Mehdi Benallegue

Publications

Article dans une revue (18)

A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer Rafael Cisneros-Limón,Antonin Dallard,Mehdi Benallegue,Kenji Kaneko,Hiroshi Kaminagaet al. International Journal of Social Robotics, 2025, 17, pp.535-562. ⟨10.1007/s12369-023-01096-9⟩ Article dans une revue hal-04425539v1
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
Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction Naoko Abe,Yue Hu,Mehdi Benallegue,Natsuki Yamanobe,Gentiane Ventureet al. ACM Transactions on Human-Robot Interaction, 2024, 13 (1), pp.1-26. ⟨10.1145/3643458⟩ Article dans une revue hal-04826146v1
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
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 Nobeshimaet al. Sensors, 2023, 23 (9), pp.4569. ⟨10.3390/s23094569⟩ Article dans une revue hal-04178910v1
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
Towards Active Physical Human-Robot Interaction: quantifying the human state during interactions Yue Hu,Naoko Abe,Mehdi Benallegue,Natsuki Yamanobe,Gentiane Ventureet al. IEEE Transactions on Human-Machine Systems, In press, ⟨10.1109/THMS.2021.3138684⟩ Article dans une revue hal-03567276v1
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control Masaki Murooka,Kevin Chappellet,Arnaud Tanguy,Mehdi Benallegue,Iori Kumagaiet al. IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5597-5604. ⟨10.1109/LRA.2021.3077858⟩ Article dans une revue hal-03425667v1
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
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
Lyapunov-Stable Orientation Estimator for Humanoid Robots Mehdi Benallegue,Rafael Cisneros,Abdelaziz Benallegue,Yacine Chitour,Mitsuharu Morisawaet al. IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6371-6378. ⟨10.1109/LRA.2020.3013854⟩ Article dans une revue hal-02929331v1
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
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
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
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
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
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

Communication dans un congrès (22)

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
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 Duvinageet al. International Symposium on System Integration (SII 2026), IEEE/SICE, Jan 2026, Cancun, Mexico Communication dans un congrès hal-05468612v1
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
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
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
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 Watieret 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 Singhet 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
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 Escandeet 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
Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement Mehdi Benallegue,Pierre Gergondet,Hervé Audren,Alexis Mifsud,Mitsuharu Morisawaet 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
Robust humanoid control using a QP solver with integral gains Rafael Cisneros,Mehdi Benallegue,Abdelaziz Benallegue,Mitsuharu Morisawa,Hervé Audrenet al. IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479, ⟨10.1109/IROS.2018.8593417⟩ Communication dans un congrès hal-01845489v2
Experimental Evaluation of Simple Estimators for Humanoid Robots Thomas Flayols,Andrea del Prete,Patrick Wensing,Alexis Mifsud,Mehdi Benallegueet al. IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom Communication dans un congrès hal-01574819v2
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
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
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
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
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
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
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
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
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
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
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

Pré-publication, Document de travail (9)

QP-based impact momentum maximization for a hammering task by a humanoid robot Jimmy Vu,Ruud Erens,Hélène Stefanelli,Rafael Cisneros-Limón,Mehdi Benallegueet al. 2026 Pré-publication, Document de travail (preprint/prepublication) hal-05516105v1
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
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 Demontet al. 2026 Pré-publication, Document de travail hal-05362571v2
Explicit compliance and safety on torque controlled robots for physical interaction Mathieu Celerier,Bastien Muraccioli,Mehdi Benallegue,Yue Hu,Rafael Cisneros Limónet al. 2025 Pré-publication, Document de travail hal-04922493v3
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
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
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
Velocity-Aided IMU-Based Attitude Estimation Mehdi Benallegue,Abdelaziz Benallegue,Rafael Cisneros,Yacine Chitour 2020 Pré-publication, Document de travail hal-02485372v1
A head-neck-system to walk without thinking Mehdi Benallegue,Jean-Paul Laumond,Alain Berthoz 2015 Pré-publication, Document de travail hal-01136826v1