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

2019

  1. 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.
  2. 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.
  3. 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.
  4. 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>
  5. 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.
  6. 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, In press. <10.1007/s00170-019-03806-y>
  7. 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.
  8. 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.
  9. Human-Humanoid Collaborative Carrying
    Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, In press, pp.1-14.
  10. 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>
  11. 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, In press. <10.1109/TII.2019.2898264>

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. 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.
  3. 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.
  4. 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.
  5. Multi-Contact Postures Computation on Manifolds
    Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2018, 34 (5), pp.1252-1265.
  6. Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects
    Antonio Paolillo, Kévin Chappellet, Anastasia Bolotnikova, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.2746-2753.
  7. 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.
  8. Probabilistic analysis of recurrence plots generated by fractional Gaussian noise
    Sofiane Ramdani, Frédéric Bouchara, Annick Lesne
    Chaos, American Institute of Physics, 2018, 28 (8), pp.#085721.
  9. 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.
  10. 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.
  11. 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.
  12. 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.
  13. 3D robust stability polyhedron in multi-contact
    Hervé Audren, Abderrahmane Kheddar
    IEEE Transactions on Robotics, IEEE, 2018, 34 (2), pp.388-403.
  14. 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.
  15. 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.
  16. 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.
  17. 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.
  18. 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.
  19. Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems
    Karim Bouyarmane, Abderrahmane Kheddar
    Journal of Intelligent and Robotic Systems, Springer Verlag (Germany), 2018, 91 (3-4), pp.377-401.
  20. 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.

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. 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.
  3. 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.
  4. 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
    IFAC-PapersOnLine, Elsevier, 2017, 20th IFAC World Congress, 50 (1), pp.13510-13515.
  5. 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.
  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. 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.
  8. 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.
  9. 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.
  10. Completeness of randomized kinodynamic planners with state-based steering
    Stephane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
    Robotics and Autonomous Systems, Elsevier, 2017, 89, pp.85-94.
  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. 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.
  14. 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.
  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, Institute of Electrical and Electronics Engineers (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. 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, 2016, 36 (1), pp.1-11.
  11. 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.
  12. 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.
  13. 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.

2015

  1. 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.
  2. SSVEP stimuli design for object-centric BCI
    Pierre Gergondet, Abderrahmane Kheddar
    Brain-Computer Interfaces, Taylor & Francis, 2015, 2 (1), pp.11-28.
  3. 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, Institute of Electrical and Electronics Engineers (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

2019

  1. 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.
  2. 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>
  3. 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 materials using a finger mounted accelerometer
    Kuniharu Sakurada, Gowrishankar Ganesh, Wenwei Yu, Kahori Kita
    ROBIO: Robotics and Biomimetics, Dec 2018, Kualalampur, 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.1-9.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  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. 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.
  11. A Reliable 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. <https://www.ieee-ras.org/about-ras/ras-calendar/event/1342-arso-2018-ieee-workshop-on-advanced-robotics-and-its-social-impacts>
  12. 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.
  13. 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.
  14. Human Arm Motion Analysis Based on the Inverse Optimization Approach
    Adina Panchea, Nacim Ramdani, Vincent Bonnet, Philippe Fraisse
    Biorob: Biomedical Robotics and Biomechatronics, Aug 2018, Enschede, France. pp.1005-1010.
  15. Electrophysiological Activity Evoked by Direct Electrical Stimulation of the Human Brain: Interest of the P0 Component
    Anthony Boyer, Hugues Duffau, Marion Vincent, Sofiane Ramdani, Emmanuel Mandonnet, David Guiraud, François Bonnetblanc
    EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, HI, United States. pp.2210-2213.
  16. 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.
  17. Physical human-robot interaction with the OpenPHRI library
    Benjamin Navarro, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini
    IEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia. <https://workmate2018.wordpress.com>
  18. 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.
  19. 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>
  20. 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.
  21. 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, Kévin Chappellet, Abderrahmane Kheddar
    SII: Symposium on System Integration, Dec 2017, Taipei, Taiwan. pp.330-335.
  2. 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.
  3. 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.
  4. 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.
  5. Model-predictive control in multi-contact based on stability polyhedrons
    Hervé Audren, Abderrahmane Kheddar
    Humanoids, Nov 2017, Birmingham, United Kingdom. pp.631-636.
  6. 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.
  7. 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.
  8. Nut fastening with a humanoid robot
    Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar
    IROS: International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148.
  9. 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.
  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, Kévin 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.
  12. 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>
  13. 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>
  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. 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.

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. Residual-based contacts estimation for humanoid robots
    Fabrizio Flacco, Antonio Paolillo, Abderrahmane Kheddar
    Humanoids, Nov 2016, Cancun, Mexico. pp.409-415.
  5. 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.
  6. 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.
  7. 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.
  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. 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.
  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. 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.
  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. 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.
  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. An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction
    Benjamin Navarro, Andrea Cherubini, Aicha Fonte, Robin Passama, Gérard Poisson, Philippe Fraisse
    ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3043-3048.

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. Active calibration of tactile sensors mounted on a robotic hand
    Benjamin Navarro, Prajval Kumar, Aicha 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>
  5. 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.
  6. 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.
  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. Simulation-based Optimal Motion Planning for Deformable Object
    Eiichi Yoshida, Ko Ayusawa, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane Kheddar
    ARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. <10.1109/ARSO.2015.7428219>
  9. 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>
  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. 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.
  12. 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.

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. 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.
  4. 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
    Humanoids, Nov 2014, Madrid, Spain. pp.671-676.
  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. 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.
  7. 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.
  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. Human based hybrid kinematic/dynamic whole-body control in humanoid robotics
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. <http://orb.iwr.uni-heidelberg.de/hlr2014/HLR14/index.php>
  13. 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