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. Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects
    Antonio Paolillo, Kévin Chappellet, Anastasia Bolotnikova, Abderrahmane Kheddar
    IEEE Robotics and Automation Letters, IEEE In press, 3 (4), pp.2746-2753.
  2. 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.
  3. 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>
  4. 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.
  5. Multi-Contact Postures Computation on Manifolds
    Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar
    IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), In press, X.

2017

  1. 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.
  2. 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.
  3. 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.
  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.

2016

  1. 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>
  2. 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>
  3. 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.

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.
  2. 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.

2011

  1. Estimation of the centre of mass from motion capture and force plate recordings: A study on the elderly
    Sébastien Cotton, Michele Vanoncini, Philippe Fraisse, Nacim Ramdani, Emel Demircan, Andrew Murray, T. Keller
    Applied Bionics and Biomechanics, Hindawi, 2011, 8, pp.67-84.
  2. Computing reachable sets for uncertain nonlinear hybrid systems using interval constraint propagation techniques
    Nacim Ramdani, Nedialko S. Nedialkov
    Nonlinear Analysis: Hybrid Systems, Elsevier, 2011, 5 (2), pp.149-162.

2010

  1. Computing reachable sets for uncertain nonlinear monotone systems
    Nacim Ramdani, Nacim Meslem, Yves Candau
    Nonlinear Analysis: Hybrid Systems, Elsevier, 2010, 4 (2), pp.263-278.

2008

  1. Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments
    Olivier Stasse, Bjorn Verrelst, Pierre-Brice Wieber, Bram Vanderborght, Paul Evrard, Abderrahmane Kheddar, Kazuhito Yokoi
    Advanced Robotics, Taylor & Francis, 2008, 22 (6-7), pp.589-611.

2005

  1. Robust dynamic experimental identification of robots with set membership uncertainty
    Nacim Ramdani, Philippe Poignet
    IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2005, 10 (2), pp.253-256.

2003

  1. Efficient Cellular Automata for 2D/3D Free-Form Modeling
    Sébastien Druon, André Crosnier, Loïc Brigandat
    Journal of WSCG, University of West Bohemia, Czech Republic, 2003, 11 (1), pp. 102-108.
  2. 2018

    1. OpenPHR: an open-source library for safe 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.

    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.

    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. 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. 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.

Communications internationales

2018

  1. 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. <https://www.iros2018.org>
  2. 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. <https://www.iros2018.org>
  3. 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. 27th IEEE International Symposium on Robot and Human Interactive Communication, 2018. <http://ro-man2018.org>
  4. Towards vision-based manipulation of plastic materials
    Andrea Cherubini, Jürgen Leitner, Valerio Ortenzi, Peter Corke
    IEEE/RSJ IROS, 2018, Madrid, Spain. 2018.

2011

  1. Path planning for steerable needles using duty-cycling
    Mariana Bernardes, Bruno Vilhena Adorno, Nabil Zemiti, Philippe Poignet, Geovany Borges
    CARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294, 2011.

2010

  1. Using Adaptive Control Architecture to Enhance Mobile Robot Reliability
    Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Robin Passama, Didier Crestani
    TAROS: Towards Autonomous Robotic Systems, 2010, Plymouth, United Kingdom. 11th Conference Towards Autonomous Robotic Systems, pp.54-61, 2010.

2006

  1. Robust Nonlinear Continuous-Time State Estimation Using Interval Taylor Models
    Tarek Raissi, Nacim Ramdani, Yves Candau
    ROCOND'06: 5th IFAC Symposium on Robust Control Design, 2006, pp.CDROM, 2006.
  2. Human upper body posture estimation from forces exerted on handles
    Nacim Ramdani, Gaël Pages, Philippe Fraisse, David Guiraud
    ROBIO'06: IEEE International Conference on Robotics and Biomimetics, 2006, Kunming, China. pp.410-415, 2006.
  3. Experimental Parallel Robot Dynamic Model Evaluation with Set Membership Estimation
    Nacim Ramdani, Philippe Poignet
    SYSID'06: 14th IFAC Symposium on System Identification, 2006, pp.967-972, 2006.

2003

  1. Human Centered System for Computer Aided Replication of Sculptures
    André Crosnier, Sébastien Druon
    IROS: Intelligent Robots and Systems, 2003, Las Vegas, United States. IEEE, IEEE International Conference on Intelligent Robots and Systems, pp.3751-3756, 2003.
  2. Ellipsoidal Estimation of Parallel Robot Dynamic Parameters
    Philippe Poignet, Nacim Ramdani, Oscar Andrès Vivas
    IROS'03: International Conference on Intelligent Robots and Systems, 2003, Las Vegas, Nevada, United States. IEEE, pp.3300-3305, 2003.
  3. 2018

    1. 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. <https://icra2018.org>
    2. 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. <https://icra2018.org>

    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. <http://www.ro-man2017.org/>
    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. 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.
    4. 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.
    5. 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.
    6. 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.
    7. 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. <http://www.humanoids2016.org/>
    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. <http://oui.csail.mit.edu/index.html>
    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. 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.
    4. 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>
    5. 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. <https://ras.papercept.net/conferences/conferences/IROS15/program/IROS15_AuthorIndexWeb.html>
    6. Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots
      Benjamin Chrétien, Adrien Escande, Abderrahmane Kheddar
      IROS: Intelligent RObots and Systems, Sep 2015, Hamburg, Germany. IEEE/RSJ, pp.3956-3961, 2015.
    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. 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.
    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. 14th IEEE-RAS International Conference on Humanoid Robots, pp.451-456, 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. <http://www.iros2014.org/>
    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. <http://orb.iwr.uni-heidelberg.de/hlr2014/HLR14/index.php>
    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. <http://www.cis-ram.org/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. <http://www.cis-ram.org/2013/>
    3. 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.
    4. 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. <http://www.iconip2013.org/>
    5. 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.
    6. 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.
    7. 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.
    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. 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.
    11. 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.
    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. <http://clawar2013.feit.uts.edu.au/>
    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. <http://www.euromov.eu/conference2013/>
    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. 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.
    16. 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.
    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

Département : Robotique

Responsable : Abderrahmane KHEDDAR

Fiche-équipe IDH

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