IDH: Interactive Digital Humans

The IDH team (Interactive Digital Humans) was created in 2010. IDH research activities mainly focus on humanoid robotics, and on robotic materialization or virtual digitization of humans. IDH focuses on tasks requiring human-robot interactions involving cognitive or sensory process control. Another area of interest is the interpretation of human physiological data (EMG, EEG, BCI, etc.), motion and haptic perception. IDH also pay particular attention to multi-contact planning using physical contact with the environment, and to visio-haptic control for advanced interaction. In sum, the research activities of the IDH team cover the three following topics: co-manipulation and human-robot collaboration; human-robot control and collaboration through physiologic signals; and multi-contact planning and control.

Members

Staff

Associates & Students

Regular Co-workers

  • Pierre Gergondet

Research axes

The research activities of the IDH team belong to the three following topics:

  • the co-manipulation and human-robot collaboration
  • the human-robot control and collaboration through physiologic signals
  • the multi-contact planning and control.

Significant events

  • Brain control of humanoids by classifying the cerebral activities through functional IRM or EEG
  • IEEE Spectrum published an article on the work on active control by a human arm in FES for collaborative tasks.
  • « Best Paper Awards finalist » : IEEE/RAS IROS 2009, IEEE/RAS Humanoids 2010 et IEEE/RSJ IROS 2012.

External collaborations

  • CNRS-AIST Joint Robotics Laboratory (JRL), UMI 3218/CRT, Tsukuba, Japan. Frequent transfert of students between IDH and the JRL, use of the humanoid robot HRP-2.
  • University of Mié (Japon), Pr. Yano from the mecatronic department.
  • University of Dayton (USA), Pr. A. Murray, co-advisor of the phd thesis of S. Cotton (2010).
  • University of Rome "Foro Italico" (Italy), Pr. Cappozzo, transfert of students on the analysis of human motion and humanoid robotics.

Main publications

  • 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”, online first, April 2013. [HAL]
  • V. Bonnet, C. Mazza, P. Fraisse, and A Cappozzo
    A least-squares identification algorithm for estimating squat exercise mechanics using a single inertial measurement unit.
    Journal of Biomechanics, 45(8):1472-1477, 2012. [HAL]
  • S. Lengagne, N. Ramdani, and Ph. Fraisse
    Planning and Fast Replanning Safe Motions for Humanoid Robot.
    IEEE Transactions on Robotics, Vol. 27, No 6, pp. 1095-1106, Décembre 2011. [HAL]
  • A. Escande and A. Kheddar
    Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid
    In Motion Planning for Humanoid Robots, K. Harada, E. Yoshida and K. Yokoi Eds, ISBN 978-1-84996-219-3, pp. 161-179, 2010. [HAL]
  • S. Cotton, A. P. Murray, and P. Fraisse
    Estimation of the Center of Mass: From Humanoid Robots to Human Beings
    IEEE/ASME Transactions on Mechatronics, 14(6), pp. 707-712, Décembre 2009. [HAL]

See all the publications of the IDH team

Publications 2014 - 2019: Evaluation period

International Journals

2021

  1. Soft robotic shell with active thermal display
    Yukiko Osawa, Yuho Kinbara, Masakazu Kageoka, Kenji Iida, Abderrahmane Kheddar
    Scientific Reports, Nature Publishing Group, 2021.
  2. Adaptive Task-Space Force Control for Humanoid-to-Human Assistance
    Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2021, 6 (3), pp.5705-5712.
  3. Recurrence quantification analysis of force signals to assess neuromuscular fatigue in men and women
    Cyril Chatain, Sofiane Ramdani, Jean-Marc Vallier, Mathieu Gruet
    Biomedical Signal Processing and Control, Elsevier, 2021, 68, pp.#102593.
  4. Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours
    Jihong Zhu, David Navarro-Alarcon, Robin Passama, Andrea Cherubini
    Robotics and Autonomous Systems, Elsevier, In press. <10.1016/j.robot.2021.103798>
  5. Inertial Parameter Identification in Robotics: A Survey
    Quentin Leboutet, Julien Roux, Alexandre Janot, Julio Rogelio, Gordon Cheng
    Applied Sciences, MDPI, 2021, 11 (9), pp.4303.
  6. Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
    Saeid Samadi, Julien Roux, Arnaud Tanguy, Stéphane Caron, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2021, 6 (2), pp.4032-4039.
  7. Electrophysiological Mapping During Brain Tumor Surgery: Recording Cortical Potentials Evoked Locally, Subcortically and Remotely by Electrical Stimulation to Assess the Brain Connectivity On-line
    Anthony Boyer, Sofiane Ramdani, Hugues Duffau, Mélissa Dali, Marion Vincent, Emmanuel Mandonnet, David Guiraud, François Bonnetblanc
    Brain Topography: a Journal of Cerebral Function and Dynamics, Springer Verlag, 2021, 34, pp.221-233.
  8. Radius selection using kernel density estimation for the computation of nonlinear measures
    Johan Medrano, Abderrahmane Kheddar, Annick Lesne, Sofiane Ramdani
    Chaos: An Interdisciplinary Journal of Nonlinear Science, American Institute of Physics, 2021, 31 (8), pp.083131.
  9. Parametric recurrence quantification analysis of autoregressive processes for pattern recognition in multichannel electroencephalographic data
    Sofiane Ramdani, Anthony Boyer, Stéphane Caron, François Bonnetblanc, Frederic Bouchara, Hugues Duffau, Annick Lesne
    Pattern Recognition, Elsevier, 2021, 109, pp.#107572.

2020

  1. Individuals Prioritize the Reach Straightness and Hand Jerk of a Shared Avatar over Their Own
    Takayoshi Hagiwara, Gowrishankar Ganesh, Maki Sugimoto, Masahiko Inami, Michiteru Kitazaki
    iScience, Elsevier, 2020, 23 (12), pp.101732.
  2. A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control
    David Navarro-Alarcon, Jiaming Qi, Jihong Zhu, Andrea Cherubini
    Frontiers in Neurorobotics, Frontiers, 2020, 14, pp.#59.
  3. Flexible weighting of body-related effects in action production
    Guillaume Thébault, Roland Pfister, Arthur-Henri Michalland, Denis Brouillet
    Quarterly Journal of Experimental Psychology, Taylor & Francis (Routledge), 2020, 73 (9), pp.1360-1367.
  4. Motion Primitives Representation, Extraction and Connection for Automated Vehicle Motion Planning Applications
    Boyang Wang, Jianwei Gong, Huiyan Chen
    IEEE Transactions on Intelligent Transportation Systems, IEEE, 2020, 21 (9), pp.3931-3945.
  5. Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control
    Mohamed Djeha, Arnaud Tanguy, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2020, 5 (4), pp.8.
  6. A Deep Learning Framework for Tactile Recognition of Known as well as Novel Objects
    Zineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea Cherubini
    IEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2020, 16 (1), pp.423-432.
  7. Attenuation and delay of remote potentials evoked by direct electrical stimulation during brain surgery
    Anthony Boyer, Hugues Duffau, Emmanuel Mandonnet, Marion Vincent, Sofiane Ramdani, David Guiraud, François Bonnetblanc
    Brain Topography: a Journal of Cerebral Function and Dynamics, Springer Verlag, 2020, 33 (1), pp.143-148.
  8. Effects of nonstationarity on muscle force signals regularity during a fatiguing motor task
    Cyril Chatain, Mathieu Gruet, Jean-Marc Vallier, Sofiane Ramdani
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2020, 28 (1), pp.228-237.
  9. Robotic manipulation planning for shaping deformable linear objects with environmental contacts
    Jihong Zhu, Benjamin Navarro, Robin Passama, Philippe Fraisse, André Crosnier, Andrea Cherubini
    IEEE Robotics and Automation Letters, IEEE 2020, 5 (1), pp.16-23.
  10. Multi-Contact Planning on Humans for Physical Assistance by Humanoid
    Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2020, 5 (1), pp.135-142.

2019

  1. A Collaborative Robot for the Factory of the Future: BAZAR
    Andrea Cherubini, Robin Passama, Benjamin Navarro, Mohamed Sorour, Abdellah Khelloufi, Osama Mazhar, Sonny Tarbouriech, Jihong Zhu, Olivier Tempier, André Crosnier, Philippe Fraisse, Sofiane Ramdani
    International Journal of Advanced Manufacturing Technology, Springer Verlag, 2019, 105 (9), pp.3643-3659.
  2. A Real-time Human-Robot Interaction Framework with Robust Background Invariant Hand Gesture Detection
    Osama Mazhar, Benjamin Navarro, Sofiane Ramdani, Robin Passama, Andrea Cherubini
    Robotics and Computer-Integrated Manufacturing, Elsevier, 2019, 60, pp.34-48.
  3. Activity in the dorsal ACC causes deterioration of sequential motor performance due to anxiety
    Gowrishankar Ganesh, Takehiro Minamoto, Masahiko Haruno
    Nature Communications, Nature Publishing Group, 2019, 10, pp.4287.
  4. Humanoid robots in aircraft manufacturing
    Abderrahmane Kheddar, Stéphane Caron, Pierre Gergondet, Andrew Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger, Máximo Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabate
    IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2019, 26 (4), pp.30-45.
  5. Assisted Grasping in Individuals with Tetraplegia: Improving Control through Residual Muscle Contraction and Movement
    Lucas Fonseca, Wafa Tigra, Benjamin Navarro, David Guiraud, Charles Fattal, Antonio Bo, Emerson Fachin-Martins, Violaine Leynaert, Anthony Gélis, Christine Azevedo Coste
    Sensors, MDPI, 2019, 19 (20), pp.#4532.
  6. Complementary-route based ICR control for steerable wheeled mobile robots
    Mohamed Sorour, Andrea Cherubini, Abdellah Khelloufi, Robin Passama, Philippe Fraisse
    Robotics and Autonomous Systems, Elsevier, 2019, 118, pp.131-143.
  7. Grasping a chestnut burr: Manual laterality in action’s coding strategies
    Arthur-Henri Michalland, Guillaume Thébault, Johan Briglia, Philippe Fraisse, Denis Brouillet
    Experimental Psychology, Hogrefe, 2019, 66 (4), pp.310-317.
  8. Vision-based navigation of omnidirectional mobile robots
    Marco Ferro, Antonio Paolillo, Andrea Cherubini, Marilena Vendittelli
    IEEE Robotics and Automation Letters, IEEE 2019, 4 (3), pp.2691-2698.
  9. Capturability-based Pattern Generation for Walking with Variable Height
    Stéphane Caron, Adrien Escande, Leonardo Lanari, Bastien Mallein
    IEEE Transactions on Robotics, IEEE, In press. <10.1109/TRO.2019.2923971>
  10. The where of handovers by humans: Effect of partner characteristics, distance and visual feedback
    Saki Kato, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida, Gowrishankar Ganesh
    PLoS ONE, Public Library of Science, 2019, 14 (6), pp.e0217129.
  11. Optimal exciting motion for fast robot identification. Application to contact painting tasks with estimated external forces
    Takuma Katsumata, Benjamin Navarro, Vincent Bonnet, Philippe Fraisse, André Crosnier, Gentiane Venture
    Robotics and Autonomous Systems, Elsevier, 2019, 113, pp.149-159.
  12. Quadratic Programming for Multirobot and Task-Space Force Control
    Karim Bouyarmane, Kevin Chappellet, Joris Vaillant, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.64-77.
  13. Sensor-based Navigation of Omnidirectional Wheeled Robots Dealing with both Collisions and Occlusions
    Abdellah Khelloufi, Nouara Achour, Robin Passama, Andrea Cherubini
    Robotica, Cambridge University Press, In press. <10.1017/S0263574719000900>
  14. Human-Humanoid Collaborative Carrying
    Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, In press, 35 (4), pp.833-846.

2018

  1. Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric Identification
    Shohei Hagane, Liz Katherine Rincon Ardila, Takuma Katsumata, Vincent Bonnet, Philippe Fraisse, Gentiane Venture
    Journal of Robotics and Mechatronics, Fuji Technology Press Ltd., 2018, 30 (6), pp.927-942.
  2. Self-Generation of Optimal Exciting Motions for Identification of a Humanoid Robot
    Vincent Bonnet, Kai Pfeiffer, Philippe Fraisse, André Crosnier, Gentiane Venture
    International Journal of Humanoid Robotics, World Scientific Publishing, 2018, 15 (6), pp.1850024.
  3. Hand-Object Contact Force Estimation From Markerless Visual Tracking
    Tu-Hoa Pham, Nikolaos Kyriazis, Antonis Argyros, Abderrahmane Kheddar
    IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2018, 40 (12), pp.2883-2896.
  4. Long-term behavior change detection approach through objective technological observations toward better adaptation of services for elderly people
    Firas Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Philippe Fraisse, Mounir Mokhtari
    Health and technology, Springer, 2018, 8 (5), pp.329-340.
  5. More than just co-workers: presence of humanoid robot co-worker influences human performance
    Ashesh Vasalya, Gowrishankar Ganesh, Abderrahmane Kheddar
    PLoS ONE, Public Library of Science, 2018, 13 (11), pp.e0206698.
  6. Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification
    Yanan Li, Gowrishankar Ganesh, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schaeffer, Etienne Burdet
    IEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1170-1182.
  7. Multi-Contact Postures Computation on Manifolds
    Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1252-1265.
  8. Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects
    Antonio Paolillo, Kevin Chappellet, Anastasia Bolotnikova, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.2746-2753.
  9. Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares
    Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.3630-3637.
  10. Probabilistic analysis of recurrence plots generated by fractional Gaussian noise
    Sofiane Ramdani, Frédéric Bouchara, Annick Lesne
    Chaos: An Interdisciplinary Journal of Nonlinear Science, American Institute of Physics, 2018, 28 (8), pp.#085721.
  11. Set-point control of robot end-effector pose using dual quaternion feedback
    Hoang-Lan Pham, Bruno Vilhena Adorno, Véronique Perdereau, Philippe Fraisse
    Robotics and Computer-Integrated Manufacturing, Elsevier, 2018, 52, pp.100-110.
  12. Alterations of EEG rhythms during motor preparation following awake brain surgery
    Anthony Boyer, Sofiane Ramdani, Hugues Duffau, Bénédicte Poulin-Charronnat, David Guiraud, François Bonnetblanc
    Brain and Cognition, Elsevier, 2018, 125, pp.45-52.
  13. Haptic Zero-Shot Learning: Recognition of Objects Never Touched Before
    Zineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea Cherubini
    Robotics and Autonomous Systems, Elsevier, 2018, 105, pp.11-25.
  14. Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
    Pierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-Zhong Yang
    IEEE Robotics and Automation Letters, IEEE 2018, 3 (3), pp.2501-2508.
  15. 3D robust stability polyhedron in multi-contact
    Hervé Audren, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2018, 34 (2), pp.388-403.
  16. Autonomous car driving by a humanoid robot
    Antonio Paolillo, Pierre Gergondet, Andrea Cherubini, Marilena Vendittelli, Abderrahmane Kheddar
    Journal of Field Robotics, Wiley, 2018, 35 (2), pp.169-186.
  17. Modeling an enactivist multiple-trace memory. ATHENA: A fractal model of human memory
    Johan Briglia, Philippe Servajean, Arthur-Henri Michalland, Lionel Brunel, Denis Brouillet
    Journal of Mathematical Psychology, Elsevier, 2018, 82, pp.97-110.
  18. Influence of a brisk walking program on postural responses in sedentary older women: a randomised trial
    Pierre-Louis Bernard, Hubert Blain, Guillaume Tallon, Gregory Ninot, Audrey Jaussent, Marie-Christine Picot, Claire Belloc, Olivier Coste, Jean Bousquet, Sofiane Ramdani
    Aging Clinical and Experimental Research, Springer Verlag, 2018, 30 (5), pp.433-440.
  19. A novel EMG interface for individuals with tetraplegia to pilot robot hand grasping
    Wafa Tigra, Benjamin Navarro, Andrea Cherubini, Xavier Gorron, Anthony Gélis, Charles Fattal, David Guiraud, Christine Azevedo Coste
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2018, 26 (2), pp.291-298.
  20. Tactile sensing for manipulation
    Qiang Li, Lorenzo Natale, Robert Haschke, Andrea Cherubini, Anh-Van Ho, Helge Ritter
    International Journal of Humanoid Robotics, World Scientific Publishing, 2018, 15 (01), pp.1802001.
  21. In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction
    Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini
    IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2018, 25 (2), pp.39-50.
  22. When the vibrations allow for anticipating the force to be produced: an extend to Pfister et al. (2014)
    Guillaume Thébault, Arthur-Henri Michalland, Vincent Derozier, Stéphane Chabrier, Denis Brouillet
    Experimental Brain Research, Springer Verlag, 2018, 236 (4), pp.1219-1223.
  23. Multicontact Interaction Force Sensing From Whole-Body Motion Capture
    Tu-Hoa Pham, Stéphane Caron, Abderrahmane Kheddar
    IEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2018, 14 (6), pp.2343-2352.
  24. Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems
    Karim Bouyarmane, Abderrahmane Kheddar
    Journal of Intelligent and Robotic Systems, Springer Verlag, 2018, 91 (3-4), pp.377-401.
  25. On Weight-Prioritized Multi-Task Control of Humanoid Robots
    Karim Bouyarmane, Abderrahmane Kheddar
    IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2018, 63 (6), pp.1632-1647.

2017

  1. The cross-motion invariant group and its application to kinematics
    Bruno Vilhena Adorno, Philippe Fraisse
    IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2017, 34 (4), pp.1359-1378.
  2. Optimized Humanoid Walking with Soft Soles
    Giovanni de Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane Kheddar
    Robotics and Autonomous Systems, Elsevier, 2017, 95, pp.52-63.
  3. Non-human Looking Robot Arms Induce Illusion of Embodiment
    Laura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane Kheddar
    International Journal of Social Robotics, Springer, 2017, 9 (4), pp.479-490.
  4. Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real Hand
    Laura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane Kheddar
    Journal of Computer-Mediated Communication, Wiley, 2017, 22 (4), pp.215-230.
  5. The Role of Audio-Visual Feedback in a Thought-Based Control of a Humanoid Robot: A BCI Study in Healthy and Spinal Cord Injured People
    Emmanuele Tidoni, Pierre Gergondet, Gabriele Fusco, Abderrahmane Kheddar, Salvatore Aglioti
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2017, 25 (6), pp.772-781.
  6. Multi-Character Physical and Behavioral Interactions Controller
    Joris Vaillant, Karim Bouyarmane, Abderrahmane Kheddar
    IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2017, 23 (6), pp.1650-1662.
  7. Design of optimized soft soles for humanoid robots
    Giovanni de Magistris, Sylvain Miossec, Adrien Escande, Abderrahmane Kheddar
    Robotics and Autonomous Systems, Elsevier, 2017, 95, pp.129-142.
  8. Computing reliability: On the differences between software testing and software fault injection techniques
    Maha Kooli, Firas Kaddachi, Giorgio Di Natale, Alberto Bosio, Pascal Benoit, Lionel Torres
    Microprocessors and Microsystems: Embedded Hardware Design (MICPRO), Elsevier, 2017, 50, pp.102-112.
  9. Completeness of randomized kinodynamic planners with state-based steering
    Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
    Robotics and Autonomous Systems, Elsevier, 2017, 89, pp.85-94.
  10. Optimal External Wrench Distribution During a Multi-Contact Sit-to-Stand Task
    Vincent Bonnet, Christine Azevedo Coste, Thomas Robert, Philippe Fraisse, Gentiane Venture
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2017, 25 (7), pp.987-997.
  11. ZMP Support Areas for Multicontact Mobility Under Frictional Constraints
    Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
    IEEE Transactions on Robotics, IEEE, 2017, 33 (1), pp.67-80.
  12. Robot-assisted gait training for stroke patients: current state of art and perspectives
    Giovanni Morone, Stefano Paolucci, Andrea Cherubini, Domenico de Angelis, Vincenzo Venturiero, Paola Coiro, Marco Iosa
    Neuropsychiatric Disease and Treatment, Dove Medical Press, 2017, 13, pp.1303-1311.
  13. A constrained extended Kalman filter for the optimal estimate of kinematics and kinetics of a sagittal symmetric exercise
    Vincent Bonnet, Raphaël Dumas, Aurelio Cappozzo, Vladimir Joukov, Gautier Daune, Dana Kulić, Philippe Fraisse, Sébastien Andary, Gentiane Venture
    Journal of Biomechanics, Elsevier, 2017, 62, pp.140-147.
  14. Motion Discontinuity-Robust Controller for Steerable Mobile Robots
    Mohamed Sorour, Andrea Cherubini, Philippe Fraisse, Robin Passama
    IEEE Robotics and Automation Letters, IEEE 2017, 2 (2), pp.452-459.
  15. Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
    Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon, Yoshihiko Nakamura
    The International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67.

2016

  1. A new 3D center of mass control approach for FES-assisted standing: First experimental evaluation with a humanoid robot
    Jovana Jovic, Vincent Bonnet, Charles Fattal, Philippe Fraisse, Christine Azevedo Coste
    Medical Engineering and Physics, Elsevier, 2016, 38 (11), pp.1270-1278.
  2. The second me: Seeing the real body during humanoid robot embodiment produces an illusion of bi-location
    Laura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane Kheddar
    Consciousness and Cognition, Elsevier, 2016, 46, pp.99-109.
  3. GPU Robot Motion Planning using Semi-Infinite Nonlinear Programming
    Benjamin Chrétien, Adrien Escande, Abderrahmane Kheddar
    IEEE Transactions on Parallel and Distributed Systems, Institute of Electrical and Electronics Engineers, 2016, 27 (10), pp.2926-2939.
  4. Forward modelling the rubber hand: illusion of ownership modifies motor-sensory predictions by the brain
    Laura Aymerich-Franch, Damien Petit, Abderrahmane Kheddar, Gowrishankar Ganesh
    Royal Society Open Science, The Royal Society, 2016, 3 (8), pp.#160407.
  5. Parameters Selection for Bivariate Multiscale Entropy Analysis of Postural Fluctuations in Fallers and Non-Fallers Older Adults
    Sofiane Ramdani, Vincent Bonnet, Guillaume Tallon, Julien Lagarde, Pierre Louis Bernard, Hubert Blain
    IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2016, 24 (8), pp.859-871.
  6. Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure
    Vincent Bonnet, Philippe Fraisse, André Crosnier, Maxime Gautier, Alejandro González, Gentiane Venture
    IEEE Transactions on Robotics, IEEE, 2016, 32 (4), pp.823-836.
  7. Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and Control
    Gianni Borghesan, Enea Scioni, Abderrahmane Kheddar, Herman Bruyninckx
    IEEE Robotics and Automation Letters, IEEE 2016, 1 (2), pp.1140-1147.
  8. Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization
    Jovana Jovic, Adrien Escande, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar, Gentiane Venture
    IEEE Transactions on Robotics, IEEE, 2016, 32 (3), pp.726-735.
  9. Monitoring of Hip and Knee Joint Angles Using a Single Inertial Measurement Unit During Lower Limb Rehabilitation
    Vincent Bonnet, Vladimir Joukov, Dana Kulić, Philippe Fraisse, Nacim Ramdani, Gentiane Venture
    IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2016, 16 (6), pp.1557-1564.
  10. Collaborative manufacturing with physical human–robot interaction
    Andrea Cherubini, Robin Passama, André Crosnier, Antoine Lasnier, Philippe Fraisse
    Robotics and Computer-Integrated Manufacturing, Elsevier, 2016, 40, pp.1-13.
  11. The three laws of Neurorobotics: a review on what neurorehabilitation robots should do for patients and clinicians
    Iosa Marco, Morone Giovanni, Andrea Cherubini, Paolucci Stefano
    Journal of Medical and Biological Engineering, Springer Verlag, 2016, 36 (1), pp.1-11.
  12. Parsimonious Kinematic Control of Highly Redundant Robots
    Viniçius Mariano Gonçalves, Philippe Fraisse, André Crosnier, Bruno Vilhena Adorno
    IEEE Robotics and Automation Letters, IEEE 2016, 1 (1), pp.65-72.
  13. Multi-contact vertical ladder climbing with an HRP-2 humanoid
    Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarmane, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Suuji Kajita, Fumio Kanehiro
    Autonomous Robots, Springer Verlag, 2016, 40 (3), pp.561-580.

2015

  1. Le site de référence du Partenariat européen d’innovation pour un vieillissement actif et en bonne santé MACVIA-LR (contre les maladies chroniques pour un vieillissement en bonne santé en Languedoc-Roussillon)
    Jean Bousquet, Rodolphe Bourret, Thierry Camuzat, Philippe Augé, Philippe Domy, Jacques Bringer, Nicolas Nicolas, Olivier Jonquet, Jean-Emmanuel de la Coussaye, Michel Noguès, Jm Robine, Antoine Avignon, Hubert Blain, Bernard Bernard, Gérard Dray, Vincent Dufour, Mireille Fouletier, Didier Hève, Jean Jeandel, Isabel Laffont, Dominique Larrey, Daniel Laune, Laurent Laurent, Pierre Marès, Marion Marion, Eric Pastor, Jacques-Yvon Pélissier, François Radier-Pontal, Jacques Reynes, Emilie Royère, Marc Ychou, Anna Bedbrook, Sophie Granier, Frédéric Abécassis, Sylvie Albert, Paule Adnet, Michel Amouyal, Sylvie Arnavieilhe, Trias Asteriou, Vincent Attalin, Pierre Aubas, Christine Azevedo Coste, Mélanie Badin, Karima Bakhti, Gregory Baptista, Benoit Bardy, Pierre Battesti, Olivier Bénézet, Pierre-Louis Bernard, Claudine Berr, Jacquie Berthe, Xavier Bobia, Joël Bockaert, Catherine Boegner, Sylvie Boichot, Huei-Yune Bonnin, Philippe Boulet, Stéphane Bouly, Chokri Boubakri, Arnaud Bourdin, Jean-Luc Bourrain, Gérard Bourrel, Vincent Bouix, Cyril Breuker, Valérie Bruguière, Jacques Burille, Stéphane Cade, David David, Marie-Virginie Calmels, William Camu, Gérard Canovas, Véronique Carre, Giacomo Cavalli, Guillaume Cayla, Raphaël Chiron, Pierre-Geraud Claret, Pauline Coignard, Flavia-Oana Coroian, Pierre Costa, Jérôme Cottalorda, Bertrand Coulet, Anne Coupet, Christine Courrouy-Michel, Philippe Courtet, Jean-Paul Cristol, Valérie Cros, Frédéric Cuisinier, Claire Daien, Marianna Danko, Philippe Dauenhauer, Michel Dauzat, Jean Davy, Didier Delignières, Pascal Demoly, Matthieu Desplan, Henriette Dhivert-Donnadieu, Pierre Dujol, Arnaud Dupeyron, Gérard Dupeyron, Oude Engberink, Michel Enjalbert, Charles Fattal, Jérôme Fernandes, Pierre Fesler, Philippe Fraisse, Jérôme Froger, Philippe Gabrion, Emilie Galano, Marion Gellerat-Rogier, Anthony Gellis, Arnaud-Yves Goucham, Fares Gouzi, Florence Gressard, Jean-Christophe Gris, Bernard Guillot, David Guiraud, Valérie Handweiler, Olivier Hantkié, Maurice Hayot, Christian Herisson, Cherif Heroum, Didier Hoa, Sylvain Jacquemin, Samir Jaber, Dominique Jakovenko, Christophe Jorgensen, Laurent Journot, Michel Kaczorek, Pascal Kouyoumdjian, Pierre Labauge, Liliane Landreau, Martine Lapierre, Catherine Leblond, Marie-Suzanne Léglise, Jean Lemaitre, Vincent Le Moing, Alain Le Quellec, François Leclercq, Sylvain Lehmann, Béatrice Lognos, Jean Lussert, Alain Makinson, Kevin Mandrick, Vincent Marmelat, Pierre Martin-Gousset, Amélie Matheron, Gwen Mathieu, Marc Meissonnier, Grégoire Mercier, Patrick Messner, Cyril Meunier, Michel Mondain, Raul Punta-Morales, Jacques Morel, David Morquin, Denis Mottet, Philippe Nerin, Pierre Nicolas, Gregory Ninot, Fabrice Nouvel, Jean Ortiz, Delphine Paccard, Guillaume Pandraud, Pierre Pasdelou, Jean-Luc Pasquié, Karine Patte, Stéphane Perrey, Yves-Marie Pers, Christine Picot, Philippe Pin, Nathalie Pinto, Emilie Porte, Fabienne Portejoie, Jean Pujol, Xavier Quantin, Isabelle Quéré, Nathalie Raffort, Sofiane Ramdani, Jean Ribstein, Martine Rédini-Martinez, Sylvain Richard, Karen Ritchie, Pierre Riso, Francois Rivier, Christine Rolland, François Roubille, Denis Sablot, Jean-Luc Savy, Laurent Schifano, Pierre Senesse, Roland Sicard, Baya Soua, Yannick Stephan, Denise Strubel, Ariane Sultan, Roxana Taddei-Ologeanu, Guillaume Tallon, Michel Tanfin, Hervé Tassery, Isabel Tavares, Kjerstin Torre, Jacques Touchon, Vincent Tribout, Alain Uziel, Philippe van de Perre, Xavier Vasquez, Jean-Michel Verdier, Céline Vergne-Richard, Grégoire Vergotte, Laurence Vian, Christine Viarouge-Reunier, François Vialla, Frédéric Viart, Max Villain, Maxime Villiet, Emilie Viollet, Anne Wojtusciszyn, Martine Aoustin, Christian Bourquin, Jacques Mercier
    La Presse Médicale, Elsevier Masson, 2015, 44 (1), pp.S6-S22.
  2. A unified multimodal control framework for human–robot interaction
    Andrea Cherubini, Robin Passama, Philippe Fraisse, André Crosnier
    Robotics and Autonomous Systems, Elsevier, 2015, 70, pp.106-115.
  3. SSVEP stimuli design for object-centric BCI
    Pierre Gergondet, Abderrahmane Kheddar
    Brain-Computer Interfaces, Taylor & Francis, 2015, 2 (1), pp.11-28.
  4. Towards an affordable mobile analysis platform for pathological walking assessment
    Vincent Bonnet, Christine Azevedo Coste, Lionel Lapierre, Jennifer Cadic, Philippe Fraisse, René Zapata, Gentiane Venture, Christian Geny
    Robotics and Autonomous Systems, Elsevier, 2015, 66, pp.116-128.

2014

  1. Autonomous Visual Navigation and Laser-based Moving Obstacle Avoidance
    Andrea Cherubini, Fabien Spindler, François Chaumette
    IEEE Transactions on Intelligent Transportation Systems, IEEE, 2014, 15 (5), pp.2101-2110.
  2. Model-Based Optimization for Robotics [TC Spotlight]
    Katja Mombaur, Abderrahmane Kheddar, Kensuke Harada, Thomas Buschmann, Chris Atkeson
    IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2014, 21 (3), pp.24-161.
  3. Brain-machine interfacing control of whole-body humanoid motion
    Karim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, François Keith, Jun-Ichiro Furukawa, Jun Morimoto
    Frontiers in Systems Neuroscience, Frontiers, 2014, 8 (138), pp.001-010.
  4. fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRI
    Ori Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn, Rafael Malach, Abderrahmane Kheddar
    Presence: Teleoperators and Virtual Environments, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241.
  5. Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot
    Emmanuele Tidoni, Pierre Gergondet, Abderrahmane Kheddar, Salvatore Aglioti
    Frontiers in Neurorobotics, Frontiers, 2014, 8 (20), pp.001-008.
  6. A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients
    Adrien Escande, Sylvain Miossec, Mehdi Benallegue, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2014, 30 (3), pp.666-678.
  7. An Adaptable and Flexible Framework for Assistive Living of Cognitively Impaired People
    Hamdi Aloulou, Mounir Mokhtari, Thibaut Tiberghien, Jit Biswas, Philip Yap
    IEEE Journal of Biomedical and Health Informatics, Institute of Electrical and Electronics Engineers, 2014, 18 (1), pp.353-360.

International Communications

2021

  1. Robot-Safe Impacts with Soft Contacts Based on Learned Deformations
    Niels Dehio, Abderrahmane Kheddar
    IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. <https://www.ieee-icra.org/>
  2. Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
    Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar
    IEEE/SICE 13th International Symposium on System Integration (SII 2021), Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan. pp.560-565.
  3. Benchmarking Cameras for OpenVSLAM Indoors
    Kevin Chappellet, Guillaume Caron, Fumio Kanehiro, Ken Sakurada, Abderrahmane Kheddar
    25th International Conference on Pattern Recognition (ICPR 2020), Jan 2021, Milan, Italy. pp.4857-4864.

2020

  1. Autonomous Initiation of Human Physical Assistance by a Humanoid
    Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
    The 29th IEEE International Conference on Robot & Human Interactive Communication, Aug 2020, (VIRTUAL CONFERENCE ), Italy.
  2. Robot Movement Uncertainty Determines Human Discomfort in Co-worker Scenarios
    Daphné Héraïz-Bekkis, Gowrishankar Ganesh, Eiichi Yoshida, Natsuki Yamanobe
    IEEE 6th International Conference on Control, Automation and Robotics (ICCAR), Apr 2020, Singapore, Singapore. pp.59-66.
  3. DOVA: A Dynamic Overwriting Voltage Adjustment for STT-RAM L1 Cache
    Jinbo Chen, Keren Liu, Xiaochen Guo, Patrick Girard, Yuanqing Cheng
    21st International Symposium on Quality Electronic Design (ISQED), Mar 2020, Santa Clara, CA, United States. pp.408-414.
  4. A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities
    Yukiko Osawa, Abderrahmane Kheddar
    17th International Symposium on Experimental Robotics, Mar 2020, Floriana, Malta.

2019

  1. Co-Limbs: An Intuitive Collaborative Control for Wearable Robotic Arms
    Guillaume Gourmelen, Adrien Verhulst, Tomoya Sasaki, Benjamin Navarro, Gowrishankar Ganesh, Masahiko Inami
    12th ACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia, Nov 2019, Brisbane, Australia. pp.9-10.
  2. Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot
    Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar
    ARSO: Advanced Robotics and Its SOcial Impacts, Oct 2019, Beijing, China. <http://arso2019.csp.escience.cn/dct/>
  3. Impact-aware humanoid robot motion generation with a quadratic optimization controller
    Yuquan Wang, Arnaud Tanguy, Pierre Gergondet, Abderrahmane Kheddar
    IEEE Humanoids 2019, Oct 2019, Toronto, Canada.
  4. Impact-friendly robust control design with task-space quadratic optimization
    Yuquan Wang, Abderrahmane Kheddar
    Robotics: Science and Systems (RSS), Jun 2019, Freiburg im Breisgau, Germany. <http://rss2019.informatik.uni-freiburg.de/>
  5. Closed-loop MPC with Dense Visual SLAM -Stability through Reactive Stepping
    Arnaud Tanguy, Daniele de Simone, Andrew I. Comport, Giuseppe Oriolo, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2019, Montreal, Canada. In press. <https://icra2019.org>
  6. Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
    Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier
    IEEE International Conference on Robotics and Automation, May 2019, Montréal, France. <10.1109/ICRA.2019.8794348>
  7. On Model Adaptation for Sensorimotor Control of Robots
    David Navarro-Alarcon, Andrea Cherubini, Xiang Li
    38th Chinese Control Conference, 2019, Guangzhou, China.

2018

  1. Accurate Decoding of Material Textures Using a finger Mounted Accelerometer
    Kuniharu Sakurada, Gowrishankar Ganesh, Wenwei Yu, Kahori Kita
    15th IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018, Kuala Lumpur, Malaysia. pp.1316-1321.
  2. Visuo-Tactile Recognition of Daily-Life Objects Never Seen or Touched Before
    Zineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea Cherubini
    ICARCV: International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. pp.1765-1770.
  3. Le bois des ruches, quel confort pour l'habitat des abeilles? Ruche d'observation électronique, outil et recherches en cours
    Anna Dupleix, Shu Wah Mui, Delphine Jullien, Pascale Moity Maïzi, Pauline Milliet-Treboux, Bertrand Schatz, François Pfister, Victor Reutenauer, Capucine Carlier, Emmanuel Ruffio, Gille Camp, Sébastien Druon, Matthieu Rousset
    Congrès Scientifique Ecolo'Tech, 10ème Salon de l'Ecologie, Nov 2018, Montpellier, France.
  4. Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer
    Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
    Humanoids, Nov 2018, Beijing, China. pp.854-859.
  5. Generation of Walking Motions Based on Whole-Body Poses and QP Control
    Raphael Grimm, Abderrahmane Kheddar, Tamim Asfour
    IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.510-515.
  6. Sample-Efficient Learning of Soft Task Priorities Through Bayesian Optimization
    Yinyin Su, Yuquan Wang, Abderrahmane Kheddar
    18th International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. pp.1-6.
  7. Learning to Segment and Represent Motion Primitives from Driving Data for Motion Planning Applications
    Boyang Wang, Jianwei Gong, Ruizeng Zhang, Huiyan Chen
    21st International Conference on Intelligent Transportation Systems (ITSC), Nov 2018, Maui, Hi, United States. pp.1408-1414.
  8. Dual-arm robotic manipulation of flexible cables
    Jihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.479-484.
  9. Towards vision-based manipulation of plastic materials
    Andrea Cherubini, Jürgen Leitner, Valerio Ortenzi, Peter Corke
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.485-490.
  10. Towards Real-Time Physical Human-Robot Interaction Using Skeleton Information and Hand Gestures
    Osama Mazhar, Sofiane Ramdani, Benjamin Navarro, Robin Passama, Andrea Cherubini
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.1-6.
  11. Dual-arm relative tasks performance using sparse kinematic control
    Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, Damien Sallé
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.6003-6008.
  12. Robust humanoid control using a QP solver with integral gains
    Rafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Hervé Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio Kanehiro
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479.
  13. A Framework for Real-Time Physical Human-Robot Interaction using Hand Gestures
    Osama Mazhar, Sofiane Ramdani, Benjamin Navarro, Robin Passama, Andrea Cherubini
    ARSO: Advanced Robotics and its Social Impacts, Sep 2018, Genova, Italy. pp.46-47.
  14. Distinct motor contagions during and after observation of actions by a humanoid co-worker
    Ashesh Vasalya, Gowrishankar Ganesh, Abderrahmane Kheddar
    RO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.51-57.
  15. Contact Observer for Humanoid Robot Pepper based on Tracking Joint Position Discrepancies
    Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
    RO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.29-34.
  16. Human Arm Motion Analysis Based on the Inverse Optimization Approach
    Adina Panchea, Nacim Ramdani, Vincent Bonnet, Philippe Fraisse
    7th International Conference on Biomedical Robotics and Biomechatronics (Biorob), Aug 2018, Enschede, Netherlands. pp.1005-1010.
  17. Investigating Upper Limb Movement Classification on Users with Tetraplegia as a Possible Neuroprosthesis Interface
    Lucas Fonseca, Antonio Padilha Lanari Bo, David Guiraud, Benjamin Navarro, Anthony Gélis, Christine Azevedo Coste
    EMBS: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. pp.5053-5056.
  18. Technological Approach for Early and Unobtrusive Detection of Possible Health Changes Toward More Effective Treatment
    Firas Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Philippe Fraisse, Mounir Mokhtari
    16th International Conference on Smart Homes and Health Telematics (ICOST 2018), Jul 2018, Singapore, Singapore. pp.47-59.
  19. Development and Evaluation of Two Learning-Based Personalized Driver Models for Pure Pursuit Path-Tracking Behaviors
    Zirui Li, Boyang Wang, Jianwei Gong, Tianyun Gao, Chao Lu, Gang Wang
    IEEE Intelligent Vehicles Symposium (IV), Jun 2018, Changshu, China. pp.79-84.
  20. Learning and Generalizing Motion Primitives From Driving Data for Path-Tracking Applications
    Boyang Wang, Zirui Li, Jianwei Gong, Yidi Liu, Huiyan Chen, Chao Lu
    IEEE Intelligent Vehicles Symposium (IV), Jun 2018, Changshu, China. pp.1191-1196.
  21. Balance control using both ZMP and COM height variations: A convex boundedness approach
    Stéphane Caron, Bastien Mallein
    ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1779-1784.
  22. Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement
    Mehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio Kanehiro
    ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129.
  23. Physical human-robot interaction with the OpenPHRI library
    Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini
    IEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia. <https://workmate2018.wordpress.com>
  24. Introducing OpenPHRI: a software library for physical human-robot interaction
    Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini
    ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. <https://icra2018.org>
  25. Inertial Parameters Identification of a Humanoid Robot Hanged to a Fix Force Sensor
    Vincent Bonnet, André Crosnier, Gentiane Venture, Maxime Gautier, Philippe Fraisse
    IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. pp.4927-4932.
  26. Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization
    Vincent Samy, Karim Bouyarmane, Abderrahmane Kheddar
    IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2018), May 2018, Brisbane, Australia. pp.62-67.
  27. Online eye-robot self-calibration
    Arnaud Tanguy, Abderrahmane Kheddar, Andrew Comport
    SIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, May 2018, Brisbane, Australia. pp.68-73.

2017

  1. Visual estimation of articulated objects configuration during manipulation with a humanoid
    Antonio Paolillo, Anastasia Bolotnikova, Kevin Chappellet, Abderrahmane Kheddar
    SII: Symposium on System Integration, Dec 2017, Taipei, Taiwan. pp.330-335.
  2. When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
    Stéphane Caron, Quang-Cuong Pham
    Humanoids, Nov 2017, Birmingham, United Kingdom. pp.522-528.
  3. Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution
    Adrien Pajon, Stéphane Caron, Giovanni de Magistris, Sylvain Miossec, Abderrahmane Kheddar
    Humanoids, Nov 2017, Birmingham, United Kingdom. pp.432-437.
  4. Model-predictive control in multi-contact based on stability polyhedrons
    Hervé Audren, Abderrahmane Kheddar
    Humanoids, Nov 2017, Birmingham, United Kingdom. pp.631-636.
  5. Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model
    Vincent Samy, Stéphane Caron, Karim Bouyarmane, Abderrahmane Kheddar
    Humanoids, Nov 2017, Birmingham, United Kingdom. pp.655-660.
  6. Tentacle-based Moving Obstacle Avoidance for Omnidirectional Robots with Visibility Constraints
    Abdellah Khelloufi, Nouara Achour, Robin Passama, Andrea Cherubini
    IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.1331-1336.
  7. A Framework for intuitive collaboration with a mobile manipulator
    Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe Fraisse
    IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6293-6298.
  8. Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum
    Stéphane Caron, Abderrahmane Kheddar
    IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.5017-5024.
  9. Nut fastening with a humanoid robot
    Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar
    IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148.
  10. Contact Detection and Physical Interaction for Low Cost Personal Robots
    Fabrizio Flacco, Abderrahmane Kheddar
    RO-MAN: Robot and Human Interactive Communication, Aug 2017, Lisbon, Portugal. <http://www.ro-man2017.org/>
  11. A circuit-breaker use-case operated by a humanoid in aircraft manufacturing
    Anastasia Bolotnikova, Kevin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, Adolfo Suarez-Roos, Patrice Rabaté, Abderrahmane Kheddar
    CASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. pp.15-22.
  12. Gait analysis using optimality criteria imputed from human data
    Adina Panchea, Philippe Fraisse, Sylvain Miossec, Olivier Buttelli, Angèle van Hamme, Marie-Laure Welter, Nacim Ramdani
    20th IFAC World Congress, Jul 2017, Toulouse, France. pp.13510-13515.
  13. Research on cobotics at the LIRMM IDH group
    Andrea Cherubini, André Crosnier, Philippe Fraisse, Benjamin Navarro, Robin Passama, Mohamed Sorour
    ICRA Workshop IC3 – Industry of the future: Collaborative, Connected, Cognitive, Jun 2017, Singapore, Singapore. <http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017>
  14. QP-based Adaptive-Gains Compliance Control in Humanoid Falls
    Vincent Samy, Karim Bouyarmane, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2017, Singapour, Singapore. pp.4762-4767.
  15. Towards sensor-based manipulation of flexible objects
    Andrea Cherubini, Peter Corke
    ICRA Workshop on Sensor-Based Object Manipulation for Collaborative Assembly, May 2017, Singapore, Singapore. <https://sites.google.com/view/somca>
  16. Zero-Shot Object Recognition Based on Haptic Attributes
    Zineb Abderrahmane, Gowrishankar Ganesh, Andrea Cherubini, André Crosnier
    ICRA Workshop The Robotic Sense of Touch, May 2017, Singapour, Singapore.
  17. Technological Approach for Behavior Change Detection toward Better Adaptation of Services for Elderly People
    Firas Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Joaquim Bellmunt, Romain Endelin, Mounir Mokhtari, Philippe Fraisse
    10th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2017), Feb 2017, Porto, Portugal. pp.96-105.

2016

  1. Whole-Body Contact Force Sensing From Motion Capture
    Tu-Hoa Pham, Adrien Bufort, Stéphane Caron, Abderrahmane Kheddar
    SII: Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.58-63.
  2. Closed-loop RGB-D SLAM Multi-Contact Control for humanoid robots
    Arnaud Tanguy, Pierre Gergondet, Andrew Comport, Abderrahmane Kheddar
    IEEE/SICE International Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.51-57.
  3. Omnidirectional humanoid navigation in cluttered environments based on optical flow information
    Marco Ferro, Antonio Paolillo, Andrea Cherubini, Marilena Vendittelli
    Humanoids, Nov 2016, Cancun, Mexico. pp.75-80.
  4. Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots
    Hervé Audren, Abderrahmane Kheddar, Pierre Gergondet
    Humanoids, Nov 2016, Cancun, Mexico. pp.1037-1044.
  5. Residual-based contacts estimation for humanoid robots
    Fabrizio Flacco, Antonio Paolillo, Abderrahmane Kheddar
    Humanoids, Nov 2016, Cancun, Mexico. pp.409-415.
  6. Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations
    Stéphane Caron, Abderrahmane Kheddar
    Humanoids, Nov 2016, Cancún, Mexico. pp.550-557.
  7. Multi-Contact Motion Retargeting from Human to Humanoid Robot
    Alessandro Fava, Karim Bouyarmane, Kevin Chappellet, Emanuele Ruffaldi, Abderrahmane Kheddar
    Humanoids, Nov 2016, Cancun, Mexico. pp.1081-1086.
  8. Experimental Frailty Model towards an Adaptable Service Delivery for Aging People
    Joaquim Bellmunt, Mounir Mokhtari, Bessam Abdulzarak, Hamdi Aloulou, Martin Kodys
    ICECCS: International Conference on Engineering of Complex Computer Systems, Nov 2016, Dubai, United Arab Emirates. pp.227-230.
  9. EKF-based state estimation for train localization
    Damien Veillard, Frédérick Mailly, Philippe Fraisse
    IEEE SENSORS, Oct 2016, Orlando, United States. <10.1109/ICSENS.2016.7808726>
  10. Revisiting software-based soft error mitigation techniques via accurate error generation and propagation models
    Mojtaba Ebrahimi, Maryam Rashvand, Firas Kaddachi, Mehdi B. Tahoori, Giorgio Di Natale
    IOLTS: International On-Line Testing Symposium, Jul 2016, Sant Feliu de Guixols, Spain. pp.66-71.
  11. A constrained Extended Kalman Filter for dynamically consistent inverse kinematics and inertial parameters identification
    Vincent Bonnet, Gauthier Daune, Vladimir Jouvok, Raphaël Dumas, Philippe Fraisse, Dana Kulić, Antoine Seilles, Sébastien Andary, Gentiane Venture
    BioRob: Biomedical Robotics and Biomechatronics, Jun 2016, Singapour, Singapore. pp.952-957.
  12. Adaptation of walking ground reaction forces to changes in ground stiffness properties
    Adrien Pajon, Enrico Chiovetto, Colleen Monaghan, Martin Giese, Abderrahmane Kheddar
    BioRob: Biomedical Robotics and Biomechatronics, Jun 2016, Singapour, Singapore. pp.1313-1318.
  13. Humanoid walking with compliant soles using a deformation estimator
    Giovanni de Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1757-1762.
  14. An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction
    Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Robin Passama, Gérard Poisson, Philippe Fraisse
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3043-3048.
  15. Walking pattern generators designed for physical collaboration
    Don Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1573-1578.
  16. Kinematic Modeling and Singularity Treatment of Steerable Wheeled Mobile Robots with Joint Acceleration Limits
    Mohamed Sorour, Andrea Cherubini, Robin Passama, Philippe Fraisse
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.2110-2115.
  17. Parametrization of Catmull-Clark Subdivision Surfaces for Posture Generation
    Adrien Escande, Stanislas Brossette, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1608-1614.
  18. Cache- and register-aware system reliability evaluation based on data lifetime analysis
    Maha Kooli, Firas Kaddachi, Giorgio Di Natale, Alberto Bosio
    VTS: VLSI Test Symposium, Apr 2016, Las Vegas, United States. <10.1109/VTS.2016.7477299>
  19. System-level reliability evaluation through cache-aware software-based fault injection
    Firas Kaddachi, Maha Kooli, Giorgio Di Natale, Alberto Bosio, Mojtaba Ebrahimi, Mehdi B. Tahoori
    DDECS: Design and Diagnostics of Electronic Circuits and Systems, Apr 2016, Kosice, Slovakia. <10.1109/DDECS.2016.7482446>

2015

  1. Capturing and Reproducing Hand-Object Interactions Through Vision-Based Force Sensing
    Tu-Hoa Pham, Abderrahmane Kheddar, Ammar Qammaz, Antonis Argyros
    Object Understanding for Interaction, Dec 2015, Santiago, Chile. <http://oui.csail.mit.edu/index.html>
  2. Humanoid posture generation on non-Euclidean manifolds
    Stanislas Brossette, Adrien Escande, Grégoire Duchemin, Benjamin Chrétien, Abderrahmane Kheddar
    Humanoids, Nov 2015, Seoul, South Korea. pp.352-358.
  3. Falls control using posture reshaping and active compliance
    Vincent Samy, Abderrahmane Kheddar
    Humanoids, Nov 2015, Seoul, South Korea. pp.908-913.
  4. Atoms based control of mobile robots with Hardware-In-the-Loop validation
    Adrien Lasbouygues, Benoît Ropars, Robin Passama, David Andreu, Lionel Lapierre
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1083-1090.
  5. Active calibration of tactile sensors mounted on a robotic hand
    Benjamin Navarro, Prajval Kumar, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini
    IROS: Intelligent RObots and Systems Workshop on Multimodal sensor-based robot control for HRI and soft manipulation, Sep 2015, Hambourg, Germany. <https://ras.papercept.net/conferences/conferences/IROS15/program/IROS15_AuthorIndexWeb.html>
  6. Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots
    Benjamin Chrétien, Adrien Escande, Abderrahmane Kheddar
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.3956-3961.
  7. A humanoid walking pattern generator for sole design optimization
    Adrien Pajon, Giovanni de Magistris, Sylvain Miossec, Kenji Kaneko, Abderrahmane Kheddar
    ICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.105-110.
  8. RoboPainter — A detailed robot design for interior wall painting
    Mohamed Sorour
    ARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. <10.1109/ARSO.2015.7428214>
  9. Simulation-based Optimal Motion Planning for Deformable Object
    Eiichi Yoshida, Ko Ayusawa, Ixchel Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane Kheddar
    ARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. <10.1109/ARSO.2015.7428219>
  10. Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation Forces
    Tu-Hoa Pham, Abderrahmane Kheddar, Ammar Qammaz, Antonis Argyros
    CVPR: Computer Vision and Pattern Recognition, Jun 2015, Boston, MA, United States. pp.2810-2819.
  11. Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areas
    Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, United States. pp.5107-5112.
  12. An integrated framework for humanoid embodiment with a BCI
    Damien Petit, Pierre Gergondet, Andrea Cherubini, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.2882-2887.

2014

  1. Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social Intelligence
    Amit Kumar Pandey, Rodolphe Gelin, Rachid Alami, Renaud Viry, Axel Buendia, Roland Meertens, Mohamed Chetouani, Laurence Devillers, Marie Tahon, David Filliat, Yves Grenier, Mounira Maazaoui, Abderrahmane Kheddar, Frédéric Lerasle, Laurent Fitte-Duval
    AIC: Artificial Intelligence and Cognition, Nov 2014, Torino, Italy. pp.140-147.
  2. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    Humanoids, Nov 2014, Madrid, Spain. pp.693-698.
  3. Vertical ladder climbing by the HRP-2 humanoid robot
    Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Kenji Kaneko, Mitsuharu Morisawa, Eiichi Yoshida, Fumio Kanehiro
    14th IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. pp.671-676.
  4. Toward autonomous car driving by a humanoid robot: A sensor-based framework
    Antonio Paolillo, Andrea Cherubini, François Keith, Abderrahmane Kheddar, Marilena Vendittelli
    Humanoids, Nov 2014, Madrid, Spain. pp.451-456.
  5. Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments
    Pierre Gergondet, Damien Petit, Maxime Meilland, Abderrahmane Kheddar, Andrew Comport, Andrea Cherubini
    URAI: Ubiquitous Robots and Ambient Intelligence, Nov 2014, Kuala Lumpur, Malaysia. pp.600-604.
  6. Model preview control in multi-contact motion-application to a humanoid robot
    Hervé Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, Eiichi Yoshida
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.4030-4035.
  7. Integration of Non-Inclusive Contacts in Posture Generation
    Stanislas Brossette, Adrien Escande, Joris Vaillant, François Keith, Thomas Moulard, Abderrahmane Kheddar
    IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.933-938.
  8. Toward an Affordable and User-Friendly Visual Motion Capture System
    Vincent Bonnet, Nahéma Sylla, Andrea Cherubini, Alejandro González, Christine Azevedo Coste, Philippe Fraisse, Gentiane Venture
    EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Illinois, United States. pp.4985-4988.
  9. Measuring the Impact of ICTs on the Quality of Life of Ageing People with Mild Dementia
    Mounir Mokhtari, Romain Endelin, Hamdi Aloulou, Thibaut Tiberghien
    ICOST: International Conference on Smart homes and Health Telematics, Jun 2014, Denver, CO, United States. pp.103-109.
  10. Navigation Assistance for a BCI-controlled Humanoid Robot
    Damien Petit, Pierre Gergondet, Andrea Cherubini, Maxime Meilland, Andrew I. Comport, Abderrahmane Kheddar
    CYBER: Conference on Cyber Technology in Automation, Control, and Intelligent Systems, Jun 2014, Hong Kong, China. pp.246-251.
  11. Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing
    Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Pierre Gergondet, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.607-612.
  12. Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808778>

Tags

Humanoid robotic, Human-robot interactions, Cognition of the human-robot and environment-robot haptic interface, Brain control and control via physiological signals, Virtual human

Last update on 15/02/2019