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Mehdi Benallegue

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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
International Journal of Social Robotics, In press
Journal articles hal-04425539v1

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⟩
Journal articles hal-04271257v1
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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⟩
Journal articles 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
Sensors, 2023, 23 (9), pp.4569. ⟨10.3390/s23094569⟩
Journal articles hal-04178910v1
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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
IEEE Transactions on Human-Machine Systems, inPress, ⟨10.1109/THMS.2021.3138684⟩
Journal articles hal-03567276v1
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Humanoid Loco-Manipulations Pattern Generation and Stabilization Control

Masaki Murooka , Kevin Chappellet , Arnaud Tanguy , Mehdi Benallegue , Iori Kumagai
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5597-5604. ⟨10.1109/LRA.2021.3077858⟩
Journal articles hal-03425667v1
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Lyapunov-Stable Orientation Estimator for Humanoid Robots

Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue , Yacine Chitour , Mitsuharu Morisawa
IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6371-6378. ⟨10.1109/LRA.2020.3013854⟩
Journal articles hal-02929331v1
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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⟩
Journal articles 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⟩
Journal articles hal-02957318v1
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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⟩
Journal articles 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⟩
Journal articles 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
Journal articles 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⟩
Journal articles 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⟩
Journal articles 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⟩
Journal articles hal-01079783v1

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
Humanoids 2022 - 21st IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. pp.306-313, ⟨10.1109/Humanoids53995.2022.9999740⟩
Conference papers hal-03843147v1
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Robust humanoid control using a QP solver with integral gains

Rafael Cisneros , Mehdi Benallegue , Abdelaziz Benallegue , Mitsuharu Morisawa , Hervé Audren
IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479, ⟨10.1109/IROS.2018.8593417⟩
Conference papers 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
ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩
Conference papers 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⟩
Conference papers 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
IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom
Conference papers 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
Conference papers 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⟩
Conference papers hal-01175592v3
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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
Conference papers hal-01202155v1
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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
Conference papers hal-01142399v2
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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
Conference papers 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
Conference papers 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
Conference papers 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⟩
Conference papers 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⟩
Conference papers 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⟩
Conference papers lirmm-00796369v1