Kheddar Abderrahmane

296
Documents

Présentation

Publications

170
52
40
6
5
3
3
3
2
2
2
1
1
1
1
1
1
1
1
28
9
8
6
6
6
6
5
5
5
5
5
4
4
4
4
4
4
4
4
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
36
27
21
21
20
18
17
16
16
15
15
12
11
11
11
11
10
10
9
9
9
9
9
8
8
8
8
8
8
8
7
7
7
7
6
6
6
6
6
6
6
6
5
5
5
5
5
5
5
5
5
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
2
2
2
2
2
2
19
8
3
3
3
2
2
2
2
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
9
14
9
10
11
6
8
22
17
16
9
13
6
12
16
11
30
25
10
18
14
1
2
4
1
2
2
2
1
17
15
8
7
4
2
1
1
1
1
1
202
162
42
34
19
6
2
2
1
1
1
1
1
1

Publications

Deposit thumbnail

A Distraction Knee-Brace and a Robotic Testbed for Tibiofemoral Load Reduction During Squatting

Léa Boillereaux , Simon Le Floc’h , Franck Jourdan , Gille Camp , Arnaud Tanguy et al.

IEEE Transactions on Medical Robotics and Bionics, 2025, 7 (2), pp.621-632. ⟨10.1109/TMRB.2025.3550664⟩

Article dans une revue hal-05235880v1
Deposit thumbnail

Humanoid-Human Sit-to-Stand-to-Sit Assistance

Hugo Lefèvre , Tomohiro Chaki , Tomohiro Kawakami , Arnaud Tanguy , Takahide Yoshiike et al.

IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1521-1528. ⟨10.1109/LRA.2024.3522765⟩

Article dans une revue lirmm-04870123v1
Deposit thumbnail

Analysis and Perspectives on the ANA Avatar XPRIZE Competition

Kris Hauser , Eleanor Nell Watson , Joonbum Bae , Josh Bankston , Sven Behnke et al.

International Journal of Social Robotics, 2025, 17, pp.473-504. ⟨10.1007/s12369-023-01095-w⟩

Article dans une revue hal-04438210v1
Deposit thumbnail

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context

Mehdi Benallegue , Guillaume Lorthioir , Antonin Dallard , Rafael Cisneros-Limón , Iori Kumagai et al.

IEEE Robotics and Automation Magazine, 2025, pp.2-12. ⟨10.1109/MRA.2024.3521995⟩

Article dans une revue hal-04844951v2

Fast Autolearning for Multimodal Walking in Humanoid Robots with Variability of Experience

Nícolas Figueroa , Julio Tafur , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2025, 10 (4), pp.3747-3754. ⟨10.1109/LRA.2025.3546168⟩

Article dans une revue hal-05507013v1

Structural Analysis and Design of Humanoid Arms From Human Arm Reachable Workspace

Xin Zhu , Haozhou Liu , Qingqing Li , Zhaoyang Cai , Xuechao Chen et al.

IEEE Robotics and Automation Letters, 2025, 10 (2), pp.1233-1240. ⟨10.1109/LRA.2024.3519890⟩

Article dans une revue hal-05507008v1
Deposit thumbnail

A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer

Rafael Cisneros-Limón , Antonin Dallard , Mehdi Benallegue , Kenji Kaneko , Hiroshi Kaminaga et al.

International Journal of Social Robotics, 2025, 17, pp.535-562. ⟨10.1007/s12369-023-01096-9⟩

Article dans une revue hal-04425539v1
Deposit thumbnail

Assessing Time Series Correlation Significance: A Parametric Approach with Application to Physiological Signals

Johan Medrano , Abderrahmane Kheddar , Sofiane Ramdani

Biomedical Signal Processing and Control, 2024, 94, pp.106235. ⟨10.1016/j.bspc.2024.106235⟩

Article dans une revue hal-04373781v1

Sequential hierarchical least-squares programming for prioritized non-linear optimal control

Kai Pfeiffer , Abderrahmane Kheddar

Optimization Methods and Software, 2024, 39 (5), pp.1104-1142. ⟨10.1080/10556788.2024.2307467⟩

Article dans une revue lirmm-04824994v1
Deposit thumbnail

Pilot study protocol evaluating the impact of telerobotics interactions with autistic children during a Denver intervention on communication skills using single-case experimental design

Carole Fournier , Cécile Michelon , Véronique Granit , Paul Audoyer , Arielle Bernardot et al.

BMJ Open, 2024, 14 (11), pp.e084110. ⟨10.1136/bmjopen-2024-084110⟩

Article dans une revue hal-04826141v1
Deposit thumbnail

Planning Impact-Driven Logistic Tasks

Ahmed Zermane , Niels Dehio , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2024, 9 (3), pp.2184-2191. ⟨10.1109/LRA.2024.3354614⟩

Article dans une revue hal-04402088v2
Deposit thumbnail

A soft skin with self-decoupled three-axis force-sensing taxels

Youcan Yan , Ahmed Zermane , Jia Pan , Abderrahmane Kheddar

Nature Machine Intelligence, 2024, 6 (11), pp.1284-1295. ⟨10.1038/s42256-024-00904-9⟩

Article dans une revue hal-05051399v1
Deposit thumbnail

End-Effectors Changer Design for Humanoids

Julien Roux , Jean-Baptiste Izard , Arnaud Tanguy , Hiroshi Kaminaga , Fumio Kanehiro et al.

IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10495-10502. ⟨10.1109/LRA.2024.3469816⟩

Article dans une revue hal-04718554v1
Deposit thumbnail

Humanoid Loco-Manipulations using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images

Kevin Chappellet , Masaki Murooka , Guillaume Caron , Fumio Kanehiro , Abderrahmane Kheddar

IEEE Transactions on Automation Science and Engineering, 2024, 21 (3), pp.3691-3704. ⟨10.1109/TASE.2023.3283497⟩

Article dans une revue hal-04125159v1
Deposit thumbnail

Robot soft thermal display using self-heating and cooling system

Yukiko Osawa , Ichiro Ogura , Abderrahmane Kheddar

Case Studies in Thermal Engineering, 2024, 63, pp.105328. ⟨10.1016/j.csite.2024.105328⟩

Article dans une revue hal-04826140v1

The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method

Xin Zhu , Pierre Gergondet , Zhaoyang Cai , Xuechao Chen , Zhangguo Yu et al.

IEEE/ASME Transactions on Mechatronics, 2024, 29 (2), pp.1521-1533. ⟨10.1109/TMECH.2023.3308108⟩

Article dans une revue hal-04826143v1
Deposit thumbnail

Minimal Impact Pokes to Place Objects on Planar Surfaces

Ahmed Zermane , Léo Moussafir , Youcan A Yan , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2024, 9 (12), pp.11393-11400. ⟨10.1109/LRA.2024.3491412⟩

Article dans une revue hal-04786864v1

Self-protect falling trajectories for humanoids with resilient trunk

Zhaoyang Cai , Zhangguo Yu , Xuechao Chen , Qiang Huang , Abderrahmane Kheddar

Mechatronics, 2023, 95, pp.103061. ⟨10.1016/j.mechatronics.2023.103061⟩

Article dans une revue hal-04745618v1
Deposit thumbnail

Synchronized Human-Humanoid Motion Imitation

Antonin Dallard , Mehdi Benallegue , Fumio Kanehiro , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2023, 8 (7), pp.4155-4162. ⟨10.1109/LRA.2023.3280807⟩

Article dans une revue hal-04094385v1
Deposit thumbnail

Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots

Mohamed Djeha , Pierre Gergondet , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2023, 39 (5), pp.3857-3874. ⟨10.1109/TRO.2023.3286069⟩

Article dans une revue hal-04171719v1
Deposit thumbnail

The Hierarchical Newton’s Method for Numerically Stable Prioritized Dynamic Control

Kai Pfeiffer , Adrien Escande , Pierre Gergondet , Abderrahmane Kheddar

IEEE Transactions on Control Systems Technology, 2023, 31 (4), pp.1622-1635. ⟨10.1109/TCST.2023.3234492⟩

Article dans une revue hal-04590733v1
Deposit thumbnail

Impact-Aware Task-Space Quadratic-Programming Control

Yuquan Wang , Niels Dehio , Arnaud Tanguy , Abderrahmane Kheddar

The International Journal of Robotics Research, 2023, 42 (14), pp.1265-1282. ⟨10.1177/02783649231198558⟩

Article dans une revue hal-02741682v5
Deposit thumbnail

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Yuquan Wang , Niels Dehio , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2022, 7 (2), pp.3648-3655. ⟨10.1109/LRA.2022.3145967⟩

Article dans une revue hal-03340547v3
Deposit thumbnail

Dual-arm Box Grabbing with Impact-aware MPC utilizing soft deformable End-effector Pads

Niels Dehio , Yuquan Wang , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2022, 7 (2), pp.5647-5654. ⟨10.1109/LRA.2022.3158433⟩

Article dans une revue hal-03602884v1
Deposit thumbnail

Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator

Yuquan Wang , Niels Dehio , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2022, 7 (3), pp.6226-6233. ⟨10.1109/LRA.2022.3167614⟩

Article dans une revue hal-03587261v1
Deposit thumbnail

Touch Semantics for Intuitive Physical Manipulation of Humanoids

Christopher Yee Wong , Saeid Samadi , Wael Suleiman , Abderrahmane Kheddar

IEEE Transactions on Human-Machine Systems, 2022, 52 (6), pp.1111-1121. ⟨10.1109/THMS.2022.3207699⟩

Article dans une revue hal-04708580v1
Deposit thumbnail

Radius selection using kernel density estimation for the computation of nonlinear measures

Johan Medrano , Abderrahmane Kheddar , Annick Lesne , Sofiane Ramdani

Chaos: An Interdisciplinary Journal of Nonlinear Science, 2021, 31 (8), pp.083131. ⟨10.1063/5.0055797⟩

Article dans une revue hal-03330932v1
Deposit thumbnail

Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts

Saeid Samadi , Julien Roux , Arnaud Tanguy , Stéphane Caron , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2021, 6 (2), pp.4032-4039. ⟨10.1109/LRA.2021.3066965⟩

Article dans une revue hal-03158364v1
Deposit thumbnail

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

Anastasia Bolotnikova , Sébastien Courtois , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5705-5712. ⟨10.1109/LRA.2021.3084889⟩

Article dans une revue hal-03170625v3
Deposit thumbnail

Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps

Masaki Murooka , Iori Kumagai , Mitsuharu Morisawa , Fumio Kanehiro , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2021, 6 (2), pp.1840-1847. ⟨10.1109/LRA.2021.3060728⟩

Article dans une revue hal-03425666v1
Deposit thumbnail

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

Masaki Murooka , Kevin Chappellet , Arnaud Tanguy , Mehdi Benallegue , Iori Kumagai et al.

IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5597-5604. ⟨10.1109/LRA.2021.3077858⟩

Article dans une revue hal-03425667v1
Deposit thumbnail

Soft robotic shell with active thermal display

Yukiko Osawa , Yuho Kinbara , Masakazu Kageoka , Kenji Iida , Abderrahmane Kheddar

Scientific Reports, 2021, 11, pp.20070. ⟨10.1038/s41598-021-99117-y⟩

Article dans une revue hal-02491308v2
Deposit thumbnail

Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control

Mohamed Djeha , Arnaud Tanguy , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6504-6511. ⟨10.1109/LRA.2020.3015180⟩

Article dans une revue hal-02490195v3
Deposit thumbnail

Multi-Contact Planning on Humans for Physical Assistance by Humanoid

Anastasia Bolotnikova , Sébastien Courtois , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2020, 5 (1), pp.135-142. ⟨10.1109/LRA.2019.2947907⟩

Article dans une revue hal-02160461v6
Deposit thumbnail

Human-Humanoid Collaborative Carrying

Don Joven Agravante , Andrea Cherubini , Alexander Sherikov , Pierre-Brice Wieber , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2019, 35 (4), pp.833-846. ⟨10.1109/TRO.2019.2914350⟩

Article dans une revue lirmm-01311154v3
Deposit thumbnail

Humanoid robots in aircraft manufacturing

Abderrahmane Kheddar , Stéphane Caron , Pierre Gergondet , Andrew Comport , Arnaud Tanguy et al.

IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.30-45. ⟨10.1109/MRA.2019.2943395⟩

Article dans une revue lirmm-02303117v1

Quadratic Programming for Multirobot and Task-Space Force Control

Karim Bouyarmane , Kevin Chappellet , Joris Vaillant , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2019, 35 (1), pp.64-77. ⟨10.1109/TRO.2018.2876782⟩

Article dans une revue lirmm-02154974v1
Deposit thumbnail

Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares

Kai Pfeiffer , Adrien Escande , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2018, 3 (4), pp.3630-3637. ⟨10.1109/LRA.2018.2855265⟩

Article dans une revue hal-01852576v1
Deposit thumbnail

Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects

Antonio Paolillo , Kevin Chappellet , Anastasia Bolotnikova , Abderrahmane Kheddar

IEEE Robotics and Automation Letters, 2018, 3 (4), pp.2746-2753. ⟨10.1109/LRA.2018.2835515⟩

Article dans une revue hal-01817747v1
Deposit thumbnail

More than just co-workers: presence of humanoid robot co-worker influences human performance

Ashesh Vasalya , Gowrishankar Ganesh , Abderrahmane Kheddar

PLoS ONE, 2018, 13 (11), pp.e0206698. ⟨10.1371/journal.pone.0206698⟩

Article dans une revue hal-01914700v1
Deposit thumbnail

Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems

Karim Bouyarmane , Abderrahmane Kheddar

Journal of Intelligent and Robotic Systems, 2018, 91 (3-4), pp.377-401. ⟨10.1007/s10846-017-0692-5⟩

Article dans une revue hal-01523752v2
Deposit thumbnail

Multicontact Interaction Force Sensing From Whole-Body Motion Capture

Tu-Hoa Pham , Stéphane Caron , Abderrahmane Kheddar

IEEE Transactions on Industrial Informatics, 2018, 14 (6), pp.2343-2352. ⟨10.1109/TII.2017.2760912⟩

Article dans une revue hal-01610928v1
Deposit thumbnail

Autonomous car driving by a humanoid robot

Antonio Paolillo , Pierre Gergondet , Andrea Cherubini , Marilena Vendittelli , Abderrahmane Kheddar

Journal of Field Robotics, 2018, 35 (2), pp.169-186. ⟨10.1002/rob.21731⟩

Article dans une revue hal-01485736v1
Deposit thumbnail

Multi-Contact Postures Computation on Manifolds

Stanislas Brossette , Adrien Escande , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2018, 34 (5), pp.1252-1265. ⟨10.1109/TRO.2018.2830390⟩

Article dans une revue hal-01781204v1
Deposit thumbnail

3D robust stability polyhedron in multi-contact

Hervé Audren , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2018, 34 (2), pp.388-403. ⟨10.1109/TRO.2017.2786683⟩

Article dans une revue lirmm-01477362v2
Deposit thumbnail

Hand-Object Contact Force Estimation From Markerless Visual Tracking

Tu-Hoa Pham , Nikolaos Kyriazis , Antonis A. Argyros , Abderrahmane Kheddar

IEEE Transactions on Pattern Analysis and Machine Intelligence, 2018, 40 (12), pp.2883-2896. ⟨10.1109/TPAMI.2017.2759736⟩

Article dans une revue hal-01356138v2
Deposit thumbnail

On Weight-Prioritized Multitask Control of Humanoid Robots

Karim Bouyarmane , Abderrahmane Kheddar

IEEE Transactions on Automatic Control, 2018, 63 (6), pp.1632-1647. ⟨10.1109/TAC.2017.2752085⟩

Article dans une revue hal-01247118v3
Deposit thumbnail

Multi-Character Physical and Behavioral Interactions Controller

Joris Vaillant , Karim Bouyarmane , Abderrahmane Kheddar

IEEE Transactions on Visualization and Computer Graphics, 2017, 23 (6), pp.1650-1662. ⟨10.1109/TVCG.2016.2542067⟩

Article dans une revue hal-01246357v1
Deposit thumbnail

Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real Hand

Laura Aymerich-Franch , Damien Petit , Gowrishankar Ganesh , Abderrahmane Kheddar

Journal of Computer-Mediated Communication, 2017, 22 (4), pp.215-230. ⟨10.1111/jcc4.12188⟩

Article dans une revue lirmm-02155056v1
Deposit thumbnail

Non-human Looking Robot Arms Induce Illusion of Embodiment

Laura Aymerich-Franch , Damien Petit , Gowrishankar Ganesh , Abderrahmane Kheddar

International Journal of Social Robotics, 2017, 9 (4), pp.479-490. ⟨10.1007/s12369-017-0397-8⟩

Article dans une revue lirmm-01925587v1

The Role of Audio-Visual Feedback in a Thought-Based Control of a Humanoid Robot: A BCI Study in Healthy and Spinal Cord Injured People

Emmanuele Tidoni , Pierre Gergondet , Gabriele Fusco , Abderrahmane Kheddar , Salvatore M. Aglioti

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25 (6), pp.772-781. ⟨10.1109/TNSRE.2016.2597863⟩

Article dans une revue lirmm-02155061v1
Deposit thumbnail

Design of optimized soft soles for humanoid robots

Giovanni de Magistris , Sylvain Miossec , Adrien Escande , Abderrahmane Kheddar

Robotics and Autonomous Systems, 2017, 95, pp.129-142. ⟨10.1016/j.robot.2017.05.005⟩

Article dans une revue hal-01526014v2
Deposit thumbnail

Optimized Humanoid Walking with Soft Soles

Giovanni de Magistris , Adrien Pajon , Sylvain Miossec , Abderrahmane Kheddar

Robotics and Autonomous Systems, 2017, 95, pp.52-63. ⟨10.1016/j.robot.2017.05.006⟩

Article dans une revue hal-01526033v2
Deposit thumbnail

Forward modelling the rubber hand: illusion of ownership modifies motor-sensory predictions by the brain

Laura Aymerich-Franch , Damien Petit , Abderrahmane Kheddar , Gowrishankar Ganesh

Royal Society Open Science, 2016, 3 (8), pp.#160407. ⟨10.1098/rsos.160407⟩

Article dans une revue lirmm-02155094v1
Deposit thumbnail

Multi-contact vertical ladder climbing with an HRP-2 humanoid

Joris Vaillant , Abderrahmane Kheddar , Hervé Audren , François Keith , Stanislas Brossette et al.

Autonomous Robots, 2016, 40 (3), pp.561-580. ⟨10.1007/s10514-016-9546-4⟩

Article dans une revue hal-01276931v1

The second me: Seeing the real body during humanoid robot embodiment produces an illusion of bi-location

Laura Aymerich-Franch , Damien Petit , Gowrishankar Ganesh , Abderrahmane Kheddar

Consciousness and Cognition, 2016, 46, pp.99-109. ⟨10.1016/j.concog.2016.09.017⟩

Article dans une revue lirmm-02155091v1
Deposit thumbnail

GPU Robot Motion Planning using Semi-Infinite Nonlinear Programming

Benjamin Chrétien , Adrien Escande , Abderrahmane Kheddar

IEEE Transactions on Parallel and Distributed Systems, 2016, 27 (10), pp.2926-2939. ⟨10.1109/TPDS.2016.2521373⟩

Article dans une revue hal-01266581v1
Deposit thumbnail

Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and Control

Gianni Borghesan , Enea Scioni , Abderrahmane Kheddar , Herman Bruyninckx

IEEE Robotics and Automation Letters, 2016, 1 (2), pp.1140-1147. ⟨10.1109/LRA.2015.2506119⟩

Article dans une revue lirmm-02155096v1
Deposit thumbnail

Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization

Jovana Jovic , Adrien Escande , Ko Ayusawa , Eiichi Yoshida , Abderrahmane Kheddar et al.

IEEE Transactions on Robotics, 2016, 32 (3), pp.726-735. ⟨10.1109/TRO.2016.2558190⟩

Article dans une revue lirmm-01348410v1

SSVEP stimuli design for object-centric BCI

Pierre Gergondet , Abderrahmane Kheddar

Brain-Computer Interfaces, 2015, 2 (1), pp.11-28. ⟨10.1080/2326263X.2015.1051432⟩

Article dans une revue lirmm-02155098v1
Deposit thumbnail

Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot

Emmanuele Tidoni , Pierre Gergondet , Abderrahmane Kheddar , Salvatore M. Aglioti

Frontiers in Neurorobotics, 2014, 8 (20), pp.001-008. ⟨10.3389/fnbot.2014.00020⟩

Article dans une revue lirmm-01058974v1
Deposit thumbnail

fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRI

Ori Cohen , Sébastien Druon , Sebastien Lengagne , Avi Mendelsohn , Rafael Malach et al.

Presence: Teleoperators and Virtual Environments, 2014, 23 (3), pp.229-241. ⟨10.1162/PRES_a_00191⟩

Article dans une revue lirmm-01589230v1
Deposit thumbnail

A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients

Adrien Escande , Sylvain Miossec , Mehdi Benallegue , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2014, 30 (3), pp.666-678. ⟨10.1109/TRO.2013.2296332⟩

Article dans une revue hal-01079783v1
Deposit thumbnail

Model-Based Optimization for Robotics [TC Spotlight]

Katja Mombaur , Abderrahmane Kheddar , Kensuke Harada , Thomas Buschmann , Chris Atkeson

IEEE Robotics and Automation Magazine, 2014, 21 (3), pp.24-161. ⟨10.1109/MRA.2014.2334973⟩

Article dans une revue lirmm-02155303v1

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, 2013, 18 (3), pp.1170-1181. ⟨10.1109/TMECH.2012.2197862⟩

Article dans une revue lirmm-00783583v1
Deposit thumbnail

Planning contact points for humanoid robots

Adrien Escande , Abderrahmane Kheddar , Sylvain Miossec

Robotics and Autonomous Systems, 2013, 61 (5), pp.428-442. ⟨10.1016/j.robot.2013.01.008⟩

Article dans une revue lirmm-00800829v1

Humanoid Robot Locomotion and Manipulation Step Planning

Karim Bouyarmane , Abderrahmane Kheddar

Advanced Robotics, 2012, Special Issue on the Cutting Edge of Robotics in Japan (selected and recommended from the RSJ 2010 conference), 26 (10), pp.1099-1126. ⟨10.1080/01691864.2012.686345⟩

Article dans une revue lirmm-00777728v1

Constraint-based haptic rendering of multirate compliant mechanisms

Igor Peterlik , Mourad Nouicer , Christian Duriez , Stéphane Cotin , Abderrahmane Kheddar

IEEE Transactions on Haptics (ToH), 2011, 4 (3), pp.175-187. ⟨10.1109/TOH.2011.41⟩

Article dans une revue lirmm-00784081v1

Modeling Identification and Control of Peltier Thermoelectic Modules for Telepresence

Mohamed Guiatni , Abderrahmane Kheddar

Journal of Dynamic Systems, Measurement, and Control, 2011, 133 (3), pp.031010-1-031010-8. ⟨10.1115/1.4003381⟩

Article dans une revue lirmm-00784083v1
Deposit thumbnail

Autonomous 3D object modeling by a humanoid using an optimization-driven Next-Best-View formulation

Torea Foissotte , Olivier Stasse , Pierre-Brice Wieber , Adrien Escande , Abderrahmane Kheddar

International Journal of Humanoid Robotics, 2010, 7 (3), pp.407-428. ⟨10.1142/S0219843610002246⟩

Article dans une revue inria-00567850v1

Poly(3,4-ethylenedioxythiophene)-containing semi-interpenetrating polymer networks: a versatile concept for the design of optical or mechanical electroactive devices

Frederic Vidal , Cedric Plesse , Pierre-Henri Aubert , Layla Beouch , François Tran-Van et al.

Polymer international, 2010, 59 (3), pp.313-320. ⟨10.1002/pi.2772⟩

Article dans une revue istex lirmm-00784095v1
Deposit thumbnail

Integration of humanoid robots in collaborative working environment: a case study on motion generation

Olivier Stasse , Rudolf Ruland , Florent Lamiraux , Abderrahmane Kheddar , Kazuhito Yokoi et al.

Intelligent Service Robotics, 2009, 2 (3), pp.153-160. ⟨10.1007/s11370-009-0045-8⟩

Article dans une revue hal-00451346v1

Thermal display for telepresence based on neural identification and heat flux servoing

Mohamed Guiatni , Abdelaziz Benallegue , Abderrahmane Kheddar

Presence: Teleoperators and Virtual Environments, 2009, pp.156-169. ⟨10.1162/pres.18.2.156⟩

Article dans une revue lirmm-00798678v1

A unified approach to integrate unilateral constraints in the stack of tasks

Nicolas Mansard , Oussama Khatib , Abderrahmane Kheddar

IEEE Transactions on Robotics, 2009, pp.670-685. ⟨10.1109/TRO.2009.2020345⟩

Article dans une revue lirmm-00798676v1

Adaptive haptic feedback steering wheel for driving simulators

Hakim Mohellebi , Abderrahmane Kheddar , Stéphane Espié

IEEE Transactions on Vehicular Technology, 2009, 58 (4), pp.1654-1666. ⟨10.1109/TVT.2008.2004493⟩

Article dans une revue lirmm-00784164v1

Synthesis and Characterization of IPNs for Electrochemical Actuators

Frederic Vidal , Cedric Plesse , Guillaume Palaprat , Jonathan Juger , Johann Citérin et al.

Advances in Science and Technology, 2008, 61, pp.8-17. ⟨10.4028/www.scientific.net/AST.61.8⟩

Article dans une revue lirmm-00798681v1
Deposit thumbnail

Design and Control of a Small-Clearance Driving Simulator.

Lamri Nehaoua , Hakim Mohellebi , Ali Amouri , Hichem Arioui , Stéphane Espié et al.

IEEE Transactions on Vehicular Technology, 2008, 57 (2), pp.736--746. ⟨10.1109/TVT.2007.905336⟩

Article dans une revue hal-00342980v1
Deposit thumbnail

Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments

Olivier Stasse , Bjorn Verrelst , Pierre-Brice Wieber , Bram Vanderborght , Paul Evrard et al.

Advanced Robotics, 2008, 22 (6-7), pp.589-611. ⟨10.1163/156855308X305236⟩

Article dans une revue inria-00390485v1

Conducting IPN actuators: From polymer chemistry to actuator with linear actuation

F. Vidal , Cedric Plesse , G. Palaprat , Abderrahmane Kheddar , Johann Citérin et al.

Synthetic Metals, 2006, 156, pp.1299--1304. ⟨10.1016/j.synthmet.2006.09.012⟩

Article dans une revue istex hal-00342998v1
Deposit thumbnail

Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments

Christian Duriez , Frédéric Dubois , Abderrahmane Kheddar , Claude Andriot

IEEE Transactions on Visualization and Computer Graphics, 2006, 12 (1), pp.36-47. ⟨10.1109/TVCG.2006.13⟩

Article dans une revue hal-00269404v1

Feeling what you hear: auditory signals can modulate tactile tap perception

Jean-Pierre Bresciani , Marc O Ernst , Knut Drewing , Guillaume Bouyer , Vincent Maury et al.

Experimental Brain Research, 2005, 162 (2), pp.172-80. ⟨10.1007/s00221-004-2128-2⟩

Article dans une revue istex hal-00947241v1
Deposit thumbnail

A Model-Based Controller for Interactive Delayed Force Feedback Virtual Environments

Hichem Arioui , Abderrahmane Kheddar , Saïd Mammar

Journal of Intelligent and Robotic Systems, 2003, 37 (2), pp.193--207. ⟨10.1023/A:1024106504729⟩

Article dans une revue istex hal-01515626v1
Deposit thumbnail

Fast Continuous Collision Detection between Rigid Bodies

Stephane Redon , Abderrahmane Kheddar , Sabine Coquillart

Computer Graphics Forum, 2002, 21 (3), pp.279-287. ⟨10.1111/1467-8659.t01-1-00587⟩

Article dans une revue inria-00390356v1

Humanoid Feet with Soft Sole and Passive Toe-Joint to Achieve Close-to-Human Walks

Khaldi Saber-riadh , Antonin Dallard , Abderrahmane Kheddar

ICARM 2025 - International Conference on Advanced Robotics and Mechatronics, Aug 2025, Portsmouth, United Kingdom. pp.1-7, ⟨10.1109/ICARM65671.2025.11293545⟩

Communication dans un congrès lirmm-05523444v1

Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC

Nícolas Figueroa , Julio Tafur , Abderrahmane Kheddar

SII 2024 - 16th IEEE/SICE International Symposium on System Integration, Jan 2024, Ha Long, Vietnam. pp.1405-1410, ⟨10.1109/SII58957.2024.10417367⟩

Communication dans un congrès hal-04826151v1

A Dance Performance with a Humanoid Robot using a Real-time Gesture Responsive Framework

Huiting Hong , Chu-Yin Chen , Arnaud Tanguy , Abderrahmane Kheddar

ROMAN 2024 - 33rd IEEE International Conference on Robot and Human Interactive Communication, Aug 2024, Pasadena, CA, United States. pp.1550-1555, ⟨10.1109/RO-MAN60168.2024.10731316⟩

Communication dans un congrès hal-04766195v1
Deposit thumbnail

A Cross-Temporal Robotic Dance Performance: Dancing with a Humanoid Robot and Artificial Life

Huiting Hong , Isadora Teles de Castro E Costa , Arnaud Tanguy , Abderrahmane Kheddar , Chu-Yin Chen

ISEA 2024 - 29th International Symposium on Electronic Art, Jun 2024, Brisbane, Australia

Communication dans un congrès hal-04755684v1
Deposit thumbnail

Evaluation of knee unloader braces and brace designing challenges - A literature review

Léa Boillereaux , Simon Le Floc’h , Abderrahmane Kheddar , Franck Jourdan

SB 2023 - 48e Congrès annuel de la Société de Biomécanique, Société de Biomécanique, Oct 2023, Grenoble, France

Communication dans un congrès hal-04274876v1
Deposit thumbnail

A pilot usability study of a humanoid avatar to assist therapists of ASD children

Carole Fournier , Cécile Michelon , Arnaud Tanguy , Paul Audoyer , Véronique Granit et al.

ICSR 2023 -15th International Conference on Social Robotics, Dec 2023, Doha, Qatar. pp.336-349, ⟨10.1007/978-981-99-8715-3_28⟩

Communication dans un congrès hal-04577923v1
Deposit thumbnail

Dance, Dance, Dance With My Hands: Third-Party Human Robot-Human Interactions

Sorina-Silvia Cîrcu , Bruno Yun , Abderrahmane Kheddar , Chu-Yin Chen , Madalina Croitoru

RO-MAN 2023 - 32nd IEEE International Conference on Robot and Human Interactive Communication, Aug 2023, Busan, South Korea. pp.1997-2002, ⟨10.1109/RO-MAN57019.2023.10309353⟩

Communication dans un congrès hal-04317927v1

Robotic Thermoregulation for Material Identification using Recycled Inner-Generated Motor Heat

Yukiko Osawa , Yukiyasu Domae , Ichiro Ogura , Yoshiyuki Furukawa , Abderrahmane Kheddar

ROBIO 2023 - IEEE International Conference on Robotics and Biomimetics, Dec 2023, Koh Samui, Thailand. pp.1-7, ⟨10.1109/ROBIO58561.2023.10354795⟩

Communication dans un congrès hal-04745639v1

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

Yang Chen , Leyuan Sun , Mehdi Benallegue , Rafael Cisneros-Limon , Rohan Singh et al.

Humanoids 2022 - 21st IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. pp.306-313, ⟨10.1109/Humanoids53995.2022.9999740⟩

Communication dans un congrès hal-03843147v1
Deposit thumbnail

Robust Cartesian Kinematics Estimation for Task-Space Control Systems

Seyed Ali Baradaran Birjandi , Niels Dehio , Abderrahmane Kheddar , Sami Haddadin

IROS 2022 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. pp.3512-3519, ⟨10.1109/IROS47612.2022.9981233⟩

Communication dans un congrès hal-04708634v1
Deposit thumbnail

Human-Robot Handovers using Task-Space Quadratic Programming

Mohamed Djeha , Antonin Dallard , Ahmed Zermane , Pierre Gergondet , Abderrahmane Kheddar

RO-MAN 2022 - 31st IEEE International Conference on Robot and Human Interactive Communication, Aug 2022, Napoly, Italy. pp.518-523, ⟨10.1109/RO-MAN53752.2022.9900626⟩

Communication dans un congrès hal-03694798v1

Robust Position Regulation of a Seesaw Actuated by a Humanoid

Santos Miguel Orozco Soto , Juan Ibarra-Zannatha , Abderrahmane Kheddar

CASE 2022 - IEEE 18th International Conference on Automation Science and Engineering, Aug 2022, Mexico City, Mexico. pp.1315-1320, ⟨10.1109/CASE49997.2022.9926663⟩

Communication dans un congrès hal-04717590v1
Deposit thumbnail

Material Classification Using Active Temperature Controllable Robotic Gripper

Yukiko Osawa , Kei Kase , Yukiyasu Domae , Yoshiyuki Furukawa , Abderrahmane Kheddar

SII 2022 - 14th IEEE/SICE International Symposium on System Integration, Jan 2022, Narvik, Norway. pp.479-484, ⟨10.1109/SII52469.2022.9708761⟩

Communication dans un congrès hal-03453954v1
Deposit thumbnail

Robot-Safe Impacts with Soft Contacts Based on Learned Deformations

Niels Dehio , Abderrahmane Kheddar

ICRA 2021 - 38th IEEE International Conference on Robotics and Automation, May 2021, Xi'an, China. pp.1357-1363, ⟨10.1109/ICRA48506.2021.9561678⟩

Communication dans un congrès hal-02973947v3

Towards a dance co-creation with robots

Sorina-Silvia Cîrcu , Chu-Yin Chen , Isadora Teles de Castro E Costa , Abderrahmane Kheddar

International Symposium on Limits of the human, machines without limits? Contemporary stage and robotics : exchanges and collaborations, Oct 2021, Lausanne, Switzerland

Communication dans un congrès hal-04429617v1
Deposit thumbnail

A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities

Yukiko Osawa , Abderrahmane Kheddar

ISER 2020 - 17th International Symposium on Experimental Robotics, Nov 2020, Floriana, Malta. pp.253-262, ⟨10.1007/978-3-030-71151-1_23⟩

Communication dans un congrès hal-02559722v2
Deposit thumbnail

Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts

Julien Roux , Saeid Samadi , Eisoku Kuroiwa , Takahide Yoshiike , Abderrahmane Kheddar

ICAR 2021 - 20th International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.793-799, ⟨10.1109/ICAR53236.2021.9659359⟩

Communication dans un congrès hal-03390633v1
Deposit thumbnail

Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications

Anastasia Bolotnikova , Pierre Gergondet , Arnaud Tanguy , Sébastien Courtois , Abderrahmane Kheddar

SII 2021 - 13th IEEE/SICE International Symposium on System Integration, Jan 2021, Online conference (originally: Iwaki, Fukushima), Japan. pp.560-565, ⟨10.1109/IEEECONF49454.2021.9382685⟩

Communication dans un congrès hal-02919367v3
Deposit thumbnail

Benchmarking Cameras for OpenVSLAM Indoors

Kevin Chappellet , Guillaume Caron , Fumio Kanehiro , Ken Sakurada , Abderrahmane Kheddar

ICPR 2020 - 25th International Conference on Pattern Recognition, Jan 2021, Milan, Italy. pp.4857-4864, ⟨10.1109/ICPR48806.2021.9413278⟩

Communication dans un congrès hal-02970830v1
Deposit thumbnail

Autonomous Initiation of Human Physical Assistance by a Humanoid

Anastasia Bolotnikova , Sébastien Courtois , Abderrahmane Kheddar

RO-MAN 2020 - 29th IEEE International Conference on Robot and Human Interactive Communication, Aug 2020, Virtual, Italy. pp.857-862, ⟨10.1109/RO-MAN47096.2020.9223519⟩

Communication dans un congrès hal-02615390v3
Deposit thumbnail

Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping

Arnaud Tanguy , Daniele de Simone , Andrew I. Comport , Giuseppe Oriolo , Abderrahmane Kheddar

ICRA 2019 - 36th IEEE International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.1397-1403, ⟨10.1109/ICRA.2019.8794006⟩

Communication dans un congrès hal-02060786v1
Deposit thumbnail

Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot

Takahiro Ito , Ko Ayusawa , Eiichi Yoshida , Abderrahmane Kheddar

ARSO 2019 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, Oct 2019, Beijing, China. pp.28-33, ⟨10.1109/ARSO46408.2019.8948734⟩

Communication dans un congrès lirmm-02304148v1
Deposit thumbnail

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

Stéphane Caron , Abderrahmane Kheddar , Olivier Tempier

ICRA 2019 - 36th IEEE International Conference on Robotics and Automation, May 2019, Montréal, Canada. pp.277-283, ⟨10.1109/ICRA.2019.8794348⟩

Communication dans un congrès hal-01875387v7
Deposit thumbnail

Impact-friendly robust control design with task-space quadratic optimization

Yuquan Wang , Abderrahmane Kheddar

RSS 2019 - Robotics: Science and Systems XV, Jun 2019, Freiburg im Breisgau, Germany. ⟨10.15607/RSS.2019.XV.032⟩

Communication dans un congrès lirmm-02301269v1
Deposit thumbnail

Distinct motor contagions during and after observation of actions by a humanoid co-worker

Ashesh Vasalya , Gowrishankar Ganesh , Abderrahmane Kheddar

RO-MAN 2018 - 27th International Symposium on Robot and Human Interactive Communication, Aug 2018, Nanjing, China. pp.51-57, ⟨10.1109/ROMAN.2018.8525641⟩

Communication dans un congrès hal-01819774v1
Deposit thumbnail

Robust humanoid control using a QP solver with integral gains

Rafael Cisneros , Mehdi Benallegue , Abdelaziz Benallegue , Mitsuharu Morisawa , Hervé Audren et al.

IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479, ⟨10.1109/IROS.2018.8593417⟩

Communication dans un congrès hal-01845489v2
Deposit thumbnail

Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer

Anastasia Bolotnikova , Sébastien Courtois , Abderrahmane Kheddar

Humanoids 2018 - 18th IEEE-RAS International Conference on Humanoid Robots, Nov 2018, Beijing, China. pp.854-859, ⟨10.1109/HUMANOIDS.2018.8624946⟩

Communication dans un congrès lirmm-01895114v2
Deposit thumbnail

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. pp.29-34, ⟨10.1109/ROMAN.2018.8525774⟩

Communication dans un congrès lirmm-01819692v3
Deposit thumbnail

Online eye-robot self-calibration

Arnaud Tanguy , Abderrahmane Kheddar , Andrew I. Comport

SIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, May 2018, Brisbane, Australia. pp.68-73, ⟨10.1109/SIMPAR.2018.8376273⟩

Communication dans un congrès hal-01883715v1
Deposit thumbnail

Generation of Walking Motions Based on Whole-Body Poses and QP Control

Raphael Grimm , Abderrahmane Kheddar , Tamim Asfour

Humanoids 2018 - 18th IEEE-RAS International Conference on Humanoid Robots, Nov 2018, Beijing, China. pp.510-515, ⟨10.1109/HUMANOIDS.2018.8624913⟩

Communication dans un congrès lirmm-03131958v1
Deposit thumbnail

Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization

Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar

IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2018), May 2018, Brisbane, Australia. pp.62-67, ⟨10.1109/SIMPAR.2018.8376272⟩

Communication dans un congrès lirmm-03131379v1

Sample-Efficient Learning of Soft Task Priorities Through Bayesian Optimization

Yinyin Su , Yuquan Wang , Abderrahmane Kheddar

Humanoids 2018 - 18th IEEE-RAS International Conference on Humanoid Robots, Nov 2018, Beijing, China. pp.1-6, ⟨10.1109/HUMANOIDS.2018.8624974⟩

Communication dans un congrès lirmm-02409162v1
Deposit thumbnail

A circuit-breaker use-case operated by a humanoid in aircraft manufacturing

Anastasia Bolotnikova , Kevin Chappellet , Antonio Paolillo , Adrien Escande , Gholamreza Anbarjafari et al.

CASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. pp.15-22, ⟨10.1109/COASE.2017.8256069⟩

Communication dans un congrès hal-01565060v1
Deposit thumbnail

Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement

Mehdi Benallegue , Pierre Gergondet , Hervé Audren , Alexis Mifsud , Mitsuharu Morisawa et al.

ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩

Communication dans un congrès hal-01746095v1
Deposit thumbnail

Nut fastening with a humanoid robot

Kai Pfeiffer , Adrien Escande , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148, ⟨10.1109/IROS.2017.8206515⟩

Communication dans un congrès hal-02189053v1
Deposit thumbnail

Model-predictive control in multi-contact based on stability polyhedrons

Hervé Audren , Abderrahmane Kheddar

Humanoids 2017 - 17th IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.631-636, ⟨10.1109/HUMANOIDS.2017.8246938⟩

Communication dans un congrès lirmm-01624017v1
Deposit thumbnail

Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum

Stéphane Caron , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.5017-5024, ⟨10.1109/IROS.2017.8206385⟩

Communication dans un congrès hal-01481052v2
Deposit thumbnail

Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model

Vincent Samy , Stéphane Caron , Karim Bouyarmane , Abderrahmane Kheddar

Humanoids 2017 - 17th IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.655-660, ⟨10.1109/HUMANOIDS.2017.8246942⟩

Communication dans un congrès hal-01569819v3
Deposit thumbnail

Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution

Adrien Pajon , Stéphane Caron , Giovanni de Magistris , Sylvain Miossec , Abderrahmane Kheddar

Humanoids 2017 - 17th IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.432-437, ⟨10.1109/HUMANOIDS.2017.8246909⟩

Communication dans un congrès hal-01576516v1
Deposit thumbnail

Visual estimation of articulated objects configuration during manipulation with a humanoid

Antonio Paolillo , Anastasia Bolotnikova , Kevin Chappellet , Abderrahmane Kheddar

SII: Symposium on System Integration, Dec 2017, Taipei, Taiwan. pp.330-335, ⟨10.1109/SII.2017.8279234⟩

Communication dans un congrès hal-01646158v1
Deposit thumbnail

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

Communication dans un congrès lirmm-01363954v2
Deposit thumbnail

QP-based Adaptive-Gains Compliance Control in Humanoid Falls

Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar

ICRA: International Conference on Robotics and Automation, May 2017, Singapour, Singapore. pp.4762-4767, ⟨10.1109/ICRA.2017.7989553⟩

Communication dans un congrès hal-01365108v2
Deposit thumbnail

Parametrization of Catmull-Clark Subdivision Surfaces for Posture Generation

Adrien Escande , Stanislas Brossette , Abderrahmane Kheddar

ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1608-1614, ⟨10.1109/ICRA.2016.7487300⟩

Communication dans un congrès hal-01275693v1
Deposit thumbnail

Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots

Hervé Audren , Abderrahmane Kheddar , Pierre Gergondet

Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. pp.1037-1044, ⟨10.1109/HUMANOIDS.2016.7803399⟩

Communication dans un congrès lirmm-01256512v2
Deposit thumbnail

Whole-Body Contact Force Sensing From Motion Capture

Tu-Hoa Pham , Adrien Bufort , Stéphane Caron , Abderrahmane Kheddar

SII: Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.58-63, ⟨10.1109/SII.2016.7843975⟩

Communication dans un congrès hal-01372531v2
Deposit thumbnail

Closed-loop RGB-D SLAM Multi-Contact Control for humanoid robots

Arnaud Tanguy , Pierre Gergondet , Andrew I. Comport , Abderrahmane Kheddar

IEEE/SICE International Symposium on System Integration, Dec 2016, Sapporo, Japan. pp.51-57, ⟨10.1109/SII.2016.7843974⟩

Communication dans un congrès hal-01568048v1
Deposit thumbnail

Multi-Contact Motion Retargeting from Human to Humanoid Robot

Alessandro Di Fava , Karim Bouyarmane , Kevin Chappellet , Emanuele Ruffaldi , Abderrahmane Kheddar

Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. pp.1081-1086, ⟨10.1109/HUMANOIDS.2016.7803405⟩

Communication dans un congrès hal-01414986v1
Deposit thumbnail

Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations

Stéphane Caron , Abderrahmane Kheddar

Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancún, Mexico. pp.550-557, ⟨10.1109/HUMANOIDS.2016.7803329⟩

Communication dans un congrès hal-01349880v5
Deposit thumbnail

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. pp.1573-1578, ⟨10.1109/ICRA.2016.7487296⟩

Communication dans un congrès hal-01274791v2
Deposit thumbnail

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. pp.1757-1762, ⟨10.1109/ICRA.2016.7487319⟩

Communication dans un congrès hal-01278856v1
Deposit thumbnail

Adaptation of walking ground reaction forces to changes in ground stiffness properties

Adrien Pajon , Enrico Chiovetto , Colleen Monaghan , Martin A Giese , Abderrahmane Kheddar

BioRob 2016 - 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, Jun 2016, Singapour, Singapore. pp.1313-1318, ⟨10.1109/BIOROB.2016.7523813⟩

Communication dans un congrès hal-01740865v1
Deposit thumbnail

Residual-based contacts estimation for humanoid robots

Fabrizio Flacco , Antonio Paolillo , Abderrahmane Kheddar

Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. pp.409-415, ⟨10.1109/HUMANOIDS.2016.7803308⟩

Communication dans un congrès hal-01546332v1
Deposit thumbnail

Capturing and Reproducing Hand-Object Interactions Through Vision-Based Force Sensing

Tu-Hoa Pham , Abderrahmane Kheddar , Ammar Qammaz , Antonis A. Argyros

Object Understanding for Interaction, Dec 2015, Santiago, Chile

Communication dans un congrès hal-01372238v1
Deposit thumbnail

Simulation-based Optimal Motion Planning for Deformable Object

Eiichi Yoshida , Ko Ayusawa , Ixchel Ramirez-Alpizar , Kensuke Harada , Christian Duriez et al.

ARSO: Advanced Robotics and its Social Impacts, Jun 2015, Lyon, France. ⟨10.1109/ARSO.2015.7428219⟩

Communication dans un congrès hal-01255803v1

Falls control using posture reshaping and active compliance

Vincent Samy , Abderrahmane Kheddar

Humanoids, Nov 2015, Seoul, South Korea. pp.908-913, ⟨10.1109/HUMANOIDS.2015.7363469⟩

Communication dans un congrès lirmm-01345805v1
Deposit thumbnail

Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation Forces

Tu-Hoa Pham , Abderrahmane Kheddar , Ammar Qammaz , Antonis A. Argyros

CVPR: Computer Vision and Pattern Recognition, Jun 2015, Boston, MA, United States. pp.2810-2819, ⟨10.1109/CVPR.2015.7298898⟩

Communication dans un congrès hal-01356136v1
Deposit thumbnail

Humanoid posture generation on non-Euclidean manifolds

Stanislas Brossette , Adrien Escande , Grégoire Duchemin , Benjamin Chrétien , Abderrahmane Kheddar

Humanoids, Nov 2015, Seoul, South Korea. pp.352-358, ⟨10.1109/HUMANOIDS.2015.7363574⟩

Communication dans un congrès hal-01265418v1
Deposit thumbnail

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. pp.3956-3961, ⟨10.1109/IROS.2015.7353934⟩

Communication dans un congrès lirmm-01253539v1
Deposit thumbnail

A humanoid walking pattern generator for sole design optimization

Adrien Pajon , Giovanni de Magistris , Sylvain Miossec , Kenji Kaneko , Abderrahmane Kheddar

ICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.105-110, ⟨10.1109/ICAR.2015.7251441⟩

Communication dans un congrès hal-01278857v1
Deposit thumbnail

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. pp.2882-2887, ⟨10.1109/ICRA.2015.7139592⟩

Communication dans un congrès lirmm-01222969v1
Deposit thumbnail

Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social Intelligence

Amit Kumar Pandey , Rodolphe Gelin , Rachid Alami , Renaud Viry , Axel Buendia et al.

AIC: Artificial Intelligence and Cognition, Nov 2014, Torino, Italy. pp.140-147

Communication dans un congrès hal-01096094v1
Deposit thumbnail

Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing

Don Joven Agravante , Andrea Cherubini , Antoine Bussy , Pierre Gergondet , Abderrahmane Kheddar

ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.607-612, ⟨10.1109/ICRA.2014.6906917⟩

Communication dans un congrès lirmm-00950727v1
Deposit thumbnail

Model preview control in multi-contact motion-application to a humanoid robot

Hervé Audren , Joris Vaillant , Abderrahmane Kheddar , Adrien Escande , Kenji Kaneko et al.

IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.4030-4035, ⟨10.1109/IROS.2014.6943129⟩

Communication dans un congrès lirmm-01256511v1
Deposit thumbnail

Vertical ladder climbing by the HRP-2 humanoid robot

Joris Vaillant , Abderrahmane Kheddar , Hervé Audren , François Keith , Stanislas Brossette et al.

14th IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. pp.671-676, ⟨10.1109/HUMANOIDS.2014.7041435⟩

Communication dans un congrès hal-01276934v1
Deposit thumbnail

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. pp.451-456, ⟨10.1109/HUMANOIDS.2014.7041400⟩

Communication dans un congrès lirmm-01247234v2
Deposit thumbnail

Integration of Non-Inclusive Contacts in Posture Generation

Stanislas Brossette , Adrien Escande , Joris Vaillant , François Keith , Thomas Moulard et al.

IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.933-938, ⟨10.1109/IROS.2014.6942671⟩

Communication dans un congrès hal-01016319v1
Deposit thumbnail

Navigation Assistance for a BCI-controlled Humanoid Robot

Damien Petit , Pierre Gergondet , Andrea Cherubini , Maxime Meilland , Andrew I. Comport et al.

CYBER 2014 - 4th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, Jun 2014, Hong Kong, China. pp.246-251, ⟨10.1109/CYBER.2014.6917469⟩

Communication dans un congrès lirmm-01222966v1
Deposit thumbnail

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 I. Comport et al.

URAI: Ubiquitous Robots and Ambient Intelligence, Nov 2014, Kuala Lumpur, Malaysia. pp.600-604, ⟨10.1109/URAI.2014.7057501⟩

Communication dans un congrès lirmm-01247142v1
Deposit thumbnail

Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results

Stanislas Brossette , Joris Vaillant , François Keith , Adrien Escande , Abderrahmane Kheddar

RAM: Robotics, Automation and Mechatronics, Nov 2013, Manila, Philippines. pp.19-24, ⟨10.1109/RAM.2013.6758553⟩

Communication dans un congrès lirmm-00863931v1
Deposit thumbnail

Using vision and haptic sensing for human-humanoid haptic joint actions

Don Joven Agravante , Andrea Cherubini , Abderrahmane Kheddar

RAM: Robotics, Automation and Mechatronics, Nov 2013, Manila, Philippines. pp.13-18, ⟨10.1109/RAM.2013.6758552⟩

Communication dans un congrès lirmm-00908439v1
Deposit thumbnail

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. ⟨10.1109/IROS.2013.6697019⟩

Communication dans un congrès lirmm-00857659v1
Deposit thumbnail

Visio-haptic control for Human-Humanoid Cooperative Carrying Tasks

Don Joven Agravante , Andrea Cherubini , Abderrahmane Kheddar

HFR: Human-Friendly Robotics, Sep 2013, Rome, Italy

Communication dans un congrès lirmm-01247143v1
Deposit thumbnail

Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios

Karim Bouyarmane , Joris Vaillant , François Keith , Abderrahmane Kheddar

Humanoids, Nov 2012, Osaka, Japan. pp.337-342, ⟨10.1109/HUMANOIDS.2012.6651541⟩

Communication dans un congrès lirmm-00765817v1

Human-Humanoid Co-working in a Joint Table Transportation

Paul Evrard , Abderrahmane Kheddar

ICSR 2012 - 4th International Conference of Social Robotics, Oct 2012, Chengdu, China. pp.357-366, ⟨10.1007/978-3-642-34103-8_36⟩

Communication dans un congrès lirmm-00781265v1
Deposit thumbnail

Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2

Pierre Gergondet , Abderrahmane Kheddar , Christoph Hintermüller , Christoph Guger , Mel Slater

ISER: International Symposium on Experimental Robotics, Jun 2012, Québec city, Canada

Communication dans un congrès lirmm-00781275v2
Deposit thumbnail

Human-Humanoid Haptic Joint Object Transportation Case Study

Antoine Bussy , Abderrahmane Kheddar , André Crosnier , François Keith

IROS: Intelligent Robots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.3633-3638, ⟨10.1109/IROS.2012.6385921⟩

Communication dans un congrès lirmm-00773401v1
Deposit thumbnail

On the Dynamics Modeling of Free-Floating-Base Articulated Mechanisms and Applications to Humanoid Whole-Body Dynamics and Control

Karim Bouyarmane , Abderrahmane Kheddar

Humanoids, Nov 2012, Osaka, Japan. pp.036-042, ⟨10.1109/HUMANOIDS.2012.6651496⟩

Communication dans un congrès lirmm-00765815v1
Deposit thumbnail

Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner

Antoine Bussy , Pierre Gergondet , Abderrahmane Kheddar , François Keith , André Crosnier

Ro-Man'2012: International Symposium on Robot and Human Interactive Communication, Sep 2012, Université de Versaille, France. pp.962-967, ⟨10.1109/ROMAN.2012.6343874⟩

Communication dans un congrès lirmm-00773403v1

Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Lee Youngeun , Sébastien Lengagne , Abderrahmane Kheddar , Young J. Kim

IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.1513-1518, ⟨10.1109/IROS.2012.6385741⟩

Communication dans un congrès lirmm-00778524v1

Steering a robot with a brain-computer interface: impact of the video feedback on BCI performance

Pierre Gergondet , Damien Petit , Abderrahmane Kheddar

21st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2012), Sep 2012, Paris, France. pp.271-276, ⟨10.1109/ROMAN.2012.6343765⟩

Communication dans un congrès lirmm-00781528v1
Deposit thumbnail

Human-Humanoid Coworker in a Beam Transportation case

Antoine Bussy , Abderrahmane Kheddar , André Crosnier

RSJ: Conference of the Robotics Society of Japan, Sep 2012, Sapporo Convention Center, Japan

Communication dans un congrès lirmm-00808349v1

fMRI Robotic Embodiment: A Pilot Study

Ori Cohen , Sébastien Druon , Sébastien Lengagne , Avi Mendelsohn , Rafael Malach et al.

BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Rome, Italy. pp.314-319, ⟨10.1109/BioRob.2012.6290866⟩

Communication dans un congrès lirmm-00778521v1

Multi-contact acyclic motion planning for humanoid robotics and human avatars

Abderrahmane Kheddar

DHM'11: First international symposium on Digital Human Modeling, Jun 2011, Lyon, France

Communication dans un congrès lirmm-00798682v1
Deposit thumbnail

Programming Humanoid Motion to Reproduce Human Leg Injuries and Diseases

Sebastien Lengagne , Abderrahmane Kheddar , Sébastien Druon , Eiichi Yoshida

29th annual conference of the Robotics Society of Japan (RSJ), Sep 2011, Tokyo, Japan

Communication dans un congrès hal-03935650v1

Human-Robot Haptic Joint Actions: Is an Equal Control-Sharing Approach Possible?

Abderrahmane Kheddar

HSI: Human System Interactions, May 2011, Keio University, Yokohama, Japan. pp.268-273, ⟨10.1109/HSI.2011.5937377⟩

Communication dans un congrès lirmm-00781550v1
Deposit thumbnail

Planning Humanoid Multi-contact Dynamic Motions Using Optimization Techniques

Abderrahmane Kheddar

ICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China

Communication dans un congrès lirmm-00798684v1
Deposit thumbnail

Emulating human leg impairments and disabilities in walking with humanoid robots

Sébastien Lengagne , Abderrahmane Kheddar , Sébastien Druon , Eiichi Yoshida

ROBIO'11: IEEE International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. pp.2372-2377, ⟨10.1109/ROBIO.2011.6181653⟩

Communication dans un congrès lirmm-00781531v1
Deposit thumbnail

Using a Multi-Objective Controller to Synthesize Simulated Humanoid Robot Motion with Changing Contact Configurations

Karim Bouyarmane , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, CA, United States. pp.4414-4419, ⟨10.1109/IROS.2011.6094483⟩

Communication dans un congrès lirmm-00765820v1

Using Brain-Computer Interface to Steer a Humanoid Robot

Pierre Gergondet , Sébastien Druon , Abderrahmane Kheddar , Christoph Hintermüller , Christoph Guger et al.

ROBIO'11: International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. pp.192-197, ⟨10.1109/ROBIO.2011.6181284⟩

Communication dans un congrès lirmm-00781526v1
Deposit thumbnail

FEM-based Static Posture Planning for a Humanoid Robot on Deformable Contact Support

Karim Bouyarmane , Abderrahmane Kheddar

Humanoids, Oct 2011, Bled, Slovenia. pp.487-492, ⟨10.1109/Humanoids.2011.6100848⟩

Communication dans un congrès lirmm-00765818v1
Deposit thumbnail

Considering Floatting Contact and Un-Modeled Effects for Multi-Contact Motion Generation

Sébastien Lengagne , Abderrahmane Kheddar , Eiichi Yoshida

Humanoids, Oct 2011, Bled, Slovenia

Communication dans un congrès lirmm-00781546v1

A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Abderrahmane Kheddar , Aude Billard

ROBIO'11: International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. pp.1433-1438, ⟨10.1109/ROBIO.2011.6181491⟩

Communication dans un congrès lirmm-00781537v1
Deposit thumbnail

Multi-Contact Stances Planning for Multiple Agents

Karim Bouyarmane , Abderrahmane Kheddar

ICRA'2011: International Conference on Robotics and Automation, May 2011, Shanghai International Conference Center, Shanghai, China. pp.5246-5253, ⟨10.1109/ICRA.2011.5980088⟩

Communication dans un congrès lirmm-00777727v1

Human-humanoid haptic joint actions

Abderrahmane Kheddar

ICRA: International Conference on Robotics and Automation, R. Haddadin; P. R. Giordano; A. Peer, May 2011, Shanghai, China

Communication dans un congrès lirmm-00798686v1

Motion Learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans

Elena Gribovskaya , Abderrahmane Kheddar , Aude Billard

ICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.4326-4332, ⟨10.1109/ICRA.2011.5980070⟩

Communication dans un congrès lirmm-00781272v1
Deposit thumbnail

Analysis of the Discontinuities in Prioritized Tasks-Space Control Under Discrete Task Scheduling Operations

François Keith , Pierre-Brice Wieber , Nicolas Mansard , Abderrahmane Kheddar

IROS'11: International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. pp.3887-3892, ⟨10.1109/IROS.2011.6094706⟩

Communication dans un congrès hal-00649287v1

Modeling and instrumentation for position and torque control of a 4DOF force-feedback device

Mohamed Guiatni , Abdelkrim Abane , Abderrahmane Kheddar

SMC'10: International Conference on Systems Man and Cybernetics, Oct 2010, Istanbul, Turkey. pp.2052-2057, ⟨10.1109/ICSMC.2010.5641715⟩

Communication dans un congrès lirmm-00798694v1
Deposit thumbnail

A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping Motions

Mehdi Benallègue , Pierre-Brice Wieber , Abderrahmane Kheddar , Bernard Espiau

Humanoids, Dec 2010, Nashville, TN, United States. pp.322-327, ⟨10.1109/ICHR.2010.5686304⟩

Communication dans un congrès inria-00567736v1
Deposit thumbnail

Multi-contacts stances planning for humanoid locomotion and manipulation

Karim Bouyarmane , Abderrahmane Kheddar

RSJ'10: 28th annual conference of the Robotics Society of Japan, Sep 2010, Nagoya, Japan

Communication dans un congrès lirmm-00800868v1
Deposit thumbnail

Multi-Contact Motion Generation: Continuous Constraints and Contact Forces

Sebastien Lengagne , Paul Mathieu , Abderrahmane Kheddar , Eiichi Yoshida

28th annual conference of the Robotics Society of Japan (RSJ), Sep 2010, Nagoya, Japan

Communication dans un congrès hal-03935634v1
Deposit thumbnail

Generation of Dynamic Multi-Contact Motions: 2D case studies

Sébastien Lengagne , Paul Mathieu , Abderrahmane Kheddar , Eiichi Yoshida

Humanoids, Dec 2010, Nashville, TN, United States. pp.014-020, ⟨10.1109/ICHR.2010.5686836⟩

Communication dans un congrès lirmm-00781554v1

An approach of generic solution for humanoid stepping over motion

Mario Arbulú , Abderrahmane Kheddar , Eiichi Yoshida

Humanoids, Dec 2010, Nashville, TN, United States. pp.474-479, ⟨10.1109/ICHR.2010.5686345⟩

Communication dans un congrès lirmm-00781556v1
Deposit thumbnail

Static Multi-Contact Inverse Problem for Multiple Humanoid Robots and Manipulated Objects

Karim Bouyarmane , Abderrahmane Kheddar

Humanoids, Dec 2010, Nashville, TN, United States. pp.008-013, ⟨10.1109/ICHR.2010.5686317⟩

Communication dans un congrès lirmm-00776649v1
Deposit thumbnail

Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Olivier Stasse , Paul Evrard , Nicolas Perrin , Nicolas Mansard , Abderrahmane Kheddar

Humanoids, Dec 2009, Paris, France. pp.284-289, ⟨10.1109/ICHR.2009.5379563⟩

Communication dans un congrès hal-00507141v1
Deposit thumbnail

Using NEWUOA to drive the autonomous visual modeling of an object by a Humanoid Robot

Torea Foissotte , Olivier Stasse , Pierre-Brice Wieber , Abderrahmane Kheddar

ICIA: International Conference on Information and Automation, Jun 2009, Zhuhai, China. pp.78-83, ⟨10.1109/ICINFA.2009.5204897⟩

Communication dans un congrès inria-00567680v1
Deposit thumbnail

Potential Field Guide for Humanoid Multicontacts Acyclic Motion Planning

Karim Bouyarmane , Adrien Escande , Florent Lamiraux , Abderrahmane Kheddar

ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1165-1170, ⟨10.1109/ROBOT.2009.5152353⟩

Communication dans un congrès lirmm-00776642v1
Deposit thumbnail

Optimization of Tasks Warping and Scheduling for Smooth Sequencing of Robotic Actions

François Keith , Nicolas Mansard , Sylvain Miossec , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1609-1614, ⟨10.1109/IROS.2009.5354282⟩

Communication dans un congrès lirmm-00733383v1
Deposit thumbnail

Motion Optimization of Robots, Application to HRP-2

Sylvain Miossec , Sebastien Lengagne , Abderrahmane Kheddar , Kazuhito Yokoi

BFG'09 - 14th Belgian-French-German Conference on Optimization, Sep 2009, Leuven, Belgium

Communication dans un congrès hal-00836312v1

Homotopy-based controller for physical human-robot interaction

Paul Evrard , Abderrahmane Kheddar

RO-MAN'09: 18th International Symposium on Robot and Human Interactive Communication, Sep 2009, Toyama International Conference Center, Japan. pp.1-6, ⟨10.1109/ROMAN.2009.5326065⟩

Communication dans un congrès lirmm-00796730v1
Deposit thumbnail

Optimized Time-Warping Tasks Scheduling for Smooth Sequencing

François Keith , Nicolas Mansard , Sylvain Miossec , Abderrahmane Kheddar

SYROCO'09: 9th IFAC Symposium on Robot Control, Sep 2009, Nagaragawa Convention Center, Gifu, Japan. pp.265-270

Communication dans un congrès lirmm-00780896v1
Deposit thumbnail

Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes

Mehdi Benallègue , Adrien Escande , Sylvain Miossec , Abderrahmane Kheddar

ICRA 2009 - IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.483-488, ⟨10.1109/ROBOT.2009.5152722⟩

Communication dans un congrès lirmm-00796369v1
Deposit thumbnail

Human Motion in Cooperative Tasks: Moving Object Case Study

Sylvain Miossec , Abderrahmane Kheddar

ROBIO: International Conference on Robotics and Biomimetics, Feb 2009, Bangkok, Thailand. pp.1509-1514, ⟨10.1109/ROBIO.2009.4913224⟩

Communication dans un congrès lirmm-00796734v1
Deposit thumbnail

Teaching physical collaborative tasks: object-lifting case study with a humanoid

Paul Evrard , Elena Gribovskaya , Sylvain Calinon , Aude Billard , Abderrahmane Kheddar

Humanoids, Dec 2009, Paris, France. pp.399-404, ⟨10.1109/ICHR.2009.5379513⟩

Communication dans un congrès lirmm-00796725v1

Patterning IPN-CP actuators and applications

Johann Citérin , Abderrahmane Kheddar

AIM'09: International Conference on Advanced Intelligent Mechatronics, Jul 2009, Singapour, Singapore. pp.1016-1021, ⟨10.1109/AIM.2009.5229720⟩

Communication dans un congrès lirmm-00796737v1

Combining haptic sensing with safe physical interaction

Martin Battaglia , Laurent Blanchet , Abderrahmane Kheddar , Shuuji Kajita , Yokoi Kazuhito

IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.231-236, ⟨10.1109/IROS.2009.5354141⟩

Communication dans un congrès lirmm-00796360v1
Deposit thumbnail

Learning collaborative manipulation tasks by demonstration using a haptic interface

Sylvain Calinon , Paul Evrard , Elena Gribovskaya , Aude Billard , Abderrahmane Kheddar

ICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6

Communication dans un congrès lirmm-00796370v1
Deposit thumbnail

Contact planning for acyclic motion with tasks constraints

Adrien Escande , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.435-440, ⟨10.1109/IROS.2009.5354371⟩

Communication dans un congrès lirmm-00796364v1
Deposit thumbnail

A Two-Steps Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot

Torea Foissotte , Olivier Stasse , Adrien Escande , Pierre-Brice Wieber , Abderrahmane Kheddar

ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1159-1164, ⟨10.1109/ROBOT.2009.5152350⟩

Communication dans un congrès inria-00390587v1

Design and evaluation of a haptic interface for interactive simulation of minimally-invasive surgeries

Mohamed Guiatni , Vincent Riboulet , Abderrahmane Kheddar

AIM'09: Advanced Intelligent Mechatronics, Jul 2009, Singapour, Singapore. pp.1336-1341, ⟨10.1109/AIM.2009.5229874⟩

Communication dans un congrès lirmm-00798700v1
Deposit thumbnail

Homotopy switching model for dyad haptic interaction in physical collaborative tasks

Paul Evrard , Abderrahmane Kheddar

WHC'09: World Haptics - 3rd Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Mar 2009, Salt Lake City, Utah, United States. pp.45-50, ⟨10.1109/WHC.2009.4810879⟩

Communication dans un congrès lirmm-00796731v1

Planning contact supports for acyclic motion with task constraints and experiment on HRP-2

Adrien Escande , Abderrahmane Kheddar

Syroco'09: 9th Symposium on Robot Control, Sep 2009, Nagaragawa Convention Center, Gifu, Japan. pp.155-160, ⟨10.3182/20090909-4-JP-2010.00028⟩

Communication dans un congrès lirmm-00796727v1
Deposit thumbnail

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Paul Evrard , Nicolas Mansard , Olivier Stasse , Abderrahmane Kheddar , Thomas Schauss et al.

IROS: Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. pp.5635-5640, ⟨10.1109/IROS.2009.5354412⟩

Communication dans un congrès hal-01113715v1
Deposit thumbnail

Humanoid feet trajectory generation for the reduction of the dynamical effects

Paolo Pierro , Olivier Stasse , Abderrahmane Kheddar , Kazuhito Yokoi , Carlos Balaguer

Humanoids, Dec 2009, Paris, France. pp.454-458, ⟨10.1109/ICHR.2009.5379542⟩

Communication dans un congrès lirmm-00796738v1
Deposit thumbnail

Optimisation de séquence de tâches avec lissage des mouvements

François Keith , Nicolas Mansard , Sylvain Miossec , Abderrahmane Kheddar

JRNH'09: Journées Nationales de la Robotique Humanoïde, May 2009, Nice, France

Communication dans un congrès lirmm-00798824v1

Fast Algorithm for Collision Detection between Deformable Objects

Mourad Nouicer , Mehdi Ammy , Abderrahmane Kheddar

CISA: Conference on Intelligent Systems and Automation, Mar 2009, Zarzis, Tunisia. pp.311-312, ⟨10.1063/1.3106491⟩

Communication dans un congrès lirmm-00800919v1
Deposit thumbnail

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

Nicolas Mansard , Olivier Stasse , Paul Evrard , Abderrahmane Kheddar

ICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6

Communication dans un congrès lirmm-00796736v1
Deposit thumbnail

Motion Optimization of Robotic Systems and Validation on HRP-2 Robot

Sylvain Miossec , Sebastien Lengagne , Abderrahmane Kheddar , Kazuhito Yokoi

RSJ National Conférence, Sep 2009, Kobe, Japan

Communication dans un congrès hal-03935184v1
Deposit thumbnail

Study of an External Passive Shock-absorbing Mechanism for Walking Robots

Anthony David , Jean-Rémy Chardonnet , Abderrahmane Kheddar , Kenji Kaneko , Kazuhito Yokoi

Humanoids, Dec 2008, Daejeon, South Korea. pp.435-440, ⟨10.1109/ICHR.2008.4755991⟩

Communication dans un congrès lirmm-00536303v1

Dynamic acyclic motion from a planar contact-stance to another

Mario Arbulú , Kazuhito Yokoi , Abderrahmane Kheddar , Carlos Balaguer

IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3440-3445, ⟨10.1109/IROS.2008.4650978⟩

Communication dans un congrès lirmm-00798818v1

Intercontinental multimodal tele-cooperation using a humanoid robot

Angelika Peer , Sandra Hirche , Carolina Weber , Inga Krause , Martin Buss et al.

IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.405-411, ⟨10.1109/IROS.2008.4650829⟩

Communication dans un congrès lirmm-00798823v1
Deposit thumbnail

Architectures and models for humanoid robots in collaborative working environments

Olivier Stasse , Neo Ee Sian , Florent Lamiraux , Takeshi Sakaguchi , Abderrahmane Kheddar et al.

ISR 2008 - 39th International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.354-359

Communication dans un congrès lirmm-00798785v1
Deposit thumbnail

Real-time (self)-collision avoidance task on a HRP-2 humanoid robot

Olivier Stasse , Adrien Escande , Nicolas Mansard , Sylvain Miossec , Paul Evrard et al.

ICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena Conference Center, Pasadena, CA, United States. pp.3200-3205, ⟨10.1109/ROBOT.2008.4543698⟩

Communication dans un congrès lirmm-00798791v1
Deposit thumbnail

Interactive Dynamic Simulator for Humanoid With Haptic Feedback

Jean-Rémy Chardonnet , François Keith , Abderrahmane Kheddar , Kazuhito Yokoi , François Pierrot

17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Jul 2008, Tokyo, Japan. pp.8

Communication dans un congrès lirmm-00536321v1
Deposit thumbnail

Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2

Adrien Escande , Abderrahmane Kheddar , Sylvain Miossec , Sylvain Garsault

ISER'08: 11th International Symposium on Experimental Robotics, Jul 2008, Athens, Greece. pp.293-302, ⟨10.1007/978-3-642-00196-3_35⟩

Communication dans un congrès istex lirmm-00798815v1

Theoretical and experimental study of a heat transfer model for thermal feedback in virtual environmentss

Mohamed Guiatni , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.2996-3001, ⟨10.1109/IROS.2008.4650687⟩

Communication dans un congrès lirmm-00798799v1
Deposit thumbnail

Treasure hunting for humanoids robot

Olivier Stasse , Torea Foissotte , Diane Larlus , Abderrahmane Kheddar , Kazuhito Yokoi

Humanoids, Dec 2008, Daejeon, South Korea

Communication dans un congrès lirmm-00800956v1

Force Feedback Virtual Painting on Real Objects: A Paradigm of Augmented Reality Haptics

Benjamin Bayart , Jean-Yves Didier , Abderrahmane Kheddar

6th International Conference, EuroHaptics 2008, Jun 2008, Madrid, Spain. pp.776--785, ⟨10.1007/978-3-540-69057-3_99⟩

Communication dans un congrès istex hal-00782710v1
Deposit thumbnail

Interactive Dynamic Simulator for Humanoid Robots with Deformable Soles

Jean-Rémy Chardonnet , Anthony David , Abderrahmane Kheddar , Kazuhito Yokoi

RSJ: Conference of the Robotics Society of Japan, Sep 2008, Kobe, Japan

Communication dans un congrès lirmm-00536316v1
Deposit thumbnail

Challenges in Contact-Support Planning for Acyclic Motion of Humanoids and Androids

Abderrahmane Kheddar , Adrien Escande

ISR'08: International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.6

Communication dans un congrès lirmm-00798784v1
Deposit thumbnail

HapCo: Real time simulation of interaction between deformable objects with haptic feedback for solving multiple friction contacts

Nadjet Talbi , Pierre Joli , Zhi-Qiang Feng , Abderrahmane Kheddar

3rd International Conference on Computer Graphics Theory and Applications (GRAPP 2008), Jan 2008, Funchal, Portugal. pp.55-61, ⟨10.5220/0001095900550061⟩

Communication dans un congrès hal-00342986v1
Deposit thumbnail

Framework for Haptic Interaction with Virtual Avatars

Paul Evrard , François Keith , Jean-Rémy Chardonnet , Abderrahmane Kheddar

RO-MAN'2008: 17th International Symposium on Robot and Human Interactive Communication, Aug 2008, Munich, Germany. pp.15-20, ⟨10.1109/ROMAN.2008.4600636⟩

Communication dans un congrès lirmm-00536326v1
Deposit thumbnail

Haptic Interaction with Virtual Avatars

François Keith , Paul Evrard , Jean-Rémy Chardonnet , Sylvain Miossec , Abderrahmane Kheddar

EuroHaptics'2008: 6th International Conference, Jun 2008, Madrid, Spain. pp.630-639, ⟨10.1007/978-3-540-69057-3_80⟩

Communication dans un congrès lirmm-00536323v1
Deposit thumbnail

Simulation dynamique interactive pour les robots humanoïdes

Jean-Rémy Chardonnet , François Keith , Sylvain Miossec , Abderrahmane Kheddar , François Pierrot et al.

3èmes Journées Nationales de la Robotique Humanoïde, May 2008, Paris, France. ⟨10.1299/jsmermd.2013._2P1-A04_1⟩

Communication dans un congrès lirmm-00536324v1

How can stochastic and periodic textures be visuo-haptically rendered ?

Benjamin Le Mercier , Abderrahmane Kheddar

6th IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE 2007), 2007, Ottawa, Canada. pp.130--135, ⟨10.1109/HAVE.2007.4371601⟩

Communication dans un congrès hal-00342950v1
Deposit thumbnail

HapCo: a real-time simulator with haptic device for problems with multiple contacts

Nadjet Talbi , Pierre Joli , Zhi-Qiang Feng , Abderrahmane Kheddar

8e Colloque national en calcul des structures, CSMA, May 2007, Giens, France

Communication dans un congrès hal-01492449v1

Visuo-Haptic Blending Applied to a Tele-Touch-Diagnosis Application

Benjamin Bayart , Abdelhamid Drif , Abderrahmane Kheddar , Jean-Yves Didier

HCI (14), 2007, Beijing, China. pp.617--626, ⟨10.1007/978-3-540-73335-5⟩

Communication dans un congrès hal-00342904v1

IPN-CP actuators with improved fabrication process

Johann Citérin , Abderrahmane Kheddar

IEEE International Conference on Robtotics and Biomimetics (ROBIO 2007), 2007, Sanya, China. pp.n.a

Communication dans un congrès hal-00342910v1
Deposit thumbnail

Dynamic Lifting Motion of Humanoid Robots

Hitoshi Arisumi , Jean-Rémy Chardonnet , Abderrahmane Kheddar , Kazuhito Yokoi

ICRA'07: International Conference on Robotics and Automation, Apr 2007, Rome, Italy. pp.2661-2667

Communication dans un congrès lirmm-00536325v1

Evaluation of an haptic Step-Guidance algorithm through a teaching 2D/3D path scenario

Benjamin Bayart , Abderrahmane Kheddar

IEEE International workshop on Haptic Audio Visual Environments and their Applications, 2007, Ottawa, Canada. pp.124--129, ⟨10.1109/HAVE.2007.4371600⟩

Communication dans un congrès hal-00342905v1

Interaction haptique et robotique humanoïde

Abderrahmane Kheddar , Jean-Rémy Chardonnet , Adrien Escande , Paul Evrard

Journées Nationales de la Robotique Humanoïde, Mar 2007, Montpellier, France

Communication dans un congrès hal-01182744v1

A contact solver for surface-based haptic rendering between two interacting deformable objects

Pierre Joli , Nadjet Talbi , Zhi-Qiang Feng , Abderrahmane Kheddar

SURGETICA 2007, 2007, Chambéry, France. pp.n.a

Communication dans un congrès hal-00342947v1
Deposit thumbnail

Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2

Olivier Stasse , Diane Larlus , Baptiste Lagarde , Adrien Escande , François Saidi et al.

Humanoids, Nov 2007, Pittsburgh, United States. pp.151-158, ⟨10.1109/ICHR.2007.4813862⟩

Communication dans un congrès inria-00548676v1

Fabrication and characterization of linear moving in-air ionic polymers actuators with design and motion simulation tools

Johann Citérin , Abderrahmane Kheddar , F. Vidal , C. Chevrot , D. Teyssier

SPIE/Smarts Structures and Materials, 2006, San Diego, United States. pp.n.a

Communication dans un congrès hal-00342912v1

Dynamic simulator for humanoids using constraint-based method with static friction

Jean-Rémy Chardonnet , Sylvain Miossec , Abderrahmane Kheddar , Hitoshi Arisumi , Hirohisa Hirukawa et al.

ROBIO'06: International Conference on Robotics and Biomimetics, Dec 2006, Kunming, China

Communication dans un congrès lirmm-00108228v1

A touch rendering device in a virtual environment with kinesthetic and thermal feedback

Johann Citérin , Aurélien Pocheville , Abderrahmane Kheddar

IEEE International Conference In Robotics and Automation (ICRA 2006), 2006, Orlando, Florida, United States. pp.3923--3928

Communication dans un congrès hal-00342913v1

An MRI-compatible tactile display device based on IPN-CP pastille-shaped actuators

Johann Citérin , Abderrahmane Kheddar

SPIE/Smarts Structures and Materials, 2006, San Diego, United States. pp.365--376

Communication dans un congrès hal-00342911v1
Deposit thumbnail

Transparent Collaborative haptic simulation

K. Tourbah , Hichem Arioui , Nicolas Seguy , Abderrahmane Kheddar

IEEE Conference on Control Application (CCA 2006), 2006, Munchen, Germany. pp.187--192, ⟨10.1109/CCA.2006.285890⟩

Communication dans un congrès hal-00342996v1

Haptic augmented reality taxonomy: haptic enhancing and enhanced haptics

Benjamin Bayart , Abderrahmane Kheddar

Eurohaptics 2006, 2006, Paris, France. pp.641--644

Communication dans un congrès hal-00342906v1
Deposit thumbnail

GJK for deformable object collision detection

Maher Hatab , Abderrahmane Kheddar

IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE 2006), Nov 2006, Ottawa, Canada. pp.61-66, ⟨10.1109/HAVE.2006.283805⟩

Communication dans un congrès hal-00342935v1

Partial Hierarchy Construction for Detecting Deformable Objects Collisions and Self-Collisions

Maher Hatab , Abderrahmane Kheddar

Computer Animation and Social Agents (CASA 2006), 2006, Geneva, Switzerland. pp.n.a

Communication dans un congrès hal-00342934v1

Motion planning for whole body tasks by humanoid robot

Eiichi Yoshida , Yisheng Guan , Neo Ee Sian , Vincent Hugel , Pierre Blazevic et al.

2005 IEEE International Conference on Mechatronics and Automation, Jul 2005, Niagara Falls, ON, Canada. pp.1784-1789, ⟨10.1109/ICMA.2005.1626830⟩

Communication dans un congrès hal-03559194v1

Thermal bilateral coupling teleoperator

Abdelhamid Drif , Johann Citérin , Abderrahmane Kheddar

International Conference on Robot and Intelligent Systems (IROS 2005), 2005, Edmonton, Alberta, Canada. pp.1301--1306, ⟨10.1109/IROS.2005.1545403⟩

Communication dans un congrès hal-00342919v1

An efficient and simple way of integrating texture in virtual environments for haptic rendering

Benjamin Le Mercier , Abderrahmane Kheddar

ICAR 2005, 2005, Seattle, WA, United States. pp.755--760, ⟨10.1109/ICAR.2005.1507493⟩

Communication dans un congrès hal-00342953v1

Texture computer haptics from graphic texture mapping

Benjamin Le Mercier , Abderrahmane Kheddar

IMACS'05, 2005, Paris, France. pp.n.a

Communication dans un congrès hal-00342952v1

New design methods and simulation of linear actuators using ionic polymers

Johann Citérin , Grégory Turbelin , Abderrahmane Kheddar , Frederic Vidal , Claude Chevrot et al.

International Conference on Robotics and Biomimetics (ROBIO 2005), Jul 2005, Honk Kong, China. pp.438--443, ⟨10.1109/ROBIO.2005.246307⟩

Communication dans un congrès hal-00342914v1

An adaptive haptic guidance plug-in for I-TOUCH : example through handwriting teaching simulation and 3D maze

Benjamin Bayart , Aurélien Pocheville , Abderrahmane Kheddar

International workshop on Haptic Audio Visual Environments and their Applications (HAVE 2005), 2005, Ontario, Canada. pp.n.a., ⟨10.1109/HAVE.2005.1545651⟩

Communication dans un congrès hal-00342907v1

The $\mu$-Haptic, an inclusive haptic interface

Abdelhamid Drif , Ali Amouri , Nicolas Seguy , Abderrahmane Kheddar

International Conference on Mechatronics and Automation (ICMA 2005), 2005, Niagara Falls, Ontario, Canada. pp.n.a

Communication dans un congrès hal-00342918v1

Sliding mode bilateral control and four channels scheme control comparison of a force reflecting master/slave teleoperator

Mohamed Guiatni , Abderrahmane Kheddar , H. Mellouah

International Conference on Mechatronics and Automation (ICMA 2005), 2005, Niagara Falls, Ontario, Canada. pp.1660--1665, ⟨10.1109/ICMA.2005.1626804⟩

Communication dans un congrès hal-00342926v1
Deposit thumbnail

Low cost motion platform for driving simulator

Hakim Mohellebi , Stéphane Espié , Hichem Arioui , Ali Amouri , Abderrahmane Kheddar

ICMA: International Conference on Machine Automation, Nov 2004, N/A, Japan. pp.271-277

Communication dans un congrès hal-00874119v1
Deposit thumbnail

A Robustness Analysis of Master-Model Based controller for stabilizing delayed haptic interaction: An LMI Approach

Hichem Arioui , Abderrahmane Kheddar , Saïd Mammar

The 11th International Conference on Advanced Robotics, Jun 2003, Coimbra, Portugal. pp.1449-1455

Communication dans un congrès hal-00879119v1
Deposit thumbnail

Hierarchical back-face culling for collision detection

Stéphane Redon , Abderrahmane Kheddar , Sabine Coquillart

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on, 2002, Lausanne, Switzerland. pp.3036--3041, ⟨10.1109/IRDS.2002.1041734⟩

Communication dans un congrès hal-01147674v1
Deposit thumbnail

Gauss' least constraints principle and rigid body simulations

Stéphane Redon , Abderrahmane Kheddar , Sabine Coquillart

Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, 2002, Washington, DC, United States. pp.517--522, ⟨10.1109/ROBOT.2002.1013411⟩

Communication dans un congrès hal-01147672v1
Deposit thumbnail

STABLE SHARED VIRTUAL ENVIRONMENT HAPTIC INTERACTION UNDER TIME-VARYING DELAY

Hichem Arioui , Abderrahmane Kheddar , Said Mammar

8th IEEE Methods and Models in Automation and Robotics (MMAR'02), Sep 2002, Poland. pp.1145--1150

Communication dans un congrès hal-00702168v1
Deposit thumbnail

CONTACT: Arbitrary in-between motions for collision detection

Stéphane Redon , Abderrahmane Kheddar , Sabine Coquillart

Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on, 2001, Bordeaux and Paris, France. pp.106--111

Communication dans un congrès hal-01147668v1
Deposit thumbnail

Pseudo-haptic feedback: can isometric input devices simulate force feedback?

Anatole Lécuyer , Sabine Coquillart , Abderrahmane Kheddar , Paul Richard , Philippe Coiffet

VR: Virtual Reality, Mar 2000, New Brunswick, NJ, United States. pp.83-90, ⟨10.1109/VR.2000.840369⟩

Communication dans un congrès hal-00844954v1

An algebraic solution to the problem of collision detection for rigid polyhedral objects

Stéphane Redon , Abderrahmane Kheddar , Sabine Coquillart

Proc. of IEEE Conference on Robotics and Automation, Apr 2000, San Fransisco, CA, United States. pp. 3733 - 3738, ⟨10.1109/ROBOT.2000.845313⟩

Communication dans un congrès hal-01147663v1
Deposit thumbnail

Development and evaluation of a knee brace for joint stress modulation -A literature review

Léa Boillereaux , Simon Le Floc’h , Abderrahmane Kheddar , Franck Jourdan

GDR Mecabio Santé, Nov 2022, Paris, France

Poster de conférence hal-04054171v1
Deposit thumbnail

Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials

Sébastien Lengagne , Paul Mathieu , Abderrahmane Kheddar , Eiichi Yoshida

IROS'10: International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. IEEE/RSJ, pp.698-703, 2010, ⟨10.1109/IROS.2010.5649233⟩

Poster de conférence lirmm-00781557v1
Deposit thumbnail

Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid

Adrien Escande , Abderrahmane Kheddar

IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. International Conference on Intelligent Robots and Systems, pp.416-417, 2009, ⟨10.1109/IROS.2009.5353971⟩

Poster de conférence lirmm-00796366v1
Deposit thumbnail

From Discrete Mission Schedule to Continuous Implicit Trajectory using Optimal Time Warping

François Keith , Nicolas Mansard , Sylvain Miossec , Abderrahmane Kheddar

ICAPS'09: 19th International Conference on Automated Planning and Scheduling, Sep 2009, Thessaloniki, Greece. , 1, pp.366-369, 2009

Poster de conférence lirmm-00780894v1
Deposit thumbnail

A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot

Torea Foissotte , Olivier Stasse , Adrien Escande , Abderrahmane Kheddar

Humanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, ⟨10.1109/ICHR.2008.4756001⟩

Poster de conférence lirmm-00798770v1
Deposit thumbnail

Learning-based thermal rendering in telepresence

Mohamed Guiatni , Abdelaziz Benallegue , Abderrahmane Kheddar

EuroHaptics, Jun 2008, Madrid, Spain. , 6th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, LNCS (5024), pp.820-825, 2008, Haptics: Perception, Devices and Scenarios. ⟨10.1007/978-3-540-69057-3_103⟩

Poster de conférence istex lirmm-00798803v1
Deposit thumbnail

A PHANTOM® device with 6DOF force feedback display and sensing capabilities

Abderrahmane Kheddar , Venkatraghavan Gourishankar , Paul Evrard

EuroHaptics, Jun 2008, Madrid, Spain. , 6th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, LNCS (5024), pp.146-150, 2008, Haptics: Perception, Devices and Scenarios. ⟨10.1007/978-3-540-69057-3_16⟩

Poster de conférence istex lirmm-00798805v1

Interacting with a virtual tool on a real object

Benjamin Bayart , Jean-Yves Didier , Abderrahmane Kheddar

CISA: Conference on Intelligent Systems and Automation, Jun 2008, Annaba, Algeria. , pp.563-564, 2008, ⟨10.1063/1.2953046⟩

Poster de conférence lirmm-00798820v1

Multi-contact Motion Planning and Control

Karim Bouyarmane , Stéphane Caron , Adrien Escande , Abderrahmane Kheddar

Ambarish Goswami; Prahlad Vadakkepat. Humanoid Robotics: A Reference, Springer Nature, pp.1763-1804, 2018, 978-94-007-6047-9. ⟨10.1007/978-94-007-6046-2_32⟩

Chapitre d'ouvrage lirmm-02154697v1

多点接触動作計画・制御

Abderrahmane Kheddar , Eiichi Yoshida

Robot Control Handbook, pp.632-635, 2017, 978-4-7649-0473-6

Chapitre d'ouvrage lirmm-02155348v1

Virtual Environment–Assisted Teleoperation

Abderrahmane Kheddar , Ryad Chellali , Philippe Coiffet

Kelly S. Hale; Kay M. Stanney. Handbook of Virtual Environments: Design, Implementation, and Applications, Second Edition, Chapter 43, CRC Press, pp.1109-1144, 2014, 9780429098710

Chapitre d'ouvrage lirmm-02155341v1

Human-Robot Adaptive Control of Object-Oriented Action

Satoshi Endo , Paul Evrard , Abderrahmane Kheddar , Alan M. Wing

Immersive Multimodal Interactive Presence, Springer, pp.91-103, 2012, Springer Series on Touch and Haptic Systems, 978-1-4471-2753-6. ⟨10.1007/978-1-4471-2754-3_6⟩

Chapitre d'ouvrage lirmm-00800795v1

Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid

Adrien Escande , Abderrahmane Kheddar

Harada, Kensuke; Yoshida, Eiichi; Yokoi, Kazuhito. Motion Planning for Humanoid Robots, Springer London, pp.161-179, 2010, 978-1-84996-219-3. ⟨10.1007/978-1-84996-220-9_6⟩

Chapitre d'ouvrage istex lirmm-00800801v1

Electro-Active Polymer Actuators for Tactile Displays

Johann Citérin , Abderrahmane Kheddar

Bicchi, Antonio and Buss, Martin and Ernst, MarcO. and Peer, Angelika. The Sense of Touch and its Rendering, 45, Springer Berlin Heidelberg, pp.131-154, 2008, 978-3-540-79034-1. ⟨10.1007/978-3-540-79035-8_7⟩

Chapitre d'ouvrage istex lirmm-00800813v1

Design of a Multilevel Haptic Display

Abdelhamid Drif , Benjamin Le Mercier , Abderrahmane Kheddar

The Sense of Touch and its Rendering, 45, pp.207-224, 2008, Springer Tracts in Advanced Robotics, 978-3-540-79034-1. ⟨10.1007/978-3-540-79035-8_10⟩

Chapitre d'ouvrage istex lirmm-02155316v1

Design of low-clearance motion platform for driving simulator

Hakim Mohellebi , Stéphane Espié , Abderrahmane Kheddar , Hichem Arioui

Mechatronics for Safety, Security and Dependability in a New Era, Elsevier, pp.n.a., 2006

Chapitre d'ouvrage hal-00342961v1

Détection de collisions

Philippe Meseure , Abderrahmane Kheddar

Ph. Fuchs et G. Moreau. Les outils et les modèles informatique des environnements virtuels, Les Presses de L'École des Mines de Paris, 28 p., 2006, Traité de Réalité Virtuelle, 3e édition

Chapitre d'ouvrage hal-00348107v1

Modèles pour le rendu haptique

Philippe Meseure , Abderrahmane Kheddar

Ph. Fuchs et G. Moreau. "Les outils et les modèles informatique des environnements virtuels", Les presses de l'Ecole des Mines de Paris, 16 p., 2006, Traité de Réalité virtuelle, 3e édition

Chapitre d'ouvrage hal-00348104v1
Deposit thumbnail

Integrate systems into multi-modal display

Aurélien Pocheville , Abderrahmane Kheddar

Contrat Touch Hapsis, D6-8 (Chapter 4), pp.1-18, 2005

Chapitre d'ouvrage hal-00342984v1

Contrat Immersens: Systems and Methods of Interaction, Report + Demonstrators, Deliverable D4.2.1 (Task 4.3)

R. Höver , M. Ferre , R. Saltarén , S. Cobos , H. Moreno et al.

2007

Autre publication scientifique hal-00342933v1

Contrat Touch Hapsis, D5-3, Chap. 2 Final report on new haptic illusions

Benjamin Le Mercier , Benjamin Bayart , Abderrahmane Kheddar

2006

Autre publication scientifique hal-00342949v1

Contrat Touch Hapsis, D7-6, Chap. 4 Evaluation of Rigid Haptic Prototyping Demonstrator

Aurélien Pocheville , Abderrahmane Kheddar

2006

Autre publication scientifique hal-00342983v1

Contrat INTUITION IST-NMP-1-507248, WP1.A.2 State of the art and literature review on Virtual Reality over the World

Hichem Arioui , Abderrahmane Kheddar

2006

Autre publication scientifique hal-00342903v1

Contrat Touch Hapsis, D7-4 Evaluation of haptic texture and pattern demonstrator

Benjamin Le Mercier , Abderrahmane Kheddar

2006

Autre publication scientifique hal-00342951v1

Contrat Touch Hapsis, D7-3, Chap. 1 Haptic texture and pattern demonstrator

Abderrahmane Kheddar , Benjamin Le Mercier , Johann Citérin

2005

Autre publication scientifique hal-00342948v1

Contrat Touch Hapsis, D7-5, Chap. 4 Rigid Haptic Prototyping Demonstrator

Aurélien Pocheville , Abderrahmane Kheddar

2005

Autre publication scientifique hal-00342985v1

Contrat Touch Hapsis, D5-8, Chap. 3 Modeling FrameWork

Benjamin Le Mercier , Aurélien Pocheville , Abderrahmane Kheddar

2005

Autre publication scientifique hal-00342954v1

Contrat Touch Hapsis, D7-1, Chap. 4 Real time dynamic simulation of interaction between deformable bodies with haptic force

Nadjet Talbi , Pierre Joli , Abderrahmane Kheddar

2005

Autre publication scientifique hal-00342995v1
Deposit thumbnail

Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers

Antonin Dallard , Mehdi Benallegue , Nicola Scianca , Fumio Kanehiro , Abderrahmane Kheddar

2025

Pré-publication, Document de travail hal-04147602v4
Deposit thumbnail

Efficient Lexicographic Optimization for Prioritized Robot Control and Planning

Kai Pfeiffer , Abderrahmane Kheddar

2024

Pré-publication, Document de travail lirmm-04645551v1
Deposit thumbnail

Singularity Resolution for Multi-Level Constrained Dynamically Feasible Kinematic Control

Kai Pfeiffer , Adrien Escande , Pierre Gergondet , Abderrahmane Kheddar

2020

Pré-publication, Document de travail hal-02896719v1
Deposit thumbnail

Impact-aware humanoid robot motion generation with a quadratic optimization controller

Yuquan Wang , Arnaud Tanguy , Pierre Gergondet , Abderrahmane Kheddar

2020

Pré-publication, Document de travail hal-02446116v2
Deposit thumbnail

Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios

Saeid Samadi , Stéphane Caron , Arnaud Tanguy , Abderrahmane Kheddar

2019

Pré-publication, Document de travail hal-02297879v1
Deposit thumbnail

Closed-loop MPC with Dense Visual SLAM-Stability through Reactive Stepping

Arnaud Tanguy , Daniele de Simone , Andrew I. Comport , Giuseppe Oriolo , Abderrahmane Kheddar

2018

Pré-publication, Document de travail hal-01883725v1
Deposit thumbnail

Active shock absorber control in humanoid robot falls with nonlinear optimization on a reduced dynamics model

Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar

2017

Pré-publication, Document de travail hal-01590677v1
Deposit thumbnail

Multi-robot and task-space force control with quadratic programming

Karim Bouyarmane , Joris Vaillant , Kevin Chappellet , Abderrahmane Kheddar

2017

Pré-publication, Document de travail hal-01495662v1