshop on Haptic Audio Visual Environments and their Applications, October 1-2, Ontario, Canada, 2005 BibTex

♦ A. Drif, J. Citérin, A. Kheddar, Thermal bilateral coupling in teleoperators, IEEE/RSJ International Conference on Intelligent Robotics and Systems, August 2-6, Alberta, Canada, 2005 BibTex

♦ A. Drif, A. Amouri, N. Séguy, A. Kheddar, The µ-Haptic: an inclusive haptic interface, IEEE International Conference on Mechatronics and Automation, July 29–August 1, Ontario, Canada, 2005 BibTex

♦ M. Guiatni, A. Kheddar, H. Mellouah, Sliding mode bilateral control and four channels scheme control comparison of a force reflecting master/slave teleoperator, IEEE International Conference on Mechatronics and Automation, July 29–August 1, Ontario, Canada, 2005 BibTex

♦ E. Yoshida, Y. Guan, N. Ee Sian, V. Hugel, P. Blazevic, A. Kheddar, K. Yokoi, Motion planning for whole body tasks by humanoid robots, IEEE International Conference on Mechatronics and Automation, July 29–August 1, Ontario, Canada, 2005 BibTex

♦ B. Le Mercier, A. Kheddar, An efficient and simple way of integrating texture in virtual scenes for haptic rendering, 12th International Conference on Advanced Robotics (ICAR), Seattle, Washington, USA, July 18–20, 2005 BibTex

♦ B. Le Mercier, A. Kheddar, Texture computer haptics from graphic texture mapping, 17th IMACS World Congress in Scientific Computation, Applied Mathematics and Simulation, Paris, France, July 11–15, 2005 BibTex

♦ J. Citérin, G. Turbelin, A. Kheddar, F. Vidal, C. Chevrot, New design methods and simulation of linear actuators using ionic polymers, IEEE International Conference on Robotics and Biomimetics ROBIO, June 29–July 03, Honk Kong, China, 2005 BibTex

♦ Y. Guan, K. Yokoi, O. Stasse, A. Kheddar, On robot trajectory planning using polynomial interpolation, IEEE International Conference on Robotics and Biomimetics ROBIO, June 29–July 03 , Honk Kong, China, 2005 BibTex

2004

♦ H. Mohellebi, S. Espié, H. Arioui, A. Amouri, A. Kheddar, Low cost motion platform for driving simulator, The 5th International Conference on Machine Automation, ICMA’04, November 24–26, Osaka, Japan, 2004 BibTex

♦ A. Pocheville, A. Kheddar, K. Yokoi, I-TOUCH: A generic multimodal framework for industry virtual prototyping, IEEE Technical Exhibition Based Conference on Robotics and Automation, TExCRA’04, Treasure hunting in technologies, Nov. 18–19, Tokyo, Japan, 2004 BibTex

♦ J. Citérin, A. Kheddar, M. Hafez, F. Vidal, C. Plesse, D. Teyssié, C. Chevrot, Characterization of a new interpenetrated network conductive polymer (IPN-CP) as a potential actuator that works in air conditions, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2, Sendai, Japan, 2004 BibTex

♦ A. Drif, J. Citérin, A. Kheddar, A multilevel haptic display design, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2, Sendai, Japan, 2004 BibTex

♦ A. Kheddar, C. Devine, M. Brunnel, C. Duriez, O. Sibony, Preliminary design of a childbirth simulator with haptic feedback, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2, Sendai, Japan, 2004 BibTex

♦ C. Duriez, C. Andriot, A. Kheddar, Signorini’s contact model for haptic simulations, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2, Sendai, Japan, 2004 BibTex

♦ M. Benali-Khoudja, A-L. Beny, M. Hafez, A. Kheddar, VT Vector Touch: A new slip/strech tactile display, IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 28–Oct. 2 2004, Sendai, Japan BibTex

♦ J. Citérin, A. Kheddar, Characterization of a new interpenetrated network conductive polymer (IPN-CP) and new designs for a potential linear actuator that works in air, International Conference on Intelligent Mechatronics and Automation, August 26–31 2004, Chengdu, Chine BibTex

♦ Y. Guan, K. Yokoi, A. Kheddar, K. Tanie, Object stepping-on/down feasibility of humanoid robots, IEEE International Conference on Robotics and Biomimetics, August 22–25, Shenyang, China, 2004 BibTex

♦ A. Kheddar, A. Drif, J. Citérin, B. Le Mercier, A multi-level haptic rendering concept, EuroHaptics, June 5–7, Munich, Germany (long papers category only 7/115 accepted, 8pages, long oral presentation), 2004 BibTex

♦ J-P. Bresciani, M. Ersnt, K. Drewing, G. Bouyer, V. Maury, A. Kheddar, Auditory modulation of tactile taps perception, EuroHaptics, June 5–7, Munich, Germany (regular paper, 6pages), 2004 BibTex

♦ A. Kheddar, C. Devine, M. Brunnel, O. Sibony, Interactive childbirth simulator with haptic feedback: preliminary design, EuroHaptics, June 5–7, Munich, Germany (Poster paper category 4pages), 2004 BibTex

♦ M. Benali-Khoudja, M. Hafez, J-M. Alexandre, A. Kheddar, V. Moreau, VITAL: A new low-cost vibro-tactile display system, IEEE International Conference in Robotics and Automation, ICRA’04, pp. 721–726, April 26 – May 1, New Orleans, LA, USA, 2004 BibTex

♦ C. Duriez, C. Andriot, A. Kheddar, A multi-thread approach for deformable/rigid contacts with haptic feedback, 12th Symposium on haptic Interfaces for virtual environment and teleoperator systems, HAPTICS’04, March 27-28, Chicago, IL, USA, 2004 BibTex

♦ M. Benali-Khoudja, M. Hafez, J-M. Alexandre, A. Kheddar, Tactile interfaces. A state-of-the-art survey, 35th International Symposium on Robotics, ISR’04, March 23-26, Paris Nord, France, 2004 BibTex

2003

♦ M. Benali-Khoudja, M. Hafez, J-M. Alexandre, A. Kheddar, Electromagnetically driven high-density tactile interface based on a multi-layer approach, IEEE International Symposium on Micromechatronics and Human Science, Oct. 19–22, Nagoya, Japan Best paper award, 2003 BibTex

♦ M. Benali-Khoudja, M. Hafez, J-M. Alexandre, J. Benachour, A. Kheddar, Thermal feedback model for virtual reality, IEEE International Symposium on Micromechatronics and Human Science, Oct. 19–22, Nagoya, Japan, 2003 BibTex

♦ S. Espié, H. Mohellebi, A. Kheddar, A high performance / low-cost mini driving simulator alternative for human factor studies, Driving Simulator Conference NA, Oct. 8–10, Dearborn, MI, 2003 BibTex

♦ C. Duriez, C. Andriot, A. Kheddar, Interactive haptics for virtual prototyping of deformable objects: snap-in tasks case, Eurohaptics, July 5-9, Dublin, Ireland, 2003 BibTex

♦ M. Benali-Khoudja, M. Hafez, J-M. Alexandre, A. Kheddar, Thermal feedback interface requirements for virtual reality, Eurohaptics, July 5–9, Dublin, Ireland (short catergory 4p), 2003 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, A passive wave-based approach under time varying delay, International Conference on Control and Application, June 10–12, Canada, 2003 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, A robustness analysis of master-model based controller for stabilizing delayed haptic interaction: an LMI approach, 11th IEEE International Conference on Advanced Robotics, pp. 1449–1455, June 30–July 3, Coimbra, Portugal, 2003 BibTex

2002

♦ H. Arioui, M. Mana, A. Kheddar, S. Mammar, Master-model based time-delayed force feedback interaction: experimental results, 17th IEEE International Symposium on Intelligent Control, October 27–30, Vancouver, Canada, 2002 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, A Predictive wave-based approach for time delayed virtual environment haptics systems, 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 552-556, September 25–27, Berlin, Germany, 2002 BibTex

♦ S. Redon, A. Kheddar, S. Coquillart, Hierarchical back-face culling for collision detection, IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robotics and Systems, Sept. 30–Oct. 4, Lausanne, Suisse, 2002 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, Stable shared virtual environment haptic interaction under time–varying delay, 8th IEEE International Conference on Methods and Models in Automation and Robotics, September 2–5, Szczecin, Pologne, 2002 BibTex

♦ H. Arioui, A. Kheddar, S. Mammar, A master–model based stable time delayed force feedback systems, 10th IEEE Mediterranean Conference on Control and Automation, July 9–12, Lisbonne, Portugal, 2002 BibTex

♦ S. Redon, A. Kheddar, S. Coquillart, Gauss' least constraints principle and rigid body simulations, IEEE International Conference on Robotics and Automation, May 11–15, Washington DC, USA, 2002 BibTex

♦ Jan van der Burg, A. Kheddar, P. Blazevic, Integration of a terrain–adaptive traction control system in the hierarchy of locomotion control system, IASTED International Conference on Control and Applications, May 20–22, Cancun, Mexico, 2002 BibTex

2001

♦ A. Lécuyer, A. Kheddar, S. Coquillart, L. Graux, Ph. Coiffet, A haptic prototype for the simulations of aeronautics mounting / un-mounting operations, IEEE Int. Workshop on Robot and Human Interactive Communication, September 18–21, Bordeaux – Paris, France, 2001 BibTex

♦ S. Redon, A. Kheddar, S. Coquillart, CONTACT: Arbitrary in-between motions for collision detection, IEEE Int. Workshop on Robot and Human Interactive Communication, September 18–21, Bordeaux – Paris, France, 2001 BibTex

♦ H. Mohellebi, S. Espié, A. Kheddar, Haptic feedback models for driving simulator– Vibrating seat and haptic feedback steering wheel, IEEE Int. Workshop on Robot and Human Interactive Communication, September 18 – 21, Bordeaux – Paris, France, 2001 BibTex

2000

♦ A. Lécuyer, S. Coquillart, A. Kheddar, P. Richard, Ph. Coiffet, Pseudo-haptic feedback: can isometric input devices simulate force feedback?, IEEE Int. Conf. on Virtual Reality, VR2000, pp. 83–90, March 18–22, New Jersey, USA, 2000 BibTex

♦ S. Redon, A. Kheddar, S. Coquillart, An algebraic solution to the problem of collision detection for rigid polyhedral objects, IEEE Int. Conf. on Robotics and Automation, ICRA2000, Stanford, CA, USA, 2000 BibTex

♦ S. Otmane, M. Mallem, A. Kheddar, F. Chavand, Active virtual guides as an apparatus for augmented reality based telemanipulation system on the Internet, SCS Annual Simulation Symposium, ANSS’2000, pp. 185–191, April 16–20, Washigton DC, USA, 2000 BibTex

♦ S. Otmane, M. Mallem, A. Kheddar, F. Chavand, ARITI: an augmented reality interface for teleoperation on the Internet, SCS High Performance Computing 2000, HPC’2000, pp. 254–261, Ed. Adrian Tentner, ISBN : 1-56555-197-4, April 16–20, Washigton DC, USA, 2000 BibTex

1999

♦ P. Richard, A. Kheddar, R. England, Ph. Coiffet, Human performance evaluation of two handle haptic devices in a dextrous virtual telemanipulation task, IEEE/RSJ International Conference on Intelligent Robotics and Systems, IROS' 99, October 17–21, Taejon, Korea, 1999 BibTex

♦ P. Richard, R. England, A. Kheddar, Ph. Coiffet, Effect of tactual feedback on performance in manipulation tasks, International Scientific Workshop "Virtual Reality and Prototyping", pp. 127–136, 3–4 Juin, Laval, France. ISBN 2-9513952-0-5, 1999 BibTex

1998

♦ A. Kheddar, Telegrasping from operator virtual hands grasp– A gripper-anthropomorphy independant mapping procedure, IEEE Int. conf. on Intelligent Engineering Systems, INES'98, pp. 105-110, Sept. 17–19, Vienna, Austria, 1998 BibTex

♦ C. Tzafestas, A. Kheddar, Ph. Coiffet, Kinesthetic feedback on the human hand for haptic interaction with virtual environnements: design and control issues, 3rd European conference on robotics, intelligent systems and control, EURISCON'98, Athens, Greece, June 22–25, 1998 BibTex

♦ A. Kheddar, K. Tanie, Ph. Coiffet, Detection of discrepancies and sensory-based recovery for virtual reality based telemanipulation systems, IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 2877-2883, May 16-21, Leuven, Belgium, 1998 BibTex

♦ A. Kheddar, C. Tzafestas, P. Blazevic, Ph. Coiffet, Fitting teleoperation and virtual reality technologies towards teleworking, The 4th French-Israeli symposium on robotics, FIR'98, pp. 147–152, Besançon, France, May 13–15, 1998 BibTex

♦ A. Kheddar, J.G. Fontaine, Ph. Coiffet, Mobile robot teleoperation in virtual reality, IEEE/IMACS Multiconference, Computational Engineering in Systems Applications CESA’98, Vol. L, pp 104–109, Nabeul-Hammamet, Tunisia, April 1-4, 1998 BibTex

♦ J. van der Burg, A. Kheddar, P. Blazevic, Terrain-adaptive traction control system for intelligent all-terrain vehicles, IFAC Symp. On Intelligent Autonomous Vehicles, Madrid, Espagne, March 25–27, 1998 BibTex

1997

♦ A. Kheddar, Ph. Coiffet et T. Kotoku, K. Tanie, Multi-robots teleoperation– analysis and prognosis, 6th IEEE Int. Workshop on Robot and Human Communication, pp. 166–171, Sept. 29–Oct. 1, 1997 Sendai, Japan, 1997 BibTex

♦ A. Kheddar, C. Tzafestas, Ph. Coiffet, The hidden robot concept– high level abstraction teleoperation, IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Vol. 3, pp. 1818–1824, Sept. 7–11, Grenoble, France, 1997 BibTex

♦ A. Kheddar, C. Tzafestas, Ph. Coiffet et T. Kotoku, S. Kawabata, K. Iwamoto, K. Tanie et I. Mazon, C. Laugier et R. Chellali, Parallel muti-robots long distance teleoperation, IEEE Int. Conf. on Advanced Robotics, pp. 1007-1012, Juil. 7–9, Monterey CA, USA, 1997 BibTex

1996

♦ A. Kheddar, D. Atlani, A. Iles, P. Blazevic, New trends in teleoperating legged robots, 5th IEEE Int. Workshop on Robot and Human Communication, pp. 232–237, Nov. 11–14, Tsukuba, Japon, 1996 BibTex

1995

♦ A. Kheddar, R. Chellali, Ph. Coiffet, Implementation and evaluation of head behaviour based control navigatin in VR based applications, IEEE Int. Conf. on Systems, Man and Cybernetics, Vol. 5, pp. 4644–4649, Oct. 22–25, 1995, Vancouver, British Columbia, Canada, 1995 BibTex

♦ A. Kheddar, Ph. Coiffet, Navigation in virtual environments: head behavior based control. Applications to VR based robotics, IEEE Int. Workshop on Robot and Human Communication, Tokyo-Japon, 1995 BibTex

♦ A. Kheddar, M. Bouzit, Ph. Coiffet, A virtual reality system devoted to telerobotics and applications in telesurgery, 3rd French-Israeli Symposium on Robotics, Herzeliah, May, 1995 BibTex

♦ A. Kheddar, N. Cislo, D. Talaba, J.G. Fontaine, Several mechanical architecture for telepresence with semi-legged Mobile Robots, 9th World Congress on Theory of Machinesand Mechanisms IFToMM, Milan, 1995 BibTex

♦ J.G. Fontaine, N. Cislo, A. Kheddar, Tools for telepresene with semi-legged robots, Forum on Cooperation European Community Latin America, Madrid ECLA', 1995 BibTex

♦ N. Cislo, A. Kheddar, J.G. Fontaine, Ph. Coiffet, Towards new direction for telepresence with semi-legged Robots, 26th Int. Symp. on Industrial Robotics, 4–6 Oct., Singapore, 1995 BibTex

♦ J.G. Fontaine, N. Cislo, A. Kheddar, Fuzzy tools for telepresence with a mobile robot, IFAC on Human-Oriented Design of Advanced Robotics Systems, DARS’95, Vol II, Sept. 19-20, Austria, 1995 BibTex

Collaborators

Post-Doc

Current

  Jose Guadalupe Romero Velazquez (with Andrea Cherubini and André Crosnier), Humanoid whole-body state observer of contacts. Grant: ROMEO 2 (since 1/11/2014)
  Alfonso Montellano Lopez (with Philippe Fraisse), Humanoid helper for human standing/sitting tasks. Grant: ROMEO 2 (since 1/4/2014)
  Karim Bouyarmane, Walking on deformable or moving terrains. Grant: KoroiBot (since 1/5/2014)
  Giovanni De Magistris (with Sylvain Miossec and Adrien Escande), Sole design optimization for humanoid robot smooth walking. Grant: KoroiBot (since 1/3/2014)
  Laura Aymerich-Franch (with Mel Slater), Understanding human cooperation with humanoid robots: analysis from a social psychological perspective. Grant: Marie-Curie International Outgoing Fellowships for Career Development (IOF) (since 1/6/2014)

Alumni

  Patrick Wensing, Balance control on deformable terrains using reduced models. Grant: KoroiBot (sept-oct. 2014), becoming: Postdoc at MIT.
  Sébastien Lengagne (with Eiichi Yoshida), Wholebody multi-contact planning using non-linear optimization. Grant: JSPS (1/11/2009 to 30/9/2011). Becoming: (1/10/2011 to 31/08/2012) Post-doc at Karlsruher Institut für Technologie (KIT) (D), (1/9/2012 to 31/08/2013) Postdoc at LIRMM, Since 1/9/2013 – now: Assistant Professor at University Blaise Pacal, Clérmont Ferrand, France.
  Anthony David (with Kazuhito Yokoi), Study of flexible soles using FEM. Grant: JSPS (28/11/2007 to 27/11/2009), Postdoc at IIT Genoa, Italy (2010 – 2011), SME Artisant.
  Nicolas Mansard (with Oussama Khatib 1/2/2007 to 30/9/2007) and (with Kazuhito Yokoi 1/10/2007 to 30/9/2008), Enhancement of the Stack of Task control formalism with dynamics. Grant: Robot@CWE (first period), JSPS Short (second period). Becoming: Senior Researcher at CNRS-LAAS.
  Samer Mohammed (with Kazuhito Yokoi), Task space control blending. Grant: JSPS (11/2006 to 31/08/2007). Becoming: Assistant Professor at University Paris 12.
  Sylvain Miossec (with Kazuhito Yokoi), Humanoid motion generation using non-linear optimization techniques. Grant: JSPS du 11/2004 to 11/2006 and Robot@CWE: 1/2007 to 8/2008; since September 2008, Assistant Professor at University of Bourges.
  Ramzi Sellaouti (with Kazuhito Yokoi and Olivier Stasse), Walking with a toe joint. Grant: JSPS (04/2005 to 04/2006). Becoming: Research engineer at BIA Turnkey test systems France.

PhD

Current

  Arnaud Tanguy (with Andrew Comport) on Semantic SLAM for the control and planning of humanoids in multi-contact motions. Grant: RoboHow.Cog    
  Adrien Pajon (with Kenji Kaneko and Sylvain Miossec) on Mechatronic design of actively flexible humanoid feet and hands/grippers. Grant: Normalian.
  Vincent Samy on Whole-body haptic covers and safe falls for humanoids. Grant: Project ROMEO-2.
  Hervé Audren (with Fumio Kanehiro) on Multi-contact direct and interactive manipulation of humanoid robots, Grant: EU Project: RoboHow.Cog.
  Tu-Hoa Pham, Force sensing from vision and contact-based tasks segmentation. Grant: BDI CNRS
  Joven Agravante (with Andrea Cherubini) on Visuo-haptic feedback in human-humanoid physical interaction. Grant: EU project RoboHow.Cog
  Stanislas Brossette (with Adrien Escande) on Posture generators for humanoid robots. Grant: Normalien
  Benjamin Chrétien (with Adrien Escande) on GPGPU based whole-body multi-contact motion planning. Grant: EU project RoboHow.Cog
  Damien Petit (with Andrea Cherubini) on Humanoid control through BCI. Grant: EU project VERE

Alumni

  Joris Vaillant, Programming humanoid robots for locomotion and manipulation with experiments, thesis defended on 28 May 2015.
  Pierre Gergondet, Humanoid robot's control through brain computer, thesis defended on 19 December 2014. Becoming: 1/9/2014 - now: CNRS Research Engineer at JRL.
  Antoine Bussy (with André Crosnier), Cognitive approach for representing the haptic physical human-humanoid interaction, thesis defended on 10 October 2013. Becoming: Since 2014 Software engineer at TechViz
  Mehdi Bénallègue (with Pierre-Brice Wieber and Bernard Espiau), Mirror controller: a bio-inspired computational approach for human walking motion imitation by a humanoid robot, thesis defended on 15 December 2011. Becoming: until Feb. 2012 PostDoc at Inria; since 1/3/2012 PostDoc at LPPA, Collège de France; since 1/6/2013 postdoc at LAAS 
  Karim Bouyarmane, Unified contact planning for locomotion and manipulation, PhD defended on 22 Novembre 2011.
Becoming: 1/1 au 30/4/2012 CNRS Postdoc at JRL, 1/5/2012 – 30/4/2014 JSPS Postdoc JSPS at ATR, Since 1/5/2014 Postdoc at LIRMM grant from the EU KoroiBot project
  François Keith (with Nicolas Mansard), Optimization of motion overlapping for task sequencing, thesis defended on 10 December 2010. Becoming: January-September 2011 postdoc at Inria, October 2012 - September 2014 CNRS research engineer at LIRMM-JRL, since 1/10/2014 Researcher at CEA-LIST
  Toréa Foissotte (with Olivier Stasse), Visual modeling of an unknown object by an autonomous humanoid robot, thesis defended on 3 December 2010. Becoming: from Nov 2010 - April 2011 research associate at IS-AIST, then Software engineer in a SME at Haiti
  Paul Evrard, Control of humanoid robots to realize haptic tasks in collaboration with a human operator, thesis defended on 7 December 2009. Becoming: Since January 2010 Researcher at CEA-LIST
  Jean-Rémy Chardonnet (with François Pierrot) Real-time dynamic computation with contacts and friction for the animation of poly-articulated figures: application to humanoid robotics and virtual avatars, thesis defended on 23 June 2009. Becoming: Postdoc at Inria with contractual Assistant Professor position (1/2 ATER) in 2010. Since September 2011: Assistant Professor at ENSAM Cluny
  Mohamed Guiatni, Design and control of a haptic device for minimally invasive surgery simulation, thesis defended on 22 June 2009 (TH). Becoming: Associate professor at Polytechnic Military School, Algiers; Colonel in the Algerian Defense Forces.
  Adrien EscandeContact points planning for acyclic motions generation: application to humanoid robots, thesis defended on 12 December 2008. Becoming: January 2009 - August 2011 Researcher at CEA-LIST, September 2011 - August 2012, CNRS secondment position at JRL, Since September 2012 JSPS postdoc at JRL.
  Benjamin Bayart (with Jean-Yves Didier), Haptic augmented reality: theory and applications, thesis defended on 7 December 2007. Becoming: from septembre 2007 Contractual Assistant Professor (ATER) at ENSIIE (ranked first in tenure track context as Ass. Prof. position), since July 2007, Senior software engineer at TechViz
  Lamri Nehaoua (with Hichem Arioui and Stéphane Espié), Design of a simulation platform for two-wheeled motocycles, thesis defended on 10 December 2008. Becoming: postdoc at UVHC (2009) then at IBISC/INRETS (2010-2012); since septembre 2012, Assistant professor at the University of Evry-Val d'Essonne.
  Johann Citérin, Contribution to the technology of tactile rendering actuation technologies, thesis defended on 11 December 2007. Becoming: (2008-2009) PostDoc at the University of Illinois at Chigago, now Researcher at CRCF Canon
  Maher Hatab, Towards a unified collision detection approach for objects of various types, thesis defended on 15 December 2006. Becoming: Devenir : Post-doc at the University of Evry, (2007-2008) R&D engineer at "Earth Decision Sciences", currently software development consultant at Blue Cube Consultants, New Zealand
  Abdelhamid Drif, Multi-stage (level) rendering haptic device for virtual reality applications, thesis defended on 28 June 2007. Becoming: SCADA EMS Teamleader ALSTOM Grid (Bahrein)
  Hakim Mohellebi (with Stéphane Espié), Design of minimum clearance car driving simulator for driving behavioral studies: integration and haptic metaphors, thesis defended on 10 November 2005. Becoming: Research engineering at RENAULT Technocenter Guyancourt.
  Mohamed Benali-Khoudja (with Moustapha Hafez) VITAL: a new communication tactile display, thesis defended on 17 December 2004. Becoming: Schneider Electric (up to 2006), now DG of Siemens North Africa (maghreb) region.
  Christian Duriez (with Claude Andriot), Frictional contact between deformable objects in computer haptic simulations, thesis defended on 20 December 2004. Becoming: Senior researcher at Inria.
  Hichem Arioui (with Saïd Mammar) Control of force reflecting haptic devices in the presence of time delay, thesis defended on 6 December 2002. Becoming: Assistant professor (with Habilitation) at the University of Evry Val-d'Essonne.
  Stéphane Redon (with Sabine Coquillart) Algorithms for interactive dynamics simulation of rigid bodies, thesis defended on 10 October 2002. Becoming: Senior researcher at Inria.
  Anatole Lécuyer (with Philippe Coiffet and Sabine CoquillartContribution to the study of haptic and pseudo-haptic feedbacks and their impact on simulations of assembly and maintenance operations in aeronautics, thesis defended on 5 December 2001. Becoming: Senior researcher at Inria.

Tags

Humanoids, Haptics

Last update on 07/03/2017