
Ahmed Chemori
Présentation
Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching Assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic Control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics, and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics, and wearable robotics). He is the author of more than 150 scientific publications, including international journals, patents, books, book chapters, and international conferences. He co-supervised 19 PhD theses (including 15 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 and PKM 2018 Summer Schools, WIR 2017, and Robo-Rehab 2019 workshops).
He has been a visiting researcher at different institutions (NTNU - Norway, Tohoku University - Japan, EPFL - Switzerland, TUT - Estonia, HUST - China, UPC - China, CINVESTAV - Mexico, UPT - Mexico, Chiang Mai University - Thailand, KAUST - Saudi Arabia, ENIT - Tunisia, ENSIT - Tunisia, UMC - Algeria, etc).
He has also delivered various plenary/keynote lectures at different international conferences.
Publications
Publications
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Human based hybrid kinematic/dynamic whole-body control in humanoid roboticsHLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. , French-German-Japanese Conference on Humanoid and Legged Robots, 2014
Poster de conférence
lirmm-00993302
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Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic WalkingHLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011
Poster de conférence
lirmm-00982345
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Control of Underactuated Mechanical Systems2025, 9780443240201
Ouvrages
lirmm-04764542
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Modelling and Nonlinear Robust Control of Delta-Like Parallel Kinematic ManipulatorsElsevier, 200 p., 2023, 9780323961011. ⟨10.1016/C2021-0-01645-X⟩
Ouvrages
lirmm-03779447
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$L1$ Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ RehabilitationNew Trends in Robot Control, 270, pp.107-129, 2020, 978-981-15-1818-8. ⟨10.1007/978-981-15-1819-5_6⟩
Chapitre d'ouvrage
lirmm-02478654
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From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater VehiclesGeorge M. Roman. Underwater Vehicles: Design and Applications, Chapter 2, Nova Science Pub Inc, pp.1-32, 2020, 978-1-53618-876-9
Chapitre d'ouvrage
lirmm-03009836
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On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating ConditionsMechanism, Machine, Robotics and Mechatronics Sciences, Mechanisms and Machine Science (58), pp.81-97, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_7⟩
Chapitre d'ouvrage
lirmm-02011321
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From Non-model-Based to Model-Based Control of PKMs: A Comparative StudyMechanism, Machine, Robotics and Mechatronics Sciences, , pp.153-169, 2019, 978-3-319-89910-7. ⟨10.1007/978-3-319-89911-4_12⟩
Chapitre d'ouvrage
lirmm-02411641
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A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time ExperimentsNabil Derbel; Jawhar Ghommam; Quanmin Zhu. New Developments and Advances in Robot Control, 175, pp.39-79, 2019, Studies in Systems, Decision and Control, 978-981-13-2211-2. ⟨10.1007/978-981-13-2212-9_3⟩
Chapitre d'ouvrage
hal-02021956
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RISE Feedback with NN Feedforward Control of a Servo-Positioning System for Track Following in HDDSystems, Automation, and Control, De Gruyter, pp.219-240, 2018, ⟨10.1515/9783110470468-013⟩
Chapitre d'ouvrage
lirmm-03990398
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Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time ExperimentsSystems, Automation, and Control, 5, De Gruyter, pp.17-34, 2018, 9783110470468. ⟨10.1515/9783110470468-002⟩
Chapitre d'ouvrage
lirmm-03990387
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Model-Free Control of the Inertia Wheel Inverted Pendulum with real-time ExperimentsThe Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations, Chapter 5, pp.119-134, 2017, 978-1-78561-320-3. ⟨10.1049/PBCE111E_ch5⟩
Chapitre d'ouvrage
lirmm-01891582
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Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole systemThe Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations, Chapter 8, pp.165-187, 2017, 978-1-78561-320-3. ⟨10.1049/PBCE111E_ch8⟩
Chapitre d'ouvrage
lirmm-01891593
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Optimal Pattern Generator for Dynamic Walking in humanoid RoboticsSystems, Automation and Control, 1, De Gruyter, pp.115-139, 2016, 9783110448436. ⟨10.1515/9783110448436-008⟩
Chapitre d'ouvrage
lirmm-03990367
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Adaptive Control of Parallel Manipulators: Design and Real-Time ExperimentsCecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264
Chapitre d'ouvrage
lirmm-01892495
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Mechatronics of Hard Disk Drives: RISE Feedback Track Following Control of a R/W HeadMechatronics: Principles, Technologies and Applications, Nova Science Publishers, Inc., 2015, 978-1-63482-854-3
Chapitre d'ouvrage
lirmm-01893919
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Approches prédictives pour la stabilisation en temps discret de l'avion planaire à décollage verticalObjets volants miniatures : modélisation et commande embarquée, Hermes Science Publications, Chapitre 5, 2007, Traité IC2, série systèmes automatisés, 9782746214668
Chapitre d'ouvrage
hal-00180746
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Procédé de commande d'un automate à actionnement parallèle redondant, dispositif de commande associé et automateFrance, N° de brevet: FR20110002509. 2011
Brevet
lirmm-00861244
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Proof of an Algorithm to Compute Time-Optimal Third Order Polynomial S-curve Trajectories[Research Report] LIRMM (UM, CNRS). 2021
Rapport
(rapport de recherche)
lirmm-03275300
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Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnésAutomatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨NNT : ⟩
Thèse
tel-00168406
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Motion Control of Complex Robotic Systems: From Concept to Real-time ValidationRobotics [cs.RO]. Université de montpellier, 2024
HDR
tel-04828192
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