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100 %

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9

Ahmed Chemori


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.


Marc Gouttefarde   

Journal articles2 documents

  • João Cavalcanti Santos, Marc Gouttefarde, Ahmed Chemori. A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots. IEEE Transactions on Robotics, IEEE, 2022, ⟨10.1109/TRO.2022.3152705⟩. ⟨lirmm-03624086⟩
  • Ghina Hassan, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé, Maher El Rafei, et al.. Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, In press, pp.1-11. ⟨10.1109/TMECH.2022.3164247⟩. ⟨lirmm-03650958⟩

Reports1 document

  • Marc Gouttefarde, Ghina Hassan, Ahmed Chemori. Proof of an Algorithm to Compute Time-Optimal Third Order Polynomial S-curve Trajectories. [Research Report] LIRMM (UM, CNRS). 2021. ⟨lirmm-03275300⟩

Conference papers6 documents

  • Ghina Hassan, Ahmed Chemori, Marc Gouttefarde, Maher El Rafei, Clovis Francis, et al.. A New Augmented RISE Feedback Controller for Pick-and-Throw Applications with PKMs. SYROCO 2021/22 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan. ⟨lirmm-03818538⟩
  • Ghina Hassan, Ahmed Chemori, Marc Gouttefarde, Maher El Rafei, Clovis Francis, et al.. A Novel Extended Desired Compensation Adaptive Law for High-Speed Pick-and-Throw with PKMs. 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⟩. ⟨lirmm-03713933⟩
  • Ghina Hassan, Ahmed Chemori, Maher El Rafei, Marc Gouttefarde, Clovis Francis, et al.. Ultra-Local Model-Based Intelligent Robust Control of PKMs: Theory and Simulations. 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⟩. ⟨lirmm-03713956⟩
  • João Cavalcanti Santos, Ahmed Chemori, Marc Gouttefarde. Redundancy Resolution integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments. ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3889-3895, ⟨10.1109/ICRA40945.2020.9197271⟩. ⟨lirmm-02747604⟩
  • João Cavalcanti Santos, Ahmed Chemori, Marc Gouttefarde. Model Predictive Control of Large-Dimension Cable-Driven Parallel Robots. 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⟩. ⟨lirmm-02155794⟩
  • Johann Lamaury, Marc Gouttefarde, Ahmed Chemori, Pierre-Elie Hervé. Dual-Space Adaptive Control of Redundantly Actuated Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.4879-4886, ⟨10.1109/IROS.2013.6697060⟩. ⟨lirmm-01221399⟩