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Ahmed Chemori

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**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 120 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.
**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

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Structural reliability based energy-efficient arctic position mooring control of moored offshore structures under ice loads

Xiaoyue Zhang , Yuanhui Wang , Ahmed Chemori
Ocean Engineering, 2023, 268, pp.113435. ⟨10.1016/j.oceaneng.2022.113435⟩
Journal articles lirmm-03909151v1
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Time-delay high-order sliding mode control for trajectory tracking of autonomous underwater vehicles under disturbances

Jesus Guerrero , Ahmed Chemori , Jorge Torres , Vincent Creuze
Ocean Engineering, 2023, 268, pp.113375. ⟨10.1016/j.oceaneng.2022.113375⟩
Journal articles lirmm-03902652v1
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Adaptive RISE Feedback Control for Robotized Machining With PKMs: Design and Real-Time Experiments

Jonatan Martin Escorcia-Hernandez , Ahmed Chemori , Hipolito Aguilar-Sierra
IEEE Transactions on Control Systems Technology, 2023, 31 (1), pp.39-54. ⟨10.1109/TCST.2022.3169015⟩
Journal articles lirmm-03664459v1
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A new fast nonlinear model predictive control of parallel manipulators: Design and experiments

Ahmed Chemori , Rihab Kouki , Faouzi Bouani
Control Engineering Practice, 2023, 130, pp.105367. ⟨10.1016/j.conengprac.2022.105367⟩
Journal articles lirmm-03834682v1
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An Assistive Explicit Model Predictive Control Framework for a Knee Rehabilitation Exoskeleton

Ines Jammeli , Ahmed Chemori , Huiseok Moon , Salwa Elloumi , Samer Mohammed et al.
IEEE/ASME Transactions on Mechatronics, 2022, pp.3636-3647. ⟨10.1109/TMECH.2021.3126674⟩
Journal articles lirmm-03495187v1
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Kinematic sensitivity analysis of manipulators using a novel dimensionless index

Allaoua Brahmia , Ridha Kelaiaia , Olivier Company , Ahmed Chemori
Robotics and Autonomous Systems, 2022, 150, pp.104021. ⟨10.1016/j.robot.2022.104021⟩
Journal articles lirmm-03523086v1
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A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

Auwal Tijjani Shehu , Ahmed Chemori , Vincent Creuze
Annual Reviews in Control, 2022, 54, pp.125-147. ⟨10.1016/j.arcontrol.2022.07.001⟩
Journal articles lirmm-03776018v1
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A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots

João Cavalcanti Santos , Marc Gouttefarde , Ahmed Chemori
IEEE Transactions on Robotics, 2022, 38 (4), pp.2597-2616. ⟨10.1109/TRO.2022.3152705⟩
Journal articles lirmm-03624086v1
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Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

Ghina Hassan , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé , Maher El Rafei et al.
IEEE/ASME Transactions on Mechatronics, 2022, 27 (6), pp.4707-4717. ⟨10.1109/TMECH.2022.3164247⟩
Journal articles lirmm-03650958v1
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Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

Auwal Shehu Tijjani , Ahmed Chemori , Sofiane Ahmed Ali , Vincent Creuze
IEEE Transactions on Control Systems Technology, In press, pp.1-16. ⟨10.1109/TCST.2022.3224321⟩
Journal articles lirmm-03883697v1
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Inverse-model intelligent control of fin-actuated underwater robots based on drag force propulsion

Walid Remmas , Ahmed Chemori , Maarja Kruusmaa
Ocean Engineering, 2021, 139, pp.#109883. ⟨10.1016/j.oceaneng.2021.109883⟩
Journal articles lirmm-03356874v1
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Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control

Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe
Frontiers in Neurorobotics, 2021, 15, pp.#679570. ⟨10.3389/fnbot.2021.679570⟩
Journal articles lirmm-03227266v1
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On Robust Mechanical Design of PAR2 Delta-Like Parallel Kinematic Manipulator

Allaoua Brahmia , Ridha Kelaiaia , Ahmed Chemori , Olivier Company
Journal of Mechanisms and Robotics, 2021, pp.#JMR-21-1145. ⟨10.1115/1.4051360⟩
Journal articles lirmm-03246589v1
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Diver tracking in open waters: A low‐cost approach based on visual and acoustic sensor fusion

Mohamed Walid Remmas , Ahmed Chemori , Maarja Kruusmaa
Journal of Field Robotics, 2021, 38 (3), pp.494-508. ⟨10.1002/rob.21999⟩
Journal articles lirmm-03009795v2
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Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim
Transactions of the Institute of Measurement and Control, 2021, pp.#014233122110313. ⟨10.1177/01423312211031396⟩
Journal articles lirmm-03312753v1
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A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
International Journal of Humanoid Robotics, 2021, 18 (5), pp.#2150016. ⟨10.1142/S021984362150016X⟩
Journal articles lirmm-03470787v1
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Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis and Experiments

Auwal Tijjani Shehu , Ahmed Chemori , Vincent Creuze
IEEE/ASME Transactions on Mechatronics, 2021, 26 (2), pp.897-907. ⟨10.1109/TMECH.2020.3012502⟩
Journal articles lirmm-02918627v1
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RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility

Kashif I.K. Sherwani , Neelesh Kumar , Ahmed Chemori , Munna Khan , Samer S. Mohammed et al.
Robotics and Autonomous Systems, 2020, 124, pp.#103354. ⟨10.1016/j.robot.2019.103354⟩
Journal articles lirmm-02356817v1
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Adaptive Disturbance Observer for Trajectory Tracking of Underwater Vehicles

Jesus Guerrero , Jorge Antonio Torres Muñoz , Vincent Creuze , Ahmed Chemori
Ocean Engineering, 2020, 200, pp.#107080. ⟨10.1016/j.oceaneng.2020.107080⟩
Journal articles lirmm-02484279v1
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A New Adaptive RISE Feedforward Approach based on Associative Memory Neural Networks for the Control of PKMs

Jonatan Martín Escorcia-Hernández , Hipolito Aguilar-Sierra , Omar Aguilar-Mejía , Ahmed Chemori , José Humbérto Arroyo-Nuñez et al.
Journal of Intelligent and Robotic Systems, 2020, 200, pp.827-847. ⟨10.1007/s10846-020-01242-9⟩
Journal articles lirmm-02925920v1
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Observation-Based Nonlinear Proportional–Derivative Control for Robust Trajectory Tracking for Autonomous Underwater Vehicles

Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori
IEEE Journal of Oceanic Engineering, 2020, 45 (4), pp.1190-1202. ⟨10.1109/JOE.2019.2924561⟩
Journal articles lirmm-02281181v1
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A new solution for machining with RA-PKMs: Modelling, control and experiments

Jonatan Martín Escorcia-Hernández , Ahmed Chemori , Hipolito Aguilar-Sierra , Arturo Jesús Monroy-Anieva
Mechanism and Machine Theory, 2020, 150, pp.#103864. ⟨10.1016/j.mechmachtheory.2020.103864⟩
Journal articles lirmm-02514747v1
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Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy

Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe
IEEE Access, 2020, 8, pp.92050-92060. ⟨10.1109/ACCESS.2020.2995104⟩
Journal articles lirmm-02610501v1
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A New Time-Varying Feedback RISE Control for 2nd-Order Nonlinear MIMO Systems: Theory and Experiments

Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis et al.
International Journal of Control, 2019, ⟨10.1080/00207179.2019.1704063⟩
Journal articles lirmm-02406094v1
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Trajectory tracking for autonomous underwater vehicle: An adaptive approach

Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori
Ocean Engineering, 2019, 172, pp.511-522. ⟨10.1016/j.oceaneng.2018.12.027⟩
Journal articles lirmm-01970636v1
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Motion Control of a Hovering Biomimetic Four-Fin Underwater Robot

Taavi Salumäe , Ahmed Chemori , Maarja Kruusmaa
IEEE Journal of Oceanic Engineering, 2019, 44 (1), pp.54-71. ⟨10.1109/JOE.2017.2774318⟩
Journal articles lirmm-01718243v1
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A nonlinear controller based on saturation functions with variable parameters to stabilize an AUV

Eduardo Campos Mercado , Jesus Monoroy , Hugo Abundis , Ahmed Chemori , Vincent Creuze et al.
International Journal of Naval Architecture and Ocean Engineering, 2019, 11 (1), pp.211-224. ⟨10.1016/j.ijnaoe.2018.04.002⟩
Journal articles lirmm-01783757v1
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Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments

Jesus Guerrero , Jorge Torres , Vincent Creuze , Ahmed Chemori , Eduardo Campos Mercado et al.
Mechatronics, 2019, 61, pp.96-105. ⟨10.1016/j.mechatronics.2019.06.006⟩
Journal articles lirmm-02163345v1
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A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

Moussab Bennehar , Ahmed Chemori , Mohamed Bouri , Laurent Frédéric Jenni , François Pierrot et al.
International Journal of Control, 2018, 91 (3), pp.593-607. ⟨10.1080/00207179.2017.1286536⟩
Journal articles lirmm-01692463v1
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Fractional order model reference adaptive control for SCARA robot trajectory tracking

Yassine Bensafia , Samir Ladaci , Khatir Khettab , Ahmed Chemori
International Journal of Industrial and Systems Engineering, 2018, 30 (2), pp.138-156. ⟨10.1504/IJISE.2018.094839⟩
Journal articles lirmm-01887395v1
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Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

Nahla Khraief Haddad , Ahmed Chemori , Safya Belghith
International Journal of Control, 2018, 91 (12), pp.2657-2672. ⟨10.1080/00207179.2017.1331378⟩
Journal articles lirmm-01719182v1
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Virtual Submerged Floating Operational System for Robotic Manipulation

Qin Zhang , Jialei Zhang , Ahmed Chemori , Xianbo Xiang
Complexity, 2018, 2018, pp.1-18. ⟨10.1155/2018/9528313⟩
Journal articles lirmm-01920187v1
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Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems

Jawhar Ghommam , Ahmed Chemori
Nonlinear Dynamics, 2017, 90 (1), pp.301-315. ⟨10.1007/s11071-017-3662-3⟩
Journal articles lirmm-01692560v1
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Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments

Eduardo Campos Mercado , Ahmed Chemori , Vincent Creuze , Jorge Antonio Torres Muñoz , Rogelio Lozano et al.
Mechatronics, 2017, 45, pp.49-59. ⟨10.1016/j.mechatronics.2017.05.004⟩
Journal articles lirmm-01567465v1
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From Hopf-bifurcation to limit cycles control in underactuated mechanical systems

Nahla Khraief Haddad , Safya Belghith , Hassène Gritli , Ahmed Chemori
International journal of bifurcation and chaos in applied sciences and engineering , 2017, 27 (07), ⟨10.1142/S0218127417501048⟩
Journal articles lirmm-01723915v1
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Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

Hassène Gritli , Nahla Khraief , Ahmed Chemori , Safya Belghith
Nonlinear Dynamics, 2017, 89 (3), pp.2195-2226. ⟨10.1007/s11071-017-3578-y⟩
Journal articles lirmm-01723917v1
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Nonlinear control of parallel manipulators for very high accelerations without velocity measurement: stability analysis and experiments on Par2 parallel manipulator

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot
Robotica, 2016, 34 (01), pp.43-70. ⟨10.1017/S0263574714001246⟩
Journal articles lirmm-01342856v1
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A new revised desired compensation adaptive control for enhanced tracking: application to RA-PKMs

Moussab Bennehar , Ahmed Chemori , François Pierrot
Advanced Robotics, 2016, 30 (17-18), pp.1199-1214. ⟨10.1080/01691864.2016.1204248⟩
Journal articles hal-01346433v1
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Extended Model-Based Feedforward Compensation in L1 Adaptive Control for Mechanical Manipulators: Design and Experiments

Moussab Bennehar , Ahmed Chemori , François Pierrot , Vincent Creuze
Frontiers in Robotics and AI, 2015, 2, pp.32. ⟨10.3389/frobt.2015.00032⟩
Journal articles hal-01275320v1
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Feedforward Inertial Actuation for Roll Stabilization of an Underactuated Underwater Vehicle

Divine Maalouf , Vincent Creuze , Ahmed Chemori , Olivier Tempier
International Journal of Robotics and Automation, 2015, 30 (1), pp.4161-4196. ⟨10.2316/Journal.206.2015.1.206-4161⟩
Journal articles lirmm-01119880v1
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Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot
IEEE Transactions on Control Systems Technology, 2015, 23 (4), pp.1520-1535. ⟨10.1109/TCST.2014.2377951⟩
Journal articles lirmm-01342858v1
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ℒ1 Adaptive Depth and Pitch Control of an Underwater Vehicle with Real-Time Experiments

Divine Maalouf , Ahmed Chemori , Vincent Creuze
Ocean Engineering, 2015, 98, pp.66-77. ⟨10.1016/j.oceaneng.2015.02.002⟩
Journal articles lirmm-01181508v1
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Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicles Regular Paper

Divine Maalouf , Vincent Creuze , Ahmed Chemori , Ivan Torres Tamanaja , Eduardo Campos Mercado et al.
International Journal of Advanced Robotic Systems, 2015, 12 (2), pp.1-15. ⟨10.5772/59185⟩
Journal articles lirmm-01119793v1
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Linear and nonlinear MPC for track following in the design of HDD servo systems

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
International Journal of Systems, Control and Communications, 2014, 6 (1), pp.20-47. ⟨10.1504/IJSCC.2014.06⟩
Journal articles lirmm-01718130v1
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Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

Sébastien Andary , Ahmed Chemori , Sébastien Krut
Advanced Robotics, 2009, 23 (15), pp.1999-2014. ⟨10.1163/016918609X12529279062438⟩
Journal articles lirmm-00455577v1

A prediction-based nonlinear controller for stabilization of a non-minimum phase PVTOL aircraft

Ahmed Chemori , Nicolas Marchand
International Journal of Robust and Nonlinear Control, 2008, 18 (8), pp.876-889. ⟨10.1002/rnc.1248⟩
Journal articles hal-00176071v1

Minimum energy oriented global stabilizing control of the PVTOL aircraft

Guylaine Poulin , Ahmed Chemori , Nicolas Marchand
International Journal of Control, 2007, 80 (3), pp.430-442. ⟨10.1080/00207170601069505⟩
Journal articles hal-00022063v1
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Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls

Nicolas Marchand , Ahmad Hably , Ahmed Chemori
IEEE Transactions on Automatic Control, 2007, 52 (5), pp.948-952. ⟨10.1109/TAC.2007.895956⟩
Journal articles lirmm-00152310v1
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Limit cycle generation for a class of non-linear systems with jumps using a low dimensional predictive control

Ahmed Chemori , Mazen Alamir
International Journal of Control, 2006, 78 (15), pp.1206-1217. ⟨10.1080/00207170500268331⟩
Journal articles lirmm-02502328v1
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Multi-step limit cycle generation for Rabbit's walking based on nonlinear low dimensional predictive control scheme

Ahmed Chemori , Mazen Alamir
Mechatronics, 2006, 16 (5), pp.259-277. ⟨10.1016/j.mechatronics.2005.12.001⟩
Journal articles hal-00083873v1
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Control of a Planar Underactuated Biped on a Complete Walking Cycle

Ahmed Chemori , A. Loria
IEEE Transactions on Automatic Control, 2004, 49 (5), pp.838-843. ⟨10.1109/TAC.2004.828314⟩
Journal articles lirmm-02360749v1
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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
Conference poster lirmm-00993302v1
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Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking

David Galdeano , Ahmed Chemori , Sébastien Krut
HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011
Conference poster lirmm-00982345v1
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$L1$ Adaptive Control of a Lower Limb Exoskeleton Dedicated to Kids’ Rehabilitation

Boutheina Maalej , Ahmed Chemori , Nabil Derbel
New 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-02478654v1
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From Non-Model-Based to Adaptive Model-Based Tracking Control of Low-Inertia Underwater Vehicles

Auwal Tijjani Shehu , Ahmed Chemori
George M. Roman. Underwater Vehicles: Design and Applications, Chapter 2, , 2020, 978-1-53618-876-9
Book sections lirmm-03009836v1
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On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions

Nadjah Roula , Ahmed Chemori , Rany Rizk , Youssef Zaatar
Mechanism, 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-02011321v1
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From Non-model-Based to Model-Based Control of PKMs: A Comparative Study

Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot et al.
Mechanism, 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-02411641v1
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A Redundant Parallel Robotic Machining Tool: Design, Control and Real-Time Experiments

Hussein Saied , Ahmed Chemori , Micaël Michelin , Maher El Rafei , Clovis Francis et al.
Nabil 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-02021956v1
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Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system

Jawhar Ghommam , Ahmed Chemori , Faiçal Mnif
The 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-01891593v1
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Model-Free Control of the Inertia Wheel Inverted Pendulum with real-time Experiments

Ahmed Chemori
The 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-01891582v1
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Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot
Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264
Book sections lirmm-01892495v1
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Mechatronics of Hard Disk Drives: RISE Feedback Track Following Control of a R/W Head

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
Mechatronics: Principles, Technologies and Applications, Nova Science Publishers, Inc., 2015, 978-1-63482-854-3
Book sections lirmm-01893919v1
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Approches prédictives pour la stabilisation en temps discret de l'avion planaire à décollage vertical

Nicolas Marchand , Ahmed Chemori , Guylaine Poulin
Objets volants miniatures : modélisation et commande embarquée, Hermes Science Publications, Chapitre 5, 2007, Traité IC2, série systèmes automatisés, 9782746214668
Book sections hal-00180746v1
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Quelques contributions à la commande non linéaire des robots marcheurs bipèdes sous-actionnés

Ahmed Chemori
Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨NNT : ⟩
Theses tel-00168406v1
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A New Augmented L1 Adaptive Control for Wheel-Legged Robots: Design and Experiments

Fahad Raza , Ahmed Chemori , Mitsuhiro Hayashibe
ACC 2022 - American Control Conference, Jun 2022, Atlanta, United States. pp.22-27, ⟨10.23919/ACC53348.2022.9867587⟩
Conference papers lirmm-03691125v1
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Implementation of SARL* Algorithm for A Differential Drive Robot in a Gazebo Crowded Simulation Environment

Seif Eddine Seghiri , Noura Mansouri , Ahmed Chemori
ICAEE 2022 - 2nd International Conference on Advanced Electrical Engineering, Oct 2022, Constantine, Algeria. pp.1-6, ⟨10.1109/ICAEE53772.2022.9962010⟩
Conference papers lirmm-03826760v1
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Classification of Human Balance Recovery Strategies Through Kinematic Motor Synergy Analysis

Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe
EMBC 2022 - 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Jul 2022, Glasgow, United Kingdom. pp.1792-1796, ⟨10.1109/EMBC48229.2022.9870922⟩
Conference papers lirmm-03723008v1
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Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations

Ghina Hassan , Ahmed Chemori , Maher El Rafei , Marc Gouttefarde , Clovis Francis et al.
ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.634-640, ⟨10.1016/j.ifacol.2022.07.383⟩
Conference papers lirmm-03713956v1
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A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs

Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis et al.
ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.627-633, ⟨10.1016/j.ifacol.2022.07.382⟩
Conference papers lirmm-03713933v1
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Multivariable L 1 Adaptive Depth and Attitude Control of MEROS Underwater Robot With Real-Time Experiments

Lotfi Chikh , Ahmed Chemori , Sifan Wang
SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, IFAC, Oct 2022, Matsumoto, Japan
Conference papers lirmm-03818536v1
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A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs

Ghina Hassan , Ahmed Chemori , Marc Gouttefarde , Maher El Rafei , Clovis Francis et al.
SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan
Conference papers lirmm-03818538v1
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A New Time-Varying Adaptive Feedforward Sliding Mode Control of PKMs

Youcef Mohamed Fitas , Ahmed Chemori , Johann Lamaury , François Pierrot
ALCOS 2022 - 14th IFAC International Workshop on Adaptive and Learning Control Systems, Jun 2022, Casablanca, Morocco. pp.621-626, ⟨10.1016/j.ifacol.2022.07.381⟩
Conference papers lirmm-03713920v1
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PHA-Based Feedback Control of a Biomimetic AUV for Diver Following: Design, Simulations and Real-Time Experiments

Mart Ratas , Ahmed Chemori , Maarja Kruusmaa
ECC 2022 - European Control Conference, Jul 2022, London, United Kingdom. pp.503-509, ⟨10.23919/ECC55457.2022.9838054⟩
Conference papers lirmm-03720185v1
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A Novel LQR-Based Cascaded Control Scheme of a Powered Knee Joint Orthosis for Rehabilitation

Ines Jammeli , Ahmed Chemori , Salwa Elloumi , Samer Mohammed
ICSC 2021 - 9th International Conference on Systems and Control, Nov 2021, Caen, France. pp.361-366, ⟨10.1109/ICSC50472.2021.9666730⟩
Conference papers lirmm-03523073v1
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A Novel Model-Based Robust Super-Twisting Sliding Mode Control of PKMs: Design and Real-Time Experiments

Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis
IROS 2021 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2021, Prague, Czech Republic. pp.8029-8035, ⟨10.1109/IROS51168.2021.9636168⟩
Conference papers lirmm-03343014v2
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Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments

Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim
SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.753-760, ⟨10.1109/SSD49366.2020.9364159⟩
Conference papers lirmm-03131493v1
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Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments

João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde
ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3889-3895, ⟨10.1109/ICRA40945.2020.9197271⟩
Conference papers lirmm-02747604v1
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Disturbance Observer-Based Super-Twisting Control for the Inertia Wheel Inverted Pendulum

Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim
SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.747-752, ⟨10.1109/SSD49366.2020.9364233⟩
Conference papers lirmm-03131481v1
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Effectiveness Evaluation of Arm Usage for Human Quiet Standing Balance Recovery through Nonlinear Model Predictive Control

Keli Shen , Ahmed Chemori , Mitsuhiro Hayashibe
ICCR 2020 - 3rd International Conference on Control and Robots, Dec 2020, Tokyo, Japan. pp.150-153, ⟨10.1109/ICCR51572.2020.9344184⟩
Conference papers lirmm-03131502v1
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A Fuzzy Sliding Mode Controller for Reducing Torques Applied to a Rehabilitation Robot

Boutheina Maalej , Ahmed Chemori , Hanene Medhaffar , Nabil Derbel
SSD 2020 - 17th International Multi-Conference on Systems, Signals & Devices, Jul 2020, Sfax, Tunisia. pp.740-746, ⟨10.1109/SSD49366.2020.9364130⟩
Conference papers lirmm-03135772v1
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Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems

Christian Fredrik Saetre , Anton Shiriaev , Stepan Pchelkin , Ahmed Chemori
ECC 2020 - European Control Conference, May 2020, Saint Petersburg, Russia
Conference papers lirmm-02441659v1
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RISE Feedback Control of Cable-Driven Parallel Robots: Design and Real-Time Experiments

Ghina Hassan , Ahmed Chemori , Lotfi Chikh , Pierre-Elie Hervé , Maher El Rafei et al.
IFAC-V 2020 - 1st Virtual IFAC World Congress, Jul 2020, Berlin, Germany. pp.8519-8524, ⟨10.1016/j.ifacol.2020.12.1420⟩
Conference papers lirmm-02899141v1
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Intelligent Tuning of Augmented $L_{1}$ Adaptive Control for Cerebral Palsy Kids Rehabilitation

Boutheina Maalej , Ahmed Chemori , Nabil Derbel
SSD 2019 - 16th IEEE International Multi-Conference on Systems, Signals and Devices, Mar 2019, Istanbul, Turkey. pp.231-237, ⟨10.1109/SSD.2019.8893237⟩
Conference papers lirmm-02115729v1
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A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments

Rihab Kouki , Ahmed Chemori , Faouzi Bouani
SCC 2019 - 1st IEEE International Conference on Signal, Control and Communication, Dec 2019, Hammamet, Tunisia. pp.69-75, ⟨10.1109/SCC47175.2019.9116179⟩
Conference papers lirmm-02426278v1
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An Intelligent Compensation Through B-Spline Neural Network for a Delta Parallel Robot

Jonatan Martín Escorcia-Hernández , Hipolito Aguilar-Sierra , Omar Aguilar-Mejía , Ahmed Chemori , José Humbérto Arroyo-Núñez et al.
CoDIT 2019 - 6th International Conference on Control, Decision and Information Technologies, Apr 2019, Paris, France. pp.361-366, ⟨10.1109/CoDIT.2019.8820472⟩
Conference papers lirmm-02118344v1
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A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Hussein Saied , Ahmed Chemori , Mohamed Bouri , Maher El Rafei , Clovis Francis et al.
IROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, China. pp.6775-6780, ⟨10.1109/IROS40897.2019.8968228⟩
Conference papers lirmm-02361068v1
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Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots

João Cavalcanti Santos , Ahmed Chemori , Marc Gouttefarde
CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.221-232, ⟨10.1007/978-3-030-20751-9_19⟩
Conference papers lirmm-02155794v1
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Towards an Effective Robotic Device for Gait Rehabilitation of Children With Cerebral Palsy

Boutheina Maalej , Ahmed Chemori , Nabil Derbel
SCC 2019 - 1st IEEE International Conference on Signal, Control and Communication, Dec 2019, Hammamet, Tunisia. pp.268-273, ⟨10.1109/SCC47175.2019.9116141⟩
Conference papers lirmm-02426698v1
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Networked Cooperation-Based Distributed Model Predictive Control Using Laguerre Functions for Large-Scale Systems

Kamel Menighed , Ahmed Chemori , Boumedyen Boussaid , Joseph Juien Yamé
ICEECA 2019 - 4th International Conference on Electrical Engineering and Control Applications, Dec 2019, Constantine, Algeria. ⟨10.1007/978-981-15-6403-1_9⟩
Conference papers hal-02420187v1
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Dynamic Modeling and Identification of an Heterogeneously Actuated Underwater Manipulator Arm

François Leborne , Vincent Creuze , Ahmed Chemori , Lorenzo Brignone
AAMAS 2018 - 17th International Conference on Autonomous Agents and MultiAgent Systems, May 2018, Brisbane, Australia. pp.4955-4960, ⟨10.1109/ICRA.2018.8460963⟩
Conference papers lirmm-01822247v1
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RISE controller for class I of underactuated mechanical systems: Design and Real-Time Experiments

Afef Hfaiedh , Ahmed Chemori , Afef Abdelkrim
ICEE: International Conference on Electromechanical Engineering, Nov 2018, Skikda, Algeria
Conference papers lirmm-02115142v1
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Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments

Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot et al.
IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5634-5639, ⟨10.1109/IROS.2018.8594329⟩
Conference papers lirmm-01887156v1
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A Novel Adaptive Terminal Sliding Mode Control for Parallel Manipulators: Design and Real-Time Experiments

Moussab Bennehar , Gamal El-Ghazaly , Ahmed Chemori , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.6086-6092, ⟨10.1109/ICRA.2017.7989722⟩
Conference papers lirmm-01718202v1
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From Non-Model-Based to Model-Based Control of PKMs: A Comparative Study

Hussein Saied , Ahmed Chemori , Maher El Rafei , Clovis Francis , François Pierrot et al.
ICAMMRMS: International Congress for the Advancement of Mechanism, Machine, Robotics and Mechatronics Sciences, Oct 2017, Beyrouth, Lebanon
Conference papers hal-01631006v1
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Control of Complex Robotic Systems: Challenges, Design and Experiments

Ahmed Chemori
MMAR: Methods and Models in Automation and Robotics, Aug 2017, Miedzyzdroje, Poland. pp.622-631, ⟨10.1109/MMAR.2017.8046900⟩
Conference papers lirmm-01718226v1
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Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization

Taavi Salumäe , Ahmed Chemori , Maarja Kruusmaa
IROS: Intelligent RObots and Systems, Oct 2016, Daejeon, South Korea. pp.1321-1327, ⟨10.1109/IROS.2016.7759218⟩
Conference papers lirmm-01723924v1
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Augmented L1 adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments

Hala Rifaï , Mohamed Sabri Ben Abdessalem , Ahmed Chemori , Samer Mohammed , Yacine Amirat et al.
ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.5708-5714, ⟨10.1109/ICRA.2016.7487794⟩
Conference papers lirmm-01723920v1
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Depth control of the biomimetic U-CAT turtle-like AUV with experiments in real operating conditions

Ahmed Chemori , Keijo Kuusmik , Taavi Salumae , Maarja Kruusmaa
ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.4750-4755, ⟨10.1109/ICRA.2016.7487677⟩
Conference papers lirmm-01343321v1
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Control of a Perturbed Under-Actuated Mechanical System

Chadia Zayane-Aissa , Taous-Meriem Laleg-Kirati , Ahmed Chemori
CCA: Conference on Control Applications, Sep 2015, Sydney, Australia. pp.249-299, ⟨10.1109/CCA.2015.7320644⟩
Conference papers lirmm-01343312v1
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L1 Adaptive Control of Parallel Kinematic Manipulators: Design and Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1587-1592, ⟨10.1109/ICRA.2015.7139400⟩
Conference papers hal-01176534v1
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A Novel RISE-Based Adaptive Feedforward Controller for Redundantly Actuated Parallel Manipulators

Moussab Bennehar , Ahmed Chemori , François Pierrot
IROS: Intelligent RObots and Systems, Sep 2014, Chicago, IL, United States. pp.2389-2394, ⟨10.1109/IROS.2014.6942886⟩
Conference papers hal-01070860v1
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External disturbance rejection in IDA-PBC controller for underactuated mechanical systems: From theory to real time experiments

Nahla Khraief Haddad , Ahmed Chemori , Safya Belghith
CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.1747-1752, ⟨10.1109/CCA.2014.6981565⟩
Conference papers lirmm-01722715v1
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RISE Feedback Control for a R/W Head Track Following in Hard Disc Drives

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808811⟩
Conference papers lirmm-00947456v1
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Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot
SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩
Conference papers lirmm-00947459v1
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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, ⟨10.1109/HUMANOIDS.2014.7041438⟩
Conference papers lirmm-01089549v1
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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⟩
Conference papers lirmm-00945690v1
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A prediction-based optimal gain selection in RISE feedback control for hard disk drive

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
CCA: Conference on Control Applications, Oct 2014, Juan Les Antibes, France. pp.2114-2119, ⟨10.1109/CCA.2014.6981615⟩
Conference papers lirmm-01723921v1
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A New Extension of Desired Compensation Adaptive Control and its Real-Time Application to Redundantly Actuated PKMs

Moussab Bennehar , Ahmed Chemori , François Pierrot
IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.1670-1675, ⟨10.1109/IROS.2014.6942779⟩
Conference papers hal-01070862v1
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Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots

Johann Lamaury , Marc Gouttefarde , Ahmed Chemori , Pierre-Elie Hervé
IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩
Conference papers lirmm-01221399v1
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From PD to Nonlinear Adaptive Depth-Control of a Tethered Autonomous Underwater Vehicle

Divine Maalouf , Ivan Tamanaja , Eduardo Campos , Ahmed Chemori , Vincent Creuze et al.
IFAC Joint conference, SSSC: Symposium on System Structure and Control, Feb 2013, Grenoble, France
Conference papers lirmm-00778061v1
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Control of Parallel Robots: Towards Very High Accelerations

Ahmed Chemori , Guilherme Sartori Natal , François Pierrot
SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. pp.8
Conference papers lirmm-00809514v1
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Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
MED: Mediterranean Conference on Control and Automation, Jun 2013, Platanias-Chania, Crete, Greece. pp.1368-1373, ⟨10.1109/MED.2013.6608898⟩
Conference papers lirmm-00847646v1
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Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments

Ahmed Chemori , Nahla Touati
Symposium on Mechatronic Systems, Apr 2013, Hangzhou, China. pp.237-242, ⟨10.3182/20130410-3-CN-2034.00031⟩
Conference papers lirmm-00809710v1
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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. ⟨10.1109/SSD.2013.6564107⟩
Conference papers lirmm-00804250v1
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Track Following Control Using Nonlinear Model Predictive Control in Hard Disk Drives

Manel Taktak-Meziou , Ahmed Chemori , Jawhar Ghommam , Nabil Derbel
IROS: Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. ⟨10.1109/IROS.2013.6696988⟩
Conference papers lirmm-00847648v1
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Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle

Divine Maalouf , Ahmed Chemori , Vincent Creuze
CDC: Conference on Decision and Control, Dec 2013, Florence, Italy
Conference papers lirmm-00847170v1
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A new extension of the L1 adaptive controller to drastically reduce the tracking time lags

Divine Maalouf , Ahmed Chemori , Vincent Creuze
NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. pp.001-006
Conference papers lirmm-00841558v1
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Dual-Space Adaptive Control of Redundantly Actuated Parallel Manipulators for Extremely Fast Operations With Load Changes

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot
ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.253-258, ⟨10.1109/ICRA.2012.6224597⟩
Conference papers lirmm-00715913v1
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A Dual-Space Feedforward PID Control of Redundantly Actuated Parallel Manipulators with Real-Time Experiments

Guilherme Sartori Natal , Ahmed Chemori , Micaël Michelin , François Pierrot
PID'12: IFAC Conference on Advances in PID Control, Mar 2012, Brescia, Italy. pp.6
Conference papers lirmm-00723937v1
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Pattern Generation and Control of Humanoid Robots: Towards Human-Like Walking

Ahmed Chemori
ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria. ⟨10.13140/RG.2.2.35942.52808⟩
Conference papers lirmm-00809634v1
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Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics

David Galdeano , Vincent Bonnet , Moussab Bennehar , Philippe Fraisse , Ahmed Chemori et al.
10th IFAC Symposium on Robot Control, Syroco 2012, Sep 2012, Dubrovnik, Croatia. pp.485-490, ⟨10.3182/20120905-3-HR-2030.00187⟩
Conference papers hal-00717243v1
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A Dual Model-Free Control of Underactuated Mechanical Systems, Application to The Inertia Wheel Inverted Pendulum

Sébastien Andary , Ahmed Chemori , Michel Benoit , Jean Sallantin
ACC 2012 - American Control Conference, Jun 2012, Montréal, Canada. pp.1029-1034, ⟨10.1109/ACC.2012.6315492⟩
Conference papers lirmm-00723934v1
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State Feedback Control of an Underwater Vehicle for Wall Following

Divine Maalouf , Vincent Creuze , Ahmed Chemori
MED'12: 20th Mediterranean Conference on Control and Automation, Jul 2012, Barcelona, Spain. pp.6
Conference papers lirmm-00714095v1
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A novel application of multivariable ℒ1 adaptive control: From design to real-time implementation on an underwater vehicle

Divine Maalouf , Vincent Creuze , Ahmed Chemori
IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura-Algrave, Portugal. pp.76-81, ⟨10.1109/IROS.2012.6385498⟩
Conference papers hal-00746494v1
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Control of Underactuated Mechanical Systems for Stabilization and Limit Cycle Generation

Ahmed Chemori
ICEECA: International Conference on Electrical Engineering and Control Applications, Nov 2012, Khenchela, Algeria
Conference papers lirmm-00809625v1
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L1 Adaptative control for small underwater vehicles

Divine Maalouf , Ahmed Chemori , Vincent Creuze
ICOURS'12 : International Conference on Underwater Remote Sensing, Oct 2012, Brest, France
Conference papers lirmm-00744717v1
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A Dual Model-Free Control of Non-Minimum Phase Systems for Generation of Stable Limit Cycles

Sébastien Andary , Ahmed Chemori
CDC-ECC'11: 50th IEEE Conference on Decision and Control and European Control Conference, Dec 2011, Orlando, Florida, United States. pp.1387-1392
Conference papers lirmm-00657453v1
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Nonlinear Model Predictive Running Control of Kangaroo Robot: a One-Leg Planar Underactuated Hopping Robot

Nicolas Carlési , Ahmed Chemori
IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.3634-3639, ⟨10.1109/IROS.2010.5648972⟩
Conference papers lirmm-00544726v1
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An experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company
IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.2301-2306, ⟨10.1109/IROS.2010.5650400⟩
Conference papers lirmm-00545491v1
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Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery

Zeineb Zarrouk , Ahmed Chemori , Philippe Poignet
IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩
Conference papers lirmm-00545458v1
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Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous-actionné

Ahmed Chemori , Sébastien Krut , Nahla Touati
3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.10
Conference papers lirmm-00723940v1
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Control of Parallel Manipulators for Very High Accelerations: The Mechanical Vibrations Issue

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company
PACAM: Pan-American Congress of Applied Mechanics, Jan 2010, Foz do Iguaçu, PR, Brazil
Conference papers lirmm-00641588v1

Les Plateformes Robotiques : De la Théorie à la Pratique ...

Ahmed Chemori
3èmes Journées Démonstrateurs en Automatique 2010, Nov 2010, Angers, France
Conference papers lirmm-00809662v1
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Sherpa, un robot marcheur bipède à actionnement réversible

Sébastien Krut , Ahmed Chemori
3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9
Conference papers lirmm-00809721v1
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A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground

Ahmed Chemori , Sébastien Le Floch , Sébastien Krut , Etienne Dombre
Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485
Conference papers lirmm-00643523v1
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Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed

Sébastien Andary , Ahmed Chemori , Sébastien Krut
IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩
Conference papers lirmm-00429808v1
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A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Ahmed Chemori
IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.3226-3231, ⟨10.1109/IROS.2009.5353965⟩
Conference papers lirmm-00429803v1
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Some control-related issues in mini-robotics for endoluminal surgery

Philippe Poignet , Ahmed Chemori , Nabil Zemiti , Chao Liu
EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855
Conference papers lirmm-00431187v1
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Nonlinear Dual Mode Adaptive Control of PAR2 : a 2-dof Planar Parallel Manipulator, with Real-time Experiments

Guilherme Sartori Natal , Ahmed Chemori , François Pierrot , Olivier Company
IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2114-2119, ⟨10.1109/IROS.2009.5354083⟩
Conference papers lirmm-00429818v1
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Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary , Ahmed Chemori , Sébastien Krut
IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩
Conference papers lirmm-00305317v1
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A Control Law for Energy Efficient and Human Like Walking Biped Robot SHERPA Based on a Control and a Ballistic Phase - Application on the Cart-Table Model

Marc Bachelier , Sébastien Krut , Ahmed Chemori
Humanoids, Dec 2008, Daejeon, South Korea
Conference papers lirmm-00363728v1
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Global discrete-time stabilization of the PVTOL aircraft based on fast predictive control

Ahmed Chemori , Nicolas Marchand
IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, South Korea. pp.1747-1752, ⟨10.3182/20080706-5-KR-1001.00299⟩
Conference papers hal-00200558v1
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A prediction based controller for trajectories tracking and stabilization of a non-minimum phase PVTOL aircraft

Ahmed Chemori , Nicolas Marchand
NMPCFS: Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France
Conference papers hal-00108453v1

A prediction based controller for stabilization of a non-minimum phase PVTOL aircraft

Ahmed Chemori , Nicolas Marchand
2006
Conference papers hal-00083401v1