IDH: Interactive Digital Humans

L’équipe IDH a démarré ses activités en 2010. Elle réalise des recherches principalement autour de l’humanoïde, matérialisation robotique ou numérisation virtuelle de l’homme. Sur le plan national et international, IDH se distingue par l’intérêt particulier qu’elle porte aux tâches nécessitant une interaction homme-robot mettant en œuvre des processus cognitifs ou sensoriels dans le contrôle. Ces activités intègrent l’interprétation de données physiologiques de l’homme (EMG, EEG, BCI, etc.), de son mouvement mais aussi du sens haptique, i.e. le toucher. IDH porte également une attention particulière à la planification multi-contact exploitant le contact physique avec l’environnement comme source de commande ainsi que le contrôle visio-haptique pour des interactions avancées.

Membres

Permanents

Non permanents

Thématiques de recherche

L’activité scientifique de l’équipe IDH est organisée selon trois grands thèmes :

  • la co-manipulation et collaboration homme-robot
  • la commande et l’interaction homme-robot moyennant les signaux physiologiques
  • la planification et le contrôle en multi-contact.

Faits marquants

  • Commande d’humanoïdes par la pensée en classifiant les activités cérébrales au moyen de l’IRM fonctionnelle (première mondiale) ou l’EEG ; large dissémination dans la presse écrite (scientifique et grand publique) et audio-visuelle.
  • IEEE Spectrum a publié un article sur les travaux de contrôle actif par un robot d’un bras humain en FES pour des tâches collaboratives, large dissémination dans la presse écrite et audio-visuelle (collaboration aves l’équipe Inria/DEMAR).
  • « Best Paper Awards finalist » : IEEE/RAS IROS 2009, IEEE/RAS Humanoids 2010 et IEEE/RSJ IROS 2012.

Collaborations externes

  • CNRS-AIST Joint Robotics Laboratory (JRL), UMI 3218/CRT, Tsukuba, Japan. Echange fréquent des étudiants IDH au JRL, usage de HRP-2.
  • Université de Mié (Japon), Pr. Yano du département mécatronique, stagiaires en M2 et doctorant en commun N. Mizutani.
  • University of Dayton (USA), Pr. A. Murray, co-encadrement de la thèse de S. Cotton (2010).
  • University of Rome "Foro Italico" (Italy), Pr. Cappozzo, Echange d’étudiants sur l’analyse du mouvement humain et la robotique humanoïde.
  • Dans le cadre des projets Européens en cours, IDH collabore avec pas moins de 19 institutions académiques européennes de premier rang, par exemple, l’université de Munich (cluster d’excellence CoteSys), l’EPFL, KTH, FORTH, Université Catholique de Leuven, etc

Publications majeures

  • S. Lengagne, J. Vaillant, E. Yoshida, A. KheddarGeneration 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 depuis 2013 - Evaluation 2019

Articles de revues internationales

2018

  1. 3D robust stability polyhedron in multi-contact
    Hervé Audren, Abderrahmane Kheddar
    IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), In press. <10.1109/TRO.2017.2786683>
  2. 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.
  3. 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.

2017

  1. 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.
  2. 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.
  3. 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.
  4. 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 Kulic, Philippe Fraisse, Sébastien Andary, Gentiane Venture
    Journal of Biomechanics, Elsevier, 2017, 62, pp.140-147.
  5. Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
    Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon, Yoshihiko Nakamura
    International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67.
  6. On Weight-Prioritized Multi-Task Control of Humanoid Robots
    Karim Bouyarmane, Abderrahmane Kheddar
    IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, In press, pp.1-16.
  7. 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.

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. 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, pp.1-14.
  3. 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), 2016, In press, pp.1-20.
  4. 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.
  5. 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.
  6. 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.
  7. Collaborative manufacturing with physical human–robot interaction
    Andrea Cherubini, Robin Passama, André Crosnier, Antoine Lasnier, Philippe Fraisse
    Robotics and Computer-Integrated Manufacturing, Elsevier, 2016. <10.1016/j.rcim.2015.12.007>
  8. 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. <10.1109/TPDS.2016.2521373>
  9. 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.

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. 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. 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.
  2. fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRI
    Ori Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn
    Presence: Teleoperators and Virtual Environments, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241.
  3. 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.
  4. Autonomous Visual Navigation and Laser-based Moving Obstacle Avoidance
    Andrea Cherubini, Fabien Spindler, François Chaumette
    IEEE Transactions on Intelligent Transportation Systems, IEEE, 2014.
  5. 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.
  6. 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.

2013

  1. A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation
    Mohamed Guiatni, Vincent Riboulet, Christian Duriez, Abderrahmane Kheddar, Stéphane Cotin
    IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2013, 18 (3), pp.1170-1181.
  2. Planning contact points for humanoid robots
    Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec
    Robotics and Autonomous Systems, Elsevier, 2013, 61 (5), pp.428-442.
  3. Generation of Whole-body Optimal Dynamic Multi-Contact Motions
    Sébastien Lengagne, Joris Vaillant, Eiichi Yoshida
    International Journal of Robotics Research, SAGE Publications, 2013, pp.17.
  4. Deployment of assistive living technology in a nursing home environment: methods and lessons learned
    Hamdi Aloulou, Mounir Mokhtari, Thibaut Tiberghien, Jit Biswas, Clifton Phua, Kenneth Lin Jin Hong, Philip Yap
    BMC Medical Informatics and Decision Making, BioMed Central, 2013, 13 (42), pp.30.
  5. Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints
    Layale Saab, Oscar Efrain Ramos Ponce, François Keith, Nicolas Mansard, Philippe Souères, Jean-Yves Fourquet
    IEEE Transactions on Robotics, IEEE, 2013, 29 (2), pp.346-362.
  6. Visual navigation of a mobile robot with laser-based collision avoidance
    Andrea Cherubini, François Chaumette
    International Journal of Robotics Research, SAGE Publications, 2013, 32, pp.189-205.
  7. How to localize humanoids with a single camera?
    Sébastien Druon
    Autonomous Robots, Springer Verlag, 2013, 34 (1–2), pp.47-71.

Communications internationales

2018

  1. Dual-arm relative tasks performance using sparse kinematic control
    Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini
    IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Towards a Robotic Society.
  2. Dual-arm robotic manipulation of flexible cables
    Jihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini
    IROS: International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018.
  3. 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. IEEE International Conference on Robotics and Automation, 2018, ICRA Late breaking result abstract.
  4. 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. IEEE International Conference on Robotics and Automation, 8p., 2018.
  5. Towards vision-based manipulation of plastic materials
    Andrea Cherubini, Jürgen Leitner, Valerio Ortenzi, Peter Corke
    IEEE/RSJ IROS, 2018, Madrid, Spain. 2018.

2017

  1. Visual estimation of articulated objects configuration during manipulation with a humanoid
    Antonio Paolillo, Anastasia Bolotnikova, Kévin Chappellet, Abderrahmane Kheddar
    IEEE/SICE International Symposium on System Integration, Dec 2017, Taipei, Taiwan. 2017.
  2. Model-predictive control in multi-contact based on stability polyhedrons
    Hervé Audren, Abderrahmane Kheddar
    Humanoids, Nov 2017, Birmingham, United Kingdom. 17th IEEE-RAS International Conference on Humanoid Robots, 2017.
  3. Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model
    Vincent Samy, Stéphane Caron, Karim Bouyarmane, Abderrahmane Kheddar
    IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. Proceedings of the 2017 IEEE-RAS International Conference on Humanoid Robots.
  4. Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum
    Stéphane Caron, Abderrahmane Kheddar
    IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. 2017. <10.1109/IROS.2017.8206385>
  5. 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. 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017.
  6. 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 World Congress, Jul 2017, Toulouse, France.
  7. QP-based Adaptive-Gains Compliance Control in Humanoid Falls
    Vincent Samy, Karim Bouyarmane, Abderrahmane Kheddar
    IEEE International Conference on Robotics and Automation, May 2017, Singapour, Singapore. Proceedings of the 2017 IEEE International Conference on Robotics and Automation.

2016

  1. 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 (SII), Dec 2016, Sapporo, Japan. IEEE/SICE International Symposium on System Integration (SII), pp.51-57, 2017.
  2. Whole-Body Contact Force Sensing From Motion Capture
    Tu-Hoa Pham, Adrien Bufort, Stéphane Caron, Abderrahmane Kheddar
    IEEE/SICE International Symposium on System Integration (SII 2016), Dec 2016, Sapporo, Japan. 2016. <10.1109/SII.2016.7843975>
  3. Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations
    Stéphane Caron, Abderrahmane Kheddar
    IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancún, Mexico. pp.550-557.
  4. Residual-based contacts estimation for humanoid robots
    Fabrizio Flacco, Antonio Paolillo, Abderrahmane Kheddar
    2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp.409 - 415, 2016.
  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. 16th IEEE-RAS International Conference on Humanoid Robots, 2016, From Fiction to Reality.
  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. 16th IEEE-RAS International Conference on Humanoid Robots, pp.1081-1086, 2016, Proceedings of the IEEE-RAS International Conference on Humanoid Robots.
  7. Omnidirectional humanoid navigation in cluttered environments based on optical flow information
    Marco Ferro, Antonio Paolillo, Andrea Cherubini, Marilena Vendittelli
    Humanoids, Nov 2016, Cancun, Mexico. 16th IEEE-RAS International Conference on Humanoid Robots pp.75-80, 2016.
  8. EKF-based state estimation for train localization
    Damien Veillard, Frédérick Mailly, Philippe Fraisse
    IEEE Sensors 2016 , Oct 2016, Orlando, United States. 2016, Proceedings of IEEE Sensors 2016 Conference. <10.1109/ICSENS.2016.7808726>
  9. 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. 2016.
  10. 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. IEEE, pp.1573-1578, 2016.
  11. 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. IEEE International Conference on Robotics and Automation, 2016.
  12. Parametrization of Catmull-Clark Subdivision Surfaces for Posture Generation
    Adrien Escande, Stanislas Brossette, Abderrahmane Kheddar
    ICRA: International Conference on Robotics and Automation, Feb 2016, Stockholm, Sweden. 2016.

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. 1st Workshop on Object Understanding for Interaction @ ICCV: International Conference on Computer Vision, 2015.
  2. 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 2015, Kuala Lumpur, Malaysia. Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on, 2014. <10.1109/URAI.2014.7057501>
  3. Humanoid posture generation on non-Euclidean manifolds
    Stanislas Brossette, Adrien Escande, Grégoire Duchemin, Benjamin Chrétien, Abderrahmane Kheddar
    Humanoids, Nov 2015, Seoul, South Korea. 15th IEEE-RAS International Conference on Humanoid Robots, 2015. <10.1109/HUMANOIDS.2015.7363574>
  4. Falls control using posture reshaping and active compliance
    Vincent Samy, Abderrahmane Kheddar
    Humanoids, Nov 2015, Seoul, South Korea. 15th IEEE-RAS International Conference on Humanoid Robots, pp.908-913, 2015.
  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. IEEE/RSJ, pp.3956-3961, 2015.
  6. 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, Sep 2015, Hambourg, Germany. IEEE/RSJ, 2015, Workshop on Multimodal sensor-based robot control for HRI and soft manipulation.
  7. Atoms based control of mobile robots with Hardware-In-the-Loop validation
    Adrien Lasbouygues, Benoit Ropars, Robin Passama, David Andreu, Lionel Lapierre
    IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1083-1090 2015.
  8. 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. Advanced Robotics (ICAR), 2015 International Conference on pp.105-110, 2015.
  9. Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation Forces
    Tu-Hoa Pham, Abderrahmane Kheddar, Ammar Qammaz, Antonis Argyros
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2015), Jun 2015, Boston, MA, United States. 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015. <10.1109/CVPR.2015.7298898>
  10. 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. IEEE, pp.2882-2887, 2015.

2014

  1. 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. 14th IEEE-RAS International Conference on Humanoid Robots, pp.693-698, 2014, Humans and Robots Face-to-Face.
  2. 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. 14th IEEE-RAS International Conference on Humanoid Robots, pp.451-456, 2014.
  3. Vertical ladder climbing by the HRP-2 humanoid robot
    Joris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Kenji Kaneko, Mitsuharu Morisawa, Eiichi Yoshida, Fumio Kanehiro
    Humanoids, Nov 2014, Madrid, Spain. 14th IEEE-RAS International Conference on Humanoid Robots, pp.671-676, 2014.
  4. 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. IEEE, Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, pp.4030-4035, 2014.
  5. 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. 2014.
  6. 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. 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4985-4988, 2014.
  7. 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'2014: 12th International Conference on Smart homes and Health Telematics, Jun 2014, Denver, CO, United States. Advances in Cognitive Technologies.
  8. 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. IEEE, pp.246-251, 2014, 4th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems.
  9. Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing
    Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Pierre Gergondet, Abderrahmane Kheddar
    IEEE. ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.607-612, 2014.
  10. 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. French-German-Japanese Conference on Humanoid and Legged Robots, 2014.
  11. 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. IEEE, 11th International Multi-Conference on Systems, Signals and Devices, 2014, SAC: Systems, Analysis and Automatic Control. <10.1109/SSD.2014.6808778>

2013

  1. Using vision and haptic sensing for human-humanoid haptic joint actions
    Don Joven Agravante, Andrea Cherubini, Abderrahmane Kheddar
    CISRAM: Cybernetics and Intelligent Systems Robotics, Automation and Mechatronics, Nov 2013, Manila, Philippines. 2013.
  2. Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results
    Stanislas Brossette, Joris Vaillant, François Keith, Adrien Escande, Abderrahmane Kheddar
    CISRAM: Cybarnetics and Intelligent Systems Robotics, Automation and Mechatronics, Nov 2013, Manila & Pico de Loro Beach, Philippines. 1, 2013.
  3. Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision
    Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Abderrahmane Kheddar
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. 2013.
  4. Multimodal Control for Human-Robot Cooperation
    Andrea Cherubini, Robin Passama, Arnaud Meline, André Crosnier, Philippe Fraisse
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.2202-2207, 2013.
  5. BCI Control of Whole-body Simulated Humanoid by Combining Motor Imagery Detection and Autonomous Motion Planning
    Karim Bouyarmane, Joris Vaillant, Norikazu Sugimoto, François Keith, Jun-Ichiro Furukawa, Jun Morimoto
    ICONIP: International Conference on Neural Information Processing, Nov 2013, Daegu, South Korea. 2013.
  6. Lidar-based teach-and-repeat of mobile robot trajectories
    Christoph Sprunk, Gian Diego Tipaldi, Andrea Cherubini, Wolfram Burgard
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. 25th International Conference on Robots and Intelligent Systems, Nov 2013, Tokyo, Japan. 2013, pp.3144-3149, 2013.
  7. A gain-scheduling approach to model human simultaneous visual tracking and balancing
    Adina Panchea, Nacim Ramdani, Philippe Fraisse, Park Sukyung
    IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.1695-1700, 2013.
  8. Implementation of Allen’s interval logic with the semantic web
    Romain Endelin, Hamdi Aloulou, Jos De Roo, Stéphane Renouard, Thibaut Tiberghien, Mounir Mokhtari
    MEDES'13: International Conference on Management of Emergent Digital EcoSystems, Oct 2013, Neumünster Abbey, Luxembourg.
  9. Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study
    Alejandro González, Mitsuhiro Hayashibe, Emel Demircan, Philippe Fraisse
    SMC: Conference on Systems, Man, and Cybernetics, Oct 2013, Manchester, United Kingdom. pp.4718-4723, 2013, Cyber Systems Enabling Knowledge Integration: The Smart Response to Emerging Societal Challenges.
  10. Sensor-based control of a collaborative robot
    Andrea Cherubini, Robin Passama, Arnaud Meline, André Crosnier, Philippe Fraisse
    HFR: Human-Friendly Robotics, Sep 2013, Rome, Italy. 6th International Workshop on Human-Friendly Robotics, 2013.
  11. Visio-haptic control for Human-Humanoid Cooperative Carrying Tasks
    Don Joven Agravante, Andrea Cherubini, Abderrahmane Kheddar
    HFR: Human-Friendly Robotics, Sep 2013, Rome, Italy. 6th International Workshop on Human-Friendly Robotics, HFR 2013, 2013.
  12. Low-Dimensional User Control of Autonomously Planned Whole-Body Humanoid Locomotion Motion Towards Brain-Computer Interface Applications
    Karim Bouyarmane, Joris Vaillant, Jun Morimoto
    CLAWAR: International Conference on Climbing and Walking Robots, Jul 2013, Sydney, Australia. 2013.
  13. Control of humanoid Robots: Real-time application to a human squat-like motion
    David Galdeano
    EuroMov inaugural conference - HEALTH IN MOTION, Jun 2013, Montpellier, France. 2013.
  14. Behavior Recognition for Elderly People in Large-Scale Deployment
    Romain Endelin, Stéphane Renouard, Thibaut Tiberghien, Hamdi Aloulou, Mounir Mokhtari
    International Conference On Smart homes and health Telematics, Jun 2013, Singapore, Singapore. pp.56, 2013.
  15. Online Identification and Visualization of the Statically Equivalent Serial Chain via Constrained Kalman Filter
    Alejandro González, Mitsuhiro Hayashibe, Philippe Fraisse
    ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE/RSJ, pp.5303-5308, 2013, Anthropomatics – Technologies for Humans.
  16. Avoiding Moving Obstacles during Visual Navigation
    Andrea Cherubini, Boris Grechanichenko, Fabien Spindler, François Chaumette
    ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. IEEE, pp.3054-3059, 2013.
  17. Optimal Pattern Generator For Dynamic Walking in humanoid Robotics
    David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse
    SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. IEEE, 10th International Multi-Conference on Systems, Signals and Devices, 1, 2013. <10.1109/SSD.2013.6564107>

Mots-clés

Robotique humanoide, Interactions homme-robot, Cognition de l’interaction haptique homme-robots et robots-environnement, Commande par la pensee et les signaux physiologiques, Humain virtuel

Dernière mise à jour le 29/03/2018