
Ahmed Chemori
Presentation
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 about 170 scientific publications, including international
journals, patents, book chapters and international conferences. He co-supervised 17 PhD theses (including 9
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/professor 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
Conference poster
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
Conference poster
lirmm-00982345
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Control of Underactuated Mechanical Systems2025, 9780443240201
Books
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⟩
Books
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⟩
Book sections
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
Book sections
lirmm-03009836
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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⟩
Book sections
lirmm-02411641
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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⟩
Book sections
lirmm-02011321
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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⟩
Book sections
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⟩
Book sections
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⟩
Book sections
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⟩
Book sections
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⟩
Book sections
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⟩
Book sections
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
Book sections
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
Book sections
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
Book sections
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
Patents
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
Reports
(Research report)
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 : ⟩
Theses
tel-00168406
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Motion Control of Complex Robotic Systems: From Concept to Real-time ValidationRobotics [cs.RO]. Université de montpellier, 2024
Habilitation à diriger des recherches
tel-04828192
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