
Mehdi Benallegue
41
Documents
Publications
Publications
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Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial ApplicationsRobotics: Science and Systems (RSS) 2025, RSS Foundation, Jun 2025, Los Angeles, United States
Communication dans un congrès
hal-04927894
v2
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Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAMHumanoids 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-03843147
v1
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On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), RAS-IEEE, Sep 2021, Prague, Czech Republic. pp.6262-6269, ⟨10.1109/IROS51168.2021.9636081⟩
Communication dans un congrès
hal-04266990
v1
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Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque MeasurementICRA 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-01746095
v1
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Robust humanoid control using a QP solver with integral gainsIROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479, ⟨10.1109/IROS.2018.8593417⟩
Communication dans un congrès
hal-01845489
v2
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Experimental Evaluation of Simple Estimators for Humanoid RobotsIEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom
Communication dans un congrès
hal-01574819
v2
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Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometerInternational Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/humanoids.2017.8246968⟩
Communication dans un congrès
hal-01499167
v3
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Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum ModelIEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759795⟩
Communication dans un congrès
hal-01285643
v1
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The Yoyo-ManInternational Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy
Communication dans un congrès
hal-01175591
v1
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Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea
Communication dans un congrès
hal-01202155
v1
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Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement UnitsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p
Communication dans un congrès
hal-01142399
v2
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A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, ⟨10.1109/HUMANOIDS.2015.7363493⟩
Communication dans un congrès
hal-01175592
v3
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Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain
Communication dans un congrès
hal-01079797
v1
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Contribution of actuated head and trunk to passive walkers stabilizationIEEE, International Conference on Robotics and Automation, May 2013, Karlsruhe, France. pp.5638 - 5643, ⟨10.1109/ICRA.2013.6631387⟩
Communication dans un congrès
hal-01079775
v1
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Metastability for High-Dimensional Walking Systems on Stochastically Rough TerrainRobotics: Science and Systems, Jun 2013, Berlin, Germany
Communication dans un congrès
hal-01079789
v1
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A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping MotionsHumanoids, Dec 2010, Nashville, TN, United States. pp.322-327, ⟨10.1109/ICHR.2010.5686304⟩
Communication dans un congrès
inria-00567736
v1
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Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumesICRA 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-00796369
v1
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Explicit compliance and safety on torque controlled robots for physical interaction2025
Pré-publication, Document de travail
hal-04922493
v2
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Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers2024
Pré-publication, Document de travail
hal-04147602
v3
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The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots2024
Pré-publication, Document de travail
hal-04616647
v2
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Motion Accuracy and Computational Effort in QP-based Robot Control2024
Pré-publication, Document de travail
(preprint/prepublication)
hal-04652473
v2
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A Balance-Force Controller for a Legged Robot with Multiple Flexible-Contacts2022
Pré-publication, Document de travail
hal-03428689
v4
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Velocity-Aided IMU-Based Attitude Estimation2020
Pré-publication, Document de travail
hal-02485372
v1
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A head-neck-system to walk without thinking2015
Pré-publication, Document de travail
hal-01136826
v1
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