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
- Andrea Cherubini, Assistant Professor UM
- André Crosnier, Professor UM
- Philippe Fraisse, Professor UM
- Ganesh Gowrishankar, Research Fellow CNRS
- Abderrahmane Kheddar, Research Director CNRS
- Sofiane Ramdani, Assistant Professor UM
Associates & Students
- Anastasia Bolotnikova, PhD student SoftBan Robotics
- Antonin Dallard, PhD student CNRS
- Amaury Dechaux, PhD student CNRS
- Niels Dehio, Research associate CNRS
- Mohamed Djeha, PhD student EMP DZ
- Guillaume Gourmelen, PhD student CNRS
- Ege Gürsoy, Research associate UM
- Daphné Heraiz Bekkis, PhD student UM
- Nadine Jacquet, Research associate CNRS
- Selma Lepart, PhD student Illusion & macadam
- Johan Medrano, PhD student UM
- Jordan Nowak, PhD student Clinique Beau Soleil
- Julien Roux, PhD student UM
- Celia Saghour, PhD student UM
- Saeid Samadi, PhD student UM
- Avinash Singh, Research associate UM
- Sonny Tarbouriech, Research associate CNRS
- Zhongkai Zhang, Research associate CNRS
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]
Publications 2014 - 2019: Evaluation period
International Journals
2020
- A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based ControlDavid Navarro-Alarcon, Jiaming Qi, Jihong Zhu, Andrea CherubiniFrontiers in Neurorobotics, Frontiers, 2020, 14, pp.#59.
- Adaptive-Gains Enforcing Constraints in Closed-Loop QP ControlMohamed Djeha, Arnaud Tanguy, Abderrahmane KheddarIEEE Robotics and Automation Letters, IEEE 2020, 5 (4), pp.8.
- Effects of nonstationarity on muscle force signals regularity during a fatiguing motor taskCyril Chatain, Mathieu Gruet, Jean-Marc Vallier, Sofiane RamdaniIEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2020, 28 (1), pp.228-237.
- A Deep Learning Framework for Tactile Recognition of Known as well as Novel ObjectsZineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea CherubiniIEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2020, 16 (1), pp.423-432.
- Attenuation and delay of remote potentials evoked by direct electrical stimulation during brain surgeryAnthony Boyer, Hugues Duffau, Emmanuel Mandonnet, Marion Vincent, Sofiane Ramdani, David Guiraud, François BonnetblancBrain Topography: a Journal of Cerebral Function and Dynamics, Springer Verlag, 2020, 33 (1), pp.143-148.
- Multi-Contact Planning on Humans for Physical Assistance by HumanoidAnastasia Bolotnikova, Sébastien Courtois, Abderrahmane KheddarIEEE Robotics and Automation Letters, IEEE 2020, 5 (1), pp.135-142.
- Parametric recurrence quantification analysis of autoregressive processes for pattern recognition in multichannel electroencephalographic dataSofiane Ramdani, Anthony Boyer, Stéphane Caron, François Bonnetblanc, Frederic Bouchara, Hugues Duffau, Annick LesnePattern Recognition, Elsevier, 2020, 109, pp.#107572.
2019
- Activity in the dorsal ACC causes deterioration of sequential motor performance due to anxietyGowrishankar Ganesh, Takehiro Minamoto, Masahiko HarunoNature Communications, Nature Publishing Group, 2019, 10, pp.4287.
- Humanoid robots in aircraft manufacturingAbderrahmane 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, Kévin Chappellet, Fumio Kanehiro, Patrice RabateIEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2019, 26 (4), pp.30-45.
- A Real-time Human-Robot Interaction Framework with Robust Background Invariant Hand Gesture DetectionOsama Mazhar, Benjamin Navarro, Sofiane Ramdani, Robin Passama, Andrea CherubiniRobotics and Computer-Integrated Manufacturing, Elsevier, 2019, 60, pp.34-48.
- A Collaborative Robot for the Factory of the Future: BAZARAndrea Cherubini, Robin Passama, Benjamin Navarro, Mohamed Sorour, Abdellah Khelloufi, Osama Mazhar, Sonny Tarbouriech, Jihong Zhu, Olivier Tempier, André Crosnier, Philippe Fraisse, Sofiane RamdaniInternational Journal of Advanced Manufacturing Technology, Springer Verlag, 2019, 105 (9), pp.3643-3659.
- Assisted Grasping in Individuals with Tetraplegia: Improving Control through Residual Muscle Contraction and MovementLucas Fonseca, Wafa Tigra, Benjamin Navarro, David Guiraud, Charles Fattal, Antonio Bo, Emerson Fachin-Martins, Violaine Leynaert, Anthony Gélis, Christine Azevedo CosteSensors, MDPI, 2019, 19 (20), pp.#4532.
- Complementary-route based ICR control for steerable wheeled mobile robotsMohamed Sorour, Andrea Cherubini, Abdellah Khelloufi, Robin Passama, Philippe FraisseRobotics and Autonomous Systems, Elsevier, 2019, 118, pp.131-143.
- Vision-based navigation of omnidirectional mobile robotsMarco Ferro, Antonio Paolillo, Andrea Cherubini, Marilena VendittelliIEEE Robotics and Automation Letters, IEEE 2019, 4 (3), pp.2691-2698.
- Grasping a chestnut burr: Manual laterality in action’s coding strategiesArthur-Henri Michalland, Guillaume Thébault, Johan Briglia, Philippe Fraisse, Denis BrouilletExperimental Psychology, Hogrefe, 2019, 66 (4), pp.310-317.
- Capturability-based Pattern Generation for Walking with Variable HeightStéphane Caron, Adrien Escande, Leonardo Lanari, Bastien MalleinIEEE Transactions on Robotics, IEEE, In press. <10.1109/TRO.2019.2923971>
- The where of handovers by humans: Effect of partner characteristics, distance and visual feedbackSaki Kato, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida, Gowrishankar GaneshPLoS ONE, Public Library of Science, 2019, 14 (6), pp.e0217129.
- Optimal exciting motion for fast robot identification. Application to contact painting tasks with estimated external forcesTakuma Katsumata, Benjamin Navarro, Vincent Bonnet, Philippe Fraisse, André Crosnier, Gentiane VentureRobotics and Autonomous Systems, Elsevier, 2019, 113, pp.149-159.
- Quadratic Programming for Multirobot and Task-Space Force ControlKarim Bouyarmane, Kevin Chappellet, Joris Vaillant, Abderrahmane KheddarIEEE Transactions on Robotics, IEEE, 2019, 35 (1), pp.64-77.
- Sensor-based Navigation of Omnidirectional Wheeled Robots Dealing with both Collisions and OcclusionsAbdellah Khelloufi, Nouara Achour, Robin Passama, Andrea CherubiniRobotica, Cambridge University Press, In press. <10.1017/S0263574719000900>
- Human-Humanoid Collaborative CarryingDon Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane KheddarIEEE Transactions on Robotics, IEEE, In press, 35 (4), pp.833-846.
2018
- Adaptive Generalized Predictive Controller and Cartesian Force Control for Robot Arm Using Dynamics and Geometric IdentificationShohei Hagane, Liz Katherine Rincon Ardila, Takuma Katsumata, Vincent Bonnet, Philippe Fraisse, Gentiane VentureJournal of Robotics and Mechatronics, Fuji Technology Press Ltd., 2018, 30 (6), pp.927-942.
- Hand-Object Contact Force Estimation From Markerless Visual TrackingTu-Hoa Pham, Nikolaos Kyriazis, Antonis Argyros, Abderrahmane KheddarIEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2018, 40 (12), pp.2883-2896.
- Self-Generation of Optimal Exciting Motions for Identification of a Humanoid RobotVincent Bonnet, Kai Pfeiffer, Philippe Fraisse, André Crosnier, Gentiane VentureInternational Journal of Humanoid Robotics, World Scientific Publishing, 2018, 15 (6), pp.1850024.
- More than just co-workers: presence of humanoid robot co-worker influences human performanceAshesh Vasalya, Gowrishankar Ganesh, Abderrahmane KheddarPLoS ONE, Public Library of Science, 2018, 13 (11), pp.e0206698.
- Long-term behavior change detection approach through objective technological observations toward better adaptation of services for elderly peopleFiras Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Philippe Fraisse, Mounir MokhtariHealth and technology, Springer, 2018, 8 (5), pp.329-340.
- Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic IdentificationYanan Li, Gowrishankar Ganesh, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schaeffer, Etienne BurdetIEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1170-1182.
- Multi-Contact Postures Computation on ManifoldsStanislas Brossette, Adrien Escande, Abderrahmane KheddarIEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1252-1265.
- Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squaresKai Pfeiffer, Adrien Escande, Abderrahmane KheddarIEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.3630-3637.
- Interlinked Visual Tracking and Robotic Manipulation of Articulated ObjectsAntonio Paolillo, Kévin Chappellet, Anastasia Bolotnikova, Abderrahmane KheddarIEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.2746-2753.
- Probabilistic analysis of recurrence plots generated by fractional Gaussian noiseSofiane Ramdani, Frédéric Bouchara, Annick LesneChaos: An Interdisciplinary Journal of Nonlinear Science, American Institute of Physics, 2018, 28 (8), pp.#085721.
- Set-point control of robot end-effector pose using dual quaternion feedbackHoang-Lan Pham, Bruno Vilhena Adorno, Véronique Perdereau, Philippe FraisseRobotics and Computer-Integrated Manufacturing, Elsevier, 2018, 52, pp.100-110.
- Alterations of EEG rhythms during motor preparation following awake brain surgeryAnthony Boyer, Sofiane Ramdani, Hugues Duffau, Bénédicte Poulin-Charronnat, David Guiraud, François BonnetblancBrain and Cognition, Elsevier, 2018, 125, pp.45-52.
- Haptic Zero-Shot Learning: Recognition of Objects Never Touched BeforeZineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea CherubiniRobotics and Autonomous Systems, Elsevier, 2018, 105, pp.11-25.
- Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive SurgeryPierre Berthet-Rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-Zhong YangIEEE Robotics and Automation Letters, IEEE 2018, 3 (3), pp.2501-2508.
- 3D robust stability polyhedron in multi-contactHervé Audren, Abderrahmane KheddarIEEE Transactions on Robotics, IEEE, 2018, 34 (2), pp.388-403.
- Autonomous car driving by a humanoid robotAntonio Paolillo, Pierre Gergondet, Andrea Cherubini, Marilena Vendittelli, Abderrahmane KheddarJournal of Field Robotics, Wiley, 2018, 35 (2), pp.169-186.
- Modeling an enactivist multiple-trace memory. ATHENA: A fractal model of human memoryJohan Briglia, Philippe Servajean, Arthur-Henri Michalland, Lionel Brunel, Denis BrouilletJournal of Mathematical Psychology, Elsevier, 2018, 82, pp.97-110.
- 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 BrouilletExperimental Brain Research, Springer Verlag, 2018, 236 (4), pp.1219-1223.
- On Weight-Prioritized Multi-Task Control of Humanoid RobotsKarim Bouyarmane, Abderrahmane KheddarIEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2018, 63 (6), pp.1632-1647.
- Multicontact Interaction Force Sensing From Whole-Body Motion CaptureTu-Hoa Pham, Stéphane Caron, Abderrahmane KheddarIEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2018, 14 (6), pp.2343-2352.
- Tactile sensing for manipulationQiang Li, Lorenzo Natale, Robert Haschke, Andrea Cherubini, Anh-Van Ho, Helge RitterInternational Journal of Humanoid Robotics, World Scientific Publishing, 2018, 15 (01), pp.1802001.
- In Pursuit of Safety: An Open-Source Library for Physical Human-Robot InteractionBenjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea CherubiniIEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2018, 25 (2), pp.39-50.
- Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional SystemsKarim Bouyarmane, Abderrahmane KheddarJournal of Intelligent and Robotic Systems, Springer Verlag, 2018, 91 (3-4), pp.377-401.
- A novel EMG interface for individuals with tetraplegia to pilot robot hand graspingWafa Tigra, Benjamin Navarro, Andrea Cherubini, Xavier Gorron, Anthony Gélis, Charles Fattal, David Guiraud, Christine Azevedo CosteIEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2018, 26 (2), pp.291-298.
- Influence of a brisk walking program on postural responses in sedentary older women: a randomised trialPierre-Louis Bernard, Hubert Blain, Guillaume Tallon, Gregory Ninot, Audrey Jaussent, Marie-Christine Picot, Claire Belloc, Olivier Coste, Jean Bousquet, Sofiane RamdaniAging Clinical and Experimental Research, Springer Verlag, 2018, 30 (5), pp.433-440.
2017
- The cross-motion invariant group and its application to kinematicsBruno Vilhena Adorno, Philippe FraisseIMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2017, 34 (4), pp.1359-1378.
- Non-human Looking Robot Arms Induce Illusion of EmbodimentLaura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane KheddarInternational Journal of Social Robotics, Springer, 2017, 9 (4), pp.479-490.
- Optimized Humanoid Walking with Soft SolesGiovanni de Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane KheddarRobotics and Autonomous Systems, Elsevier, 2017, 95, pp.52-63.
- Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real HandLaura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane KheddarJournal of Computer-Mediated Communication, Wiley, 2017, 22 (4), pp.215-230.
- Multi-Character Physical and Behavioral Interactions ControllerJoris Vaillant, Karim Bouyarmane, Abderrahmane KheddarIEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2017, 23 (6), pp.1650-1662.
- The Role of Audio-Visual Feedback in a Thought-Based Control of a Humanoid Robot: A BCI Study in Healthy and Spinal Cord Injured PeopleEmmanuele Tidoni, Pierre Gergondet, Gabriele Fusco, Abderrahmane Kheddar, Salvatore AgliotiIEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2017, 25 (6), pp.772-781.
- Design of optimized soft soles for humanoid robotsGiovanni de Magistris, Sylvain Miossec, Adrien Escande, Abderrahmane KheddarRobotics and Autonomous Systems, Elsevier, 2017, 95, pp.129-142.
- Computing reliability: On the differences between software testing and software fault injection techniquesMaha Kooli, Firas Kaddachi, Giorgio Di Natale, Alberto Bosio, Pascal Benoit, Lionel TorresMicroprocessors and Microsystems: Embedded Hardware Design (MICPRO), Elsevier, 2017, 50, pp.102-112.
- Optimal External Wrench Distribution During a Multi-Contact Sit-to-Stand TaskVincent Bonnet, Christine Azevedo Coste, Thomas Robert, Philippe Fraisse, Gentiane VentureIEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2017, 25 (7), pp.987-997.
- Completeness of randomized kinodynamic planners with state-based steeringStephane Caron, Quang-Cuong Pham, Yoshihiko NakamuraRobotics and Autonomous Systems, Elsevier, 2017, 89, pp.85-94.
- ZMP Support Areas for Multicontact Mobility Under Frictional ConstraintsStéphane Caron, Quang-Cuong Pham, Yoshihiko NakamuraIEEE Transactions on Robotics, IEEE, 2017, 33 (1), pp.67-80.
- A constrained extended Kalman filter for the optimal estimate of kinematics and kinetics of a sagittal symmetric exerciseVincent Bonnet, Raphaël Dumas, Aurelio Cappozzo, Vladimir Joukov, Gautier Daune, Dana Kulić, Philippe Fraisse, Sébastien Andary, Gentiane VentureJournal of Biomechanics, Elsevier, 2017, 62, pp.140-147.
- Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robotsQuang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon, Yoshihiko NakamuraThe International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67.
- Motion Discontinuity-Robust Controller for Steerable Mobile RobotsMohamed Sorour, Andrea Cherubini, Philippe Fraisse, Robin PassamaIEEE Robotics and Automation Letters, IEEE 2017, 2 (2), pp.452-459.
- Robot-assisted gait training for stroke patients: current state of art and perspectivesGiovanni Morone, Stefano Paolucci, Andrea Cherubini, Domenico de Angelis, Vincenzo Venturiero, Paola Coiro, Marco IosaNeuropsychiatric Disease and Treatment, Dove Medical Press, 2017, 13, pp.1303-1311.
2016
- The second me: Seeing the real body during humanoid robot embodiment produces an illusion of bi-locationLaura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane KheddarConsciousness and Cognition, Elsevier, 2016, 46, pp.99-109.
- A new 3D center of mass control approach for FES-assisted standing: First experimental evaluation with a humanoid robotJovana Jovic, Vincent Bonnet, Charles Fattal, Philippe Fraisse, Christine Azevedo CosteMedical Engineering and Physics, Elsevier, 2016, 38 (11), pp.1270-1278.
- GPU Robot Motion Planning using Semi-Infinite Nonlinear ProgrammingBenjamin Chrétien, Adrien Escande, Abderrahmane KheddarIEEE Transactions on Parallel and Distributed Systems, Institute of Electrical and Electronics Engineers, 2016, 27 (10), pp.2926-2939.
- Forward modelling the rubber hand: illusion of ownership modifies motor-sensory predictions by the brainLaura Aymerich-Franch, Damien Petit, Abderrahmane Kheddar, Gowrishankar GaneshRoyal Society Open Science, The Royal Society, 2016, 3 (8), pp.#160407.
- Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic StructureVincent Bonnet, Philippe Fraisse, André Crosnier, Maxime Gautier, Alejandro González, Gentiane VentureIEEE Transactions on Robotics, IEEE, 2016, 32 (4), pp.823-836.
- Parameters Selection for Bivariate Multiscale Entropy Analysis of Postural Fluctuations in Fallers and Non-Fallers Older AdultsSofiane Ramdani, Vincent Bonnet, Guillaume Tallon, Julien Lagarde, Pierre Louis Bernard, Hubert BlainIEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2016, 24 (8), pp.859-871.
- Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and ControlGianni Borghesan, Enea Scioni, Abderrahmane Kheddar, Herman BruyninckxIEEE Robotics and Automation Letters, IEEE 2016, 1 (2), pp.1140-1147.
- Humanoid and Human Inertia Parameter Identification Using Hierarchical OptimizationJovana Jovic, Adrien Escande, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar, Gentiane VentureIEEE Transactions on Robotics, IEEE, 2016, 32 (3), pp.726-735.
- Monitoring of Hip and Knee Joint Angles Using a Single Inertial Measurement Unit During Lower Limb RehabilitationVincent Bonnet, Vladimir Joukov, Dana Kulić, Philippe Fraisse, Nacim Ramdani, Gentiane VentureIEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2016, 16 (6), pp.1557-1564.
- The three laws of Neurorobotics: a review on what neurorehabilitation robots should do for patients and cliniciansIosa Marco, Morone Giovanni, Andrea Cherubini, Paolucci StefanoJournal of Medical and Biological Engineering, Springer Verlag, 2016, 36 (1), pp.1-11.
- Multi-contact vertical ladder climbing with an HRP-2 humanoidJoris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarmane, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Suuji Kajita, Fumio KanehiroAutonomous Robots, Springer Verlag, 2016, 40 (3), pp.561-580.
- Collaborative manufacturing with physical human–robot interactionAndrea Cherubini, Robin Passama, André Crosnier, Antoine Lasnier, Philippe FraisseRobotics and Computer-Integrated Manufacturing, Elsevier, 2016, 40, pp.1-13.
- Parsimonious Kinematic Control of Highly Redundant RobotsViniçius Mariano Gonçalves, Philippe Fraisse, André Crosnier, Bruno Vilhena AdornoIEEE Robotics and Automation Letters, IEEE 2016, 1 (1), pp.65-72.
2015
- 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, Jean 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 MercierLa Presse Médicale, Elsevier Masson, 2015, 44 (1), pp.S6-S22.
- A unified multimodal control framework for human–robot interactionAndrea Cherubini, Robin Passama, Philippe Fraisse, André CrosnierRobotics and Autonomous Systems, Elsevier, 2015, 70, pp.106-115.
- SSVEP stimuli design for object-centric BCIPierre Gergondet, Abderrahmane KheddarBrain-Computer Interfaces, Taylor & Francis, 2015, 2 (1), pp.11-28.
- Towards an affordable mobile analysis platform for pathological walking assessmentVincent Bonnet, Christine Azevedo Coste, Lionel Lapierre, Jennifer Cadic, Philippe Fraisse, René Zapata, Gentiane Venture, Christian GenyRobotics and Autonomous Systems, Elsevier, 2015, 66, pp.116-128.
2014
- Autonomous Visual Navigation and Laser-based Moving Obstacle AvoidanceAndrea Cherubini, Fabien Spindler, François ChaumetteIEEE Transactions on Intelligent Transportation Systems, IEEE, 2014, 15 (5), pp.2101-2110.
- Model-Based Optimization for Robotics [TC Spotlight]Katja Mombaur, Abderrahmane Kheddar, Kensuke Harada, Thomas Buschmann, Chris AtkesonIEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2014, 21 (3), pp.24-161.
- Brain-machine interfacing control of whole-body humanoid motionKarim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, François Keith, Jun-Ichiro Furukawa, Jun MorimotoFrontiers in Systems Neuroscience, Frontiers, 2014, 8 (138), pp.001-010.
- fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRIOri Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn, Rafael Malach, Abderrahmane KheddarPresence: Teleoperators and Virtual Environments, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241.
- Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robotEmmanuele Tidoni, Pierre Gergondet, Abderrahmane Kheddar, Salvatore AgliotiFrontiers in Neurorobotics, Frontiers, 2014, 8 (20), pp.001-008.
- A Strictly Convex Hull for Computing Proximity Distances With Continuous GradientsAdrien Escande, Sylvain Miossec, Mehdi Benallegue, Abderrahmane KheddarIEEE Transactions on Robotics, IEEE, 2014, 30 (3), pp.666-678.
- An Adaptable and Flexible Framework for Assistive Living of Cognitively Impaired PeopleHamdi Aloulou, Mounir Mokhtari, Thibaut Tiberghien, Jit Biswas, Philip YapIEEE Journal of Biomedical and Health Informatics, Institute of Electrical and Electronics Engineers, 2014, 18 (1), pp.353-360.
International Communications
2021
- Robot-Safe Impacts with Soft Contacts Based on Learned DeformationsNiels Dehio, Abderrahmane KheddarICRA, May 2021, Xi'an, China.
- Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction ApplicationsAnastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane KheddarIEEE/SICE 13th International Symposium on System Integration (SII 2021), Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan.
2020
- Autonomous Initiation of Human Physical Assistance by a HumanoidAnastasia Bolotnikova, Sébastien Courtois, Abderrahmane KheddarThe 29th IEEE International Conference on Robot & Human Interactive Communication, Aug 2020, (VIRTUAL CONFERENCE ), Italy.
- Robot Movement Uncertainty Determines Human Discomfort in Co-worker ScenariosDaphné Héraïz-Bekkis, Gowrishankar Ganesh, Eiichi Yoshida, Natsuki YamanobeIEEE 6th International Conference on Control, Automation and Robotics (ICCAR), Apr 2020, Singapore, Singapore. pp.59-66.
- DOVA: A Dynamic Overwriting Voltage Adjustment for STT-RAM L1 CacheJinbo Chen, Keren Liu, Xiaochen Guo, Patrick Girard, Yuanqing Cheng21st International Symposium on Quality Electronic Design (ISQED), Mar 2020, Santa Clara, CA, United States. pp.408-414.
- A Soft Robotic Cover with Dual Thermal Display and Sensing CapabilitiesYukiko Osawa, Abderrahmane Kheddar17th International Symposium on Experimental Robotics, Mar 2020, Floriana, Malta.
2019
- Co-Limbs: An Intuitive Collaborative Control for Wearable Robotic ArmsGuillaume Gourmelen, Adrien Verhulst, Tomoya Sasaki, Benjamin Navarro, Gowrishankar Ganesh, Masahiko Inami12th ACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia, Nov 2019, Brisbane, Australia. pp.9-10.
- Experimental Study for Controller-Friendly Contact Estimation for Humanoid RobotTakahiro Ito, Ko Ayusawa, Eiichi Yoshida, Abderrahmane KheddarARSO: Advanced Robotics and Its SOcial Impacts, Oct 2019, Beijing, China. <http://arso2019.csp.escience.cn/dct/>
- Impact-aware humanoid robot motion generation with a quadratic optimization controllerYuquan Wang, Arnaud Tanguy, Pierre Gergondet, Abderrahmane KheddarIEEE Humanoids 2019, Oct 2019, Toronto, Canada.
- Impact-friendly robust control design with task-space quadratic optimizationYuquan Wang, Abderrahmane KheddarRobotics: Science and Systems (RSS), Jun 2019, Freiburg im Breisgau, Germany. <http://rss2019.informatik.uni-freiburg.de/>
- Closed-loop MPC with Dense Visual SLAM -Stability through Reactive SteppingArnaud Tanguy, Daniele de Simone, Andrew I. Comport, Giuseppe Oriolo, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2019, Montreal, Canada. In press. <https://icra2019.org>
- Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance ControlStéphane Caron, Abderrahmane Kheddar, Olivier TempierIEEE International Conference on Robotics and Automation, May 2019, Montréal, France. <10.1109/ICRA.2019.8794348>
- On Model Adaptation for Sensorimotor Control of RobotsDavid Navarro-Alarcon, Andrea Cherubini, Xiang Li38th Chinese Control Conference, 2019, Guangzhou, China.
2018
- Accurate Decoding of Material Textures Using a finger Mounted AccelerometerKuniharu Sakurada, Gowrishankar Ganesh, Wenwei Yu, Kahori Kita15th IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018, Kuala Lumpur, Malaysia. pp.1316-1321.
- Visuo-Tactile Recognition of Daily-Life Objects Never Seen or Touched BeforeZineb Abderrahmane, Gowrishankar Ganesh, André Crosnier, Andrea CherubiniICARCV: International Conference on Control, Automation, Robotics and Vision, Nov 2018, Singapore, Singapore. pp.1765-1770.
- Le bois des ruches, quel confort pour l'habitat des abeilles? Ruche d'observation électronique, outil et recherches en coursAnna 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 RoussetCongrès Scientifique Ecolo'Tech, 10ème Salon de l'Ecologie, Nov 2018, Montpellier, France.
- Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact ObserverAnastasia Bolotnikova, Sébastien Courtois, Abderrahmane KheddarHumanoids, Nov 2018, Beijing, China. pp.854-859.
- Sample-Efficient Learning of Soft Task Priorities Through Bayesian OptimizationYinyin Su, Yuquan Wang, Abderrahmane Kheddar18th International Conference on Humanoid Robots (Humanoids 2018), Nov 2018, Beijing, China. pp.1-6.
- Generation of Walking Motions Based on Whole-Body Poses and QP ControlRaphael Grimm, Abderrahmane Kheddar, Tamim AsfourIEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Nov 2018, Beijing, China. pp.510-515.
- Learning to Segment and Represent Motion Primitives from Driving Data for Motion Planning ApplicationsBoyang Wang, Jianwei Gong, Ruizeng Zhang, Huiyan Chen21st International Conference on Intelligent Transportation Systems (ITSC), Nov 2018, Maui, Hi, United States. pp.1408-1414.
- Towards vision-based manipulation of plastic materialsAndrea Cherubini, Jürgen Leitner, Valerio Ortenzi, Peter CorkeIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.485-490.
- Towards Real-Time Physical Human-Robot Interaction Using Skeleton Information and Hand GesturesOsama Mazhar, Sofiane Ramdani, Benjamin Navarro, Robin Passama, Andrea CherubiniIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.1-6.
- Dual-arm relative tasks performance using sparse kinematic controlSonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, Damien SalléIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.6003-6008.
- Dual-arm robotic manipulation of flexible cablesJihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea CherubiniIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.479-484.
- Robust humanoid control using a QP solver with integral gainsRafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Hervé Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio KanehiroIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479.
- A Framework for Real-Time Physical Human-Robot Interaction using Hand GesturesOsama Mazhar, Sofiane Ramdani, Benjamin Navarro, Robin Passama, Andrea CherubiniARSO: Advanced Robotics and its Social Impacts, Sep 2018, Genova, Italy. pp.46-47.
- Contact Observer for Humanoid Robot Pepper based on Tracking Joint Position DiscrepanciesAnastasia Bolotnikova, Sébastien Courtois, Abderrahmane KheddarRO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.29-34.
- Distinct motor contagions during and after observation of actions by a humanoid co-workerAshesh Vasalya, Gowrishankar Ganesh, Abderrahmane KheddarRO-MAN: Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.51-57.
- Human Arm Motion Analysis Based on the Inverse Optimization ApproachAdina Panchea, Nacim Ramdani, Vincent Bonnet, Philippe Fraisse7th International Conference on Biomedical Robotics and Biomechatronics (Biorob), Aug 2018, Enschede, Netherlands. pp.1005-1010.
- Investigating Upper Limb Movement Classification on Users with Tetraplegia as a Possible Neuroprosthesis InterfaceLucas Fonseca, Antonio Padilha Lanari Bo, David Guiraud, Benjamin Navarro, Anthony Gélis, Christine Azevedo CosteEMBS: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. pp.5053-5056.
- Electrophysiological Activity Evoked by Direct Electrical Stimulation of the Human Brain: Interest of the P0 ComponentAnthony Boyer, Hugues Duffau, Marion Vincent, Sofiane Ramdani, Emmanuel Mandonnet, David Guiraud, François BonnetblancEMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, HI, United States. pp.2210-2213.
- Technological Approach for Early and Unobtrusive Detection of Possible Health Changes Toward More Effective TreatmentFiras Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Philippe Fraisse, Mounir Mokhtari16th International Conference on Smart Homes and Health Telematics (ICOST 2018), Jul 2018, Singapore, Singapore. pp.47-59.
- Learning and Generalizing Motion Primitives From Driving Data for Path-Tracking ApplicationsBoyang Wang, Zirui Li, Jianwei Gong, Yidi Liu, Huiyan Chen, Chao LuIEEE Intelligent Vehicles Symposium (IV), Jun 2018, Changshu, China. pp.1191-1196.
- Development and Evaluation of Two Learning-Based Personalized Driver Models for Pure Pursuit Path-Tracking BehaviorsZirui Li, Boyang Wang, Jianwei Gong, Tianyun Gao, Chao Lu, Gang WangIEEE Intelligent Vehicles Symposium (IV), Jun 2018, Changshu, China. pp.79-84.
- Physical human-robot interaction with the OpenPHRI libraryBenjamin Navarro, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea CherubiniIEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia. <https://workmate2018.wordpress.com>
- Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque MeasurementMehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio KanehiroICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129.
- Inertial Parameters Identification of a Humanoid Robot Hanged to a Fix Force SensorVincent Bonnet, André Crosnier, Gentiane Venture, Maxime Gautier, Philippe FraisseIEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia. pp.4927-4932.
- Balance control using both ZMP and COM height variations: A convex boundedness approachStéphane Caron, Bastien MalleinICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.1779-1784.
- Introducing OpenPHRI: a software library for physical human-robot interactionBenjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea CherubiniICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. <https://icra2018.org>
- Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimizationVincent Samy, Karim Bouyarmane, Abderrahmane KheddarIEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2018), May 2018, Brisbane, Australia. pp.62-67.
- Online eye-robot self-calibrationArnaud Tanguy, Abderrahmane Kheddar, Andrew ComportSIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, May 2018, Brisbane, Australia. pp.68-73.
2017
- Visual estimation of articulated objects configuration during manipulation with a humanoidAntonio Paolillo, Anastasia Bolotnikova, Kévin Chappellet, Abderrahmane KheddarSII: Symposium on System Integration, Dec 2017, Taipei, Taiwan. pp.330-335.
- Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced ModelVincent Samy, Stéphane Caron, Karim Bouyarmane, Abderrahmane KheddarHumanoids, Nov 2017, Birmingham, United Kingdom. pp.655-660.
- Model-predictive control in multi-contact based on stability polyhedronsHervé Audren, Abderrahmane KheddarHumanoids, Nov 2017, Birmingham, United Kingdom. pp.631-636.
- Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force DistributionAdrien Pajon, Stéphane Caron, Giovanni de Magistris, Sylvain Miossec, Abderrahmane KheddarHumanoids, Nov 2017, Birmingham, United Kingdom. pp.432-437.
- When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPCStéphane Caron, Quang-Cuong PhamHumanoids, Nov 2017, Birmingham, United Kingdom. pp.522-528.
- Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted PendulumStéphane Caron, Abderrahmane KheddarIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.5017-5024.
- Nut fastening with a humanoid robotKai Pfeiffer, Adrien Escande, Abderrahmane KheddarIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148.
- Tentacle-based Moving Obstacle Avoidance for Omnidirectional Robots with Visibility ConstraintsAbdellah Khelloufi, Nouara Achour, Robin Passama, Andrea CherubiniIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.1331-1336.
- A Framework for intuitive collaboration with a mobile manipulatorBenjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe FraisseIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6293-6298.
- Contact Detection and Physical Interaction for Low Cost Personal RobotsFabrizio Flacco, Abderrahmane KheddarRO-MAN: Robot and Human Interactive Communication, Aug 2017, Lisbon, Portugal. <http://www.ro-man2017.org/>
- A circuit-breaker use-case operated by a humanoid in aircraft manufacturingAnastasia Bolotnikova, Kévin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, Adolfo Suarez-Roos, Patrice Rabaté, Abderrahmane KheddarCASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. pp.15-22.
- Gait analysis using optimality criteria imputed from human dataAdina Panchea, Philippe Fraisse, Sylvain Miossec, Olivier Buttelli, Angèle van Hamme, Marie-Laure Welter, Nacim Ramdani20th IFAC World Congress, Jul 2017, Toulouse, France. pp.13510-13515.
- Research on cobotics at the LIRMM IDH groupAndrea Cherubini, André Crosnier, Philippe Fraisse, Benjamin Navarro, Robin Passama, Mohamed SorourICRA Workshop IC3 – Industry of the future: Collaborative, Connected, Cognitive, Jun 2017, Singapore, Singapore. <http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017>
- Towards sensor-based manipulation of flexible objectsAndrea Cherubini, Peter CorkeICRA Workshop on Sensor-Based Object Manipulation for Collaborative Assembly, May 2017, Singapore, Singapore. <https://sites.google.com/view/somca>
- QP-based Adaptive-Gains Compliance Control in Humanoid FallsVincent Samy, Karim Bouyarmane, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2017, Singapour, Singapore. pp.4762-4767.
- Zero-Shot Object Recognition Based on Haptic AttributesZineb Abderrahmane, Gowrishankar Ganesh, Andrea Cherubini, André CrosnierICRA Workshop The Robotic Sense of Touch, May 2017, Singapour, Singapore.
- Technological Approach for Behavior Change Detection toward Better Adaptation of Services for Elderly PeopleFiras Kaddachi, Hamdi Aloulou, Bessam Abdulrazak, Joaquim Bellmunt, Romain Endelin, Mounir Mokhtari, Philippe Fraisse10th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2017), Feb 2017, Porto, Portugal. pp.96-105.
2016
- Whole-Body Contact Force Sensing From Motion CaptureTu-Hoa Pham, Adrien Bufort, Stéphane Caron, Abderrahmane KheddarSII: Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.58-63.
- Closed-loop RGB-D SLAM Multi-Contact Control for humanoid robotsArnaud Tanguy, Pierre Gergondet, Andrew Comport, Abderrahmane KheddarIEEE/SICE International Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.51-57.
- Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robotsHervé Audren, Abderrahmane Kheddar, Pierre GergondetHumanoids, Nov 2016, Cancun, Mexico. pp.1037-1044.
- Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM AccelerationsStéphane Caron, Abderrahmane KheddarHumanoids, Nov 2016, Cancún, Mexico. pp.550-557.
- Residual-based contacts estimation for humanoid robotsFabrizio Flacco, Antonio Paolillo, Abderrahmane KheddarHumanoids, Nov 2016, Cancun, Mexico. pp.409-415.
- Multi-Contact Motion Retargeting from Human to Humanoid RobotAlessandro Fava, Karim Bouyarmane, Kevin Chappellet, Emanuele Ruffaldi, Abderrahmane KheddarHumanoids, Nov 2016, Cancun, Mexico. pp.1081-1086.
- Omnidirectional humanoid navigation in cluttered environments based on optical flow informationMarco Ferro, Antonio Paolillo, Andrea Cherubini, Marilena VendittelliHumanoids, Nov 2016, Cancun, Mexico. pp.75-80.
- Experimental Frailty Model towards an Adaptable Service Delivery for Aging PeopleJoaquim Bellmunt, Mounir Mokhtari, Bessam Abdulzarak, Hamdi Aloulou, Martin KodysICECCS: International Conference on Engineering of Complex Computer Systems, Nov 2016, Dubai, United Arab Emirates. pp.227-230.
- EKF-based state estimation for train localizationDamien Veillard, Frédérick Mailly, Philippe FraisseIEEE SENSORS, Oct 2016, Orlando, United States. <10.1109/ICSENS.2016.7808726>
- Revisiting software-based soft error mitigation techniques via accurate error generation and propagation modelsMojtaba Ebrahimi, Maryam Rashvand, Firas Kaddachi, Mehdi B. Tahoori, Giorgio Di NataleIOLTS: International On-Line Testing Symposium, Jul 2016, Sant Feliu de Guixols, Spain. pp.66-71.
- A constrained Extended Kalman Filter for dynamically consistent inverse kinematics and inertial parameters identificationVincent Bonnet, Gauthier Daune, Vladimir Jouvok, Raphaël Dumas, Philippe Fraisse, Dana Kulić, Antoine Seilles, Sébastien Andary, Gentiane VentureBioRob: Biomedical Robotics and Biomechatronics, Jun 2016, Singapour, Singapore. pp.952-957.
- Adaptation of walking ground reaction forces to changes in ground stiffness propertiesAdrien Pajon, Enrico Chiovetto, Colleen Monaghan, Martin Giese, Abderrahmane KheddarBioRob: Biomedical Robotics and Biomechatronics, Jun 2016, Singapour, Singapore. pp.1313-1318.
- Walking pattern generators designed for physical collaborationDon Joven Agravante, Alexander Sherikov, Pierre-Brice Wieber, Andrea Cherubini, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1573-1578.
- Parametrization of Catmull-Clark Subdivision Surfaces for Posture GenerationAdrien Escande, Stanislas Brossette, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1608-1614.
- Humanoid walking with compliant soles using a deformation estimatorGiovanni de Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1757-1762.
- Kinematic Modeling and Singularity Treatment of Steerable Wheeled Mobile Robots with Joint Acceleration LimitsMohamed Sorour, Andrea Cherubini, Robin Passama, Philippe FraisseICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.2110-2115.
- An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot InteractionBenjamin Navarro, Andrea Cherubini, Aicha Fonte, Robin Passama, Gérard Poisson, Philippe FraisseICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3043-3048.
- Cache- and register-aware system reliability evaluation based on data lifetime analysisMaha Kooli, Firas Kaddachi, Giorgio Di Natale, Alberto BosioVTS: VLSI Test Symposium, Apr 2016, Las Vegas, United States. <10.1109/VTS.2016.7477299>
- System-level reliability evaluation through cache-aware software-based fault injectionFiras Kaddachi, Maha Kooli, Giorgio Di Natale, Alberto Bosio, Mojtaba Ebrahimi, Mehdi B. TahooriDDECS: Design and Diagnostics of Electronic Circuits and Systems, Apr 2016, Kosice, Slovakia. <10.1109/DDECS.2016.7482446>
2015
- Capturing and Reproducing Hand-Object Interactions Through Vision-Based Force SensingTu-Hoa Pham, Abderrahmane Kheddar, Ammar Qammaz, Antonis ArgyrosObject Understanding for Interaction, Dec 2015, Santiago, Chile. <http://oui.csail.mit.edu/index.html>
- Humanoid posture generation on non-Euclidean manifoldsStanislas Brossette, Adrien Escande, Grégoire Duchemin, Benjamin Chrétien, Abderrahmane KheddarHumanoids, Nov 2015, Seoul, South Korea. pp.352-358.
- Falls control using posture reshaping and active complianceVincent Samy, Abderrahmane KheddarHumanoids, Nov 2015, Seoul, South Korea. pp.908-913.
- Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robotsBenjamin Chrétien, Adrien Escande, Abderrahmane KheddarIROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.3956-3961.
- Atoms based control of mobile robots with Hardware-In-the-Loop validationAdrien Lasbouygues, Benoît Ropars, Robin Passama, David Andreu, Lionel LapierreIROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.1083-1090.
- Active calibration of tactile sensors mounted on a robotic handBenjamin Navarro, Prajval Kumar, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea CherubiniIROS: 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>
- A humanoid walking pattern generator for sole design optimizationAdrien Pajon, Giovanni de Magistris, Sylvain Miossec, Kenji Kaneko, Abderrahmane KheddarICAR: International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.105-110.
- Simulation-based Optimal Motion Planning for Deformable ObjectEiichi Yoshida, Ko Ayusawa, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane KheddarARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. <10.1109/ARSO.2015.7428219>
- RoboPainter — A detailed robot design for interior wall paintingMohamed SorourARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. <10.1109/ARSO.2015.7428214>
- Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation ForcesTu-Hoa Pham, Abderrahmane Kheddar, Ammar Qammaz, Antonis ArgyrosCVPR: Computer Vision and Pattern Recognition, Jun 2015, Boston, MA, United States. pp.2810-2819.
- An integrated framework for humanoid embodiment with a BCIDamien Petit, Pierre Gergondet, Andrea Cherubini, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.2882-2887.
- Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areasStéphane Caron, Quang-Cuong Pham, Yoshihiko NakamuraICRA: International Conference on Robotics and Automation, May 2015, Seattle, United States. pp.5107-5112.
2014
- Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social IntelligenceAmit 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-DuvalAIC: Artificial Intelligence and Cognition, Nov 2014, Torino, Italy. pp.140-147.
- Vertical ladder climbing by the HRP-2 humanoid robotJoris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Kenji Kaneko, Mitsuharu Morisawa, Eiichi Yoshida, Fumio Kanehiro14th IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. pp.671-676.
- Toward autonomous car driving by a humanoid robot: A sensor-based frameworkAntonio Paolillo, Andrea Cherubini, François Keith, Abderrahmane Kheddar, Marilena VendittelliHumanoids, Nov 2014, Madrid, Spain. pp.451-456.
- A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time ExperimentsDavid Galdeano, Ahmed Chemori, Sébastien Krut, Philippe FraisseHumanoids, Nov 2014, Madrid, Spain. pp.693-698.
- Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environmentsPierre Gergondet, Damien Petit, Maxime Meilland, Abderrahmane Kheddar, Andrew Comport, Andrea CherubiniURAI: Ubiquitous Robots and Ambient Intelligence, Nov 2014, Kuala Lumpur, Malaysia. pp.600-604.
- Integration of Non-Inclusive Contacts in Posture GenerationStanislas Brossette, Adrien Escande, Joris Vaillant, François Keith, Thomas Moulard, Abderrahmane KheddarIROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.933-938.
- Model preview control in multi-contact motion-application to a humanoid robotHervé Audren, Joris Vaillant, Abderrahmane Kheddar, Adrien Escande, Kenji Kaneko, Eiichi YoshidaIROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.4030-4035.
- Toward an Affordable and User-Friendly Visual Motion Capture SystemVincent Bonnet, Nahéma Sylla, Andrea Cherubini, Alejandro González, Christine Azevedo Coste, Philippe Fraisse, Gentiane VentureEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Illinois, United States. pp.4985-4988.
- Measuring the Impact of ICTs on the Quality of Life of Ageing People with Mild DementiaMounir Mokhtari, Romain Endelin, Hamdi Aloulou, Thibaut TiberghienICOST: International Conference on Smart homes and Health Telematics, Jun 2014, Denver, CO, United States. pp.103-109.
- Navigation Assistance for a BCI-controlled Humanoid RobotDamien Petit, Pierre Gergondet, Andrea Cherubini, Maxime Meilland, Andrew I. Comport, Abderrahmane KheddarCYBER: Conference on Cyber Technology in Automation, Control, and Intelligent Systems, Jun 2014, Hong Kong, China. pp.246-251.
- Collaborative Human-Humanoid Carrying Using Vision and Haptic SensingDon Joven Agravante, Andrea Cherubini, Antoine Bussy, Pierre Gergondet, Abderrahmane KheddarICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.607-612.
- Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motionDavid Galdeano, Ahmed Chemori, Sébastien Krut, Philippe FraisseSSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. <10.1109/SSD.2014.6808778>
Last update on 15/02/2019
Department : Robotique
Head : Abderrahmane KHEDDAR
IDH Research Activity
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