Mehdi Benallegue

49
Documents

Publications

Publications

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VALINOR: A Minimalist Leg Inertial Odometry for Humanoid Robots

Arnaud Demont , Mehdi Benallegue , Thomas Duvinage , Abdelaziz Benallegue

International Journal of Control, Automation and Systems, 2025, 23 (12), pp.3610-3620. ⟨10.1007/s12555-025-0511-x⟩

Article dans une revue hal-05506999v1
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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

Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction

Naoko Abe , Yue Hu , Mehdi Benallegue , Natsuki Yamanobe , Gentiane Venture et al.

ACM Transactions on Human-Robot Interaction, 2024, 13 (1), pp.1-26. ⟨10.1145/3643458⟩

Article dans une revue hal-04826146v1
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Compliant Contacts Balance-Force Controller for Legged Robots

Marwan Hamze , Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue

IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9231-9238. ⟨10.1109/LRA.2024.3433750⟩

Article dans une revue hal-04826145v1
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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

Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction

Sélim Chefchaouni Moussaoui , Rafael Cisneros-Limón , Hiroshi Kaminaga , Mehdi Benallegue , Taiki Nobeshima et al.

Sensors, 2023, 23 (9), pp.4569. ⟨10.3390/s23094569⟩

Article dans une revue hal-04178910v1
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Velocity-Aided IMU-Based Tilt and Attitude Estimation

Mehdi Benallegue , Abdelaziz Benallegue , Rafael Cisneros , Yacine Chitour

IEEE Transactions on Automatic Control, 2023, 68 (10), pp.5823-5836. ⟨10.1109/TAC.2022.3225758⟩

Article dans une revue hal-04271257v1
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Towards Active Physical Human-Robot Interaction: quantifying the human state during interactions

Yue Hu , Naoko Abe , Mehdi Benallegue , Natsuki Yamanobe , Gentiane Venture et al.

IEEE Transactions on Human-Machine Systems, In press, ⟨10.1109/THMS.2021.3138684⟩

Article dans une revue hal-03567276v1
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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
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On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers

Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz

The International Journal of Robotics Research, 2020, 39 (4), pp.461-475. ⟨10.1177/0278364919894387⟩

Article dans une revue hal-02975133v2
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Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction

Yue Hu , Mehdi Benallegue , Gentiane Venture , Eiichi Yoshida

IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6764-6771. ⟨10.1109/LRA.2020.3017475⟩

Article dans une revue hal-02957318v1
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Lyapunov-Stable Orientation Estimator for Humanoid Robots

Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue , Yacine Chitour , Mitsuharu Morisawa et al.

IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6371-6378. ⟨10.1109/LRA.2020.3013854⟩

Article dans une revue hal-02929331v1
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Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion — A recursive approach

François Bailly , Justin Carpentier , Mehdi Benallegue , Bruno Watier , Philippe Souères

IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4155-4162. ⟨10.1109/LRA.2019.2931200⟩

Article dans une revue hal-02058890v2
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The Yoyo-Man

Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz

The International Journal of Robotics Research, 2017, 36 (13-14), pp.1508 - 1520. ⟨10.1177/0278364917693292⟩

Article dans une revue hal-01316032v3
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On the centre of mass motion in human walking

Justin Carpentier , Mehdi Benallegue , Jean-Paul Laumond

International Journal of Automation and Computing, 2017, 14 (5), pp.542-551

Article dans une revue hal-01377361v2
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Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach

Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond

IEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩

Article dans une revue hal-01182734v3
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Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information

Mehdi Benallegue , Florent Lamiraux

International Journal of Humanoid Robotics, 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, 12 (3), pp.15500255. ⟨10.1142/S0219843615500255⟩

Article dans une revue hal-01169149v2
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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
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RGB-D Fusion for Wide Field of View User Feedback in Teleoperation Context

Raphaël d'Orfani , Antoine André , Mehdi Benallegue , Rafael Cisneros-Limón , Guillaume Caron

IEEE/SICE International Symposium on System Integration, Jan 2026, Cancun, Mexico

Communication dans un congrès hal-05339552v1
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Passivity-based Vs Momentum-residual-based external Disturbance Compensation for Closed Loop Torque Control : A comparative study

Martin Soucail , Mehdi Benallegue , Mathieu Célérier , Bastien Muraccioli , Thomas Duvinage et al.

International Symposium on System Integration (SII 2026), IEEE/SICE, Jan 2026, Cancun, Mexico

Communication dans un congrès hal-05468612v1

Landmark-Based Goal Recognition for Shared Autonomy: A Framework for Enhanced Teleoperation

Guillaume Lorthioir , Mehdi Benallegue , Rafael Cisneros-Limón , Ixchel Ramírez-Alpizar

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2025, Hangzhou, France. pp.16523-16530, ⟨10.1109/IROS60139.2025.11245815⟩

Communication dans un congrès hal-05506979v1
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Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications

Bastien Muraccioli , Mathieu Celerier , Mehdi Benallegue , Gentiane Venture

Robotics: Science and Systems (RSS) 2025, RSS Foundation, Jun 2025, Los Angeles, United States

Communication dans un congrès hal-04927894v3
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VALINOR: A Lightweight Leg Inertial Odometry for Humanoid Robots

Arnaud Demont , Mehdi Benallegue , Thomas Duvinage , Abdelaziz Benallegue

International Conference on Control, Automation, and Systems, ICROS (Institute of Control, Robotics and Systems), Nov 2025, Incheon, South Korea

Communication dans un congrès hal-05506969v1
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Comparative analysis of dynamic balance descriptors in humanoids and humans during perturbed bipedal locomotion and fall

Sirikorn Chalanunt , Ariane Lallès , Arnaud Demont , Mehdi Benallegue , Bruno Watier et al.

International Conference on Humanoid Robots, IEEE, Sep 2025, Seoul, South Korea. pp.1-8, ⟨10.1109/Humanoids65713.2025.11203160⟩

Communication dans un congrès hal-05407361v1

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
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On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback

Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue , Arnaud Tanguy , Adrien Escande et al.

2021 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-04266990v1
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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
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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
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Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer

Mehdi Benallegue , Abdelaziz Benallegue , Yacine Chitour

International Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/humanoids.2017.8246968⟩

Communication dans un congrès hal-01499167v3
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Experimental Evaluation of Simple Estimators for Humanoid Robots

Thomas Flayols , Andrea del Prete , Patrick Wensing , Alexis Mifsud , Mehdi Benallegue et al.

IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom

Communication dans un congrès hal-01574819v2
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Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model

Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux

IEEE/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-01285643v1
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A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach

Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond

2015 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-01175592v3
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Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units

Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p

Communication dans un congrès hal-01142399v2
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Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation

Mehdi Benallegue , Alexis Mifsud , Florent Lamiraux

2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea

Communication dans un congrès hal-01202155v1
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The Yoyo-Man

Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz

International Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy

Communication dans un congrès hal-01175591v1
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Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information

Mehdi Benallegue , Florent Lamiraux

2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain

Communication dans un congrès hal-01079797v1
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Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain

Mehdi Benallegue , Jean-Paul Laumond

Robotics: Science and Systems, Jun 2013, Berlin, Germany

Communication dans un congrès hal-01079789v1
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Contribution of actuated head and trunk to passive walkers stabilization

Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz

IEEE, International Conference on Robotics and Automation, May 2013, Karlsruhe, France. pp.5638 - 5643, ⟨10.1109/ICRA.2013.6631387⟩

Communication dans un congrès hal-01079775v1
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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
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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
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QP-based impact momentum maximization for a hammering task by a humanoid robot

Jimmy Vu , Ruud Erens , Hélène Stefanelli , Rafael Cisneros-Limón , Mehdi Benallegue et al.

2026

Pré-publication, Document de travail (preprint/prepublication) hal-05516105v1
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QP-Based Control of an Underactuated Aerial Manipulator under Constraints

Nesserine Laribi , Mohammed Rida Mokhtari , Abdelaziz Benallegue , Abdelhafid El-Hadri , Mehdi Benallegue

2026

Pré-publication, Document de travail (preprint/prepublication) hal-05458049v1
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Safe Execution of RL Policies via Acceleration-based CBF-QP Constraint Enforcement for Real-World Robotic Deployments

Bastien Muraccioli , Alice Cariou , Pierre-Alexandre Leziart , Mathieu Celerier , Arnaud Demont et al.

2026

Pré-publication, Document de travail hal-05362571v2
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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
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Explicit compliance and safety on torque controlled robots for physical interaction

Mathieu Celerier , Bastien Muraccioli , Mehdi Benallegue , Yue Hu , Rafael Cisneros Limón et al.

2025

Pré-publication, Document de travail hal-04922493v3
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Motion Accuracy and Computational Effort in QP-based Robot Control

Sélim Chefchaouni , Mehdi Benallegue , Adrien Escande , Pierre-Brice Wieber

2024

Pré-publication, Document de travail (preprint/prepublication) hal-04652473v2
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A Balance-Force Controller for a Legged Robot with Multiple Flexible-Contacts

Marwan Hamze , Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue

2022

Pré-publication, Document de travail hal-03428689v4
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Velocity-Aided IMU-Based Attitude Estimation

Mehdi Benallegue , Abdelaziz Benallegue , Rafael Cisneros , Yacine Chitour

2020

Pré-publication, Document de travail hal-02485372v1
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A head-neck-system to walk without thinking

Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz

2015

Pré-publication, Document de travail hal-01136826v1