M. Taha Chikhaoui

14
Documents

Publications

Publications

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Continuum concentric push-pull robots: a Cosserat rod model

Matthias Tummers , Frédéric Boyer , Vincent Lebastard , Alexis Offermann , Jocelyne Troccaz et al.

The International Journal of Robotics Research, 2025, 44 (2), pp.216-246. ⟨10.1177/02783649241263366⟩

Article dans une revue hal-04715577v2
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On High Performance Control of Concentric Tube Continuum Robots through Parsimonious Calibration

Quentin Boyer , Sandrine Voros , Pierre Roux , François Marionnet , Kanty Rabenorosoa et al.

IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9621-9628. ⟨10.1109/LRA.2024.3455906⟩

Article dans une revue hal-04685717v1
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Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives

Matthias Tummers , Vincent Lebastard , Frédéric Boyer , Jocelyne Troccaz , Benoit Rosa et al.

IEEE Transactions on Robotics, 2023, 39 (3), pp.2360-2378. ⟨10.1109/TRO.2023.3238171⟩

Article dans une revue hal-03935561v1

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments

Mohamed Taha Chikhaoui , Sven Lilge , Simon Kleinschmidt , Jessica Burgner-Kahrs

IEEE Robotics and Automation Letters, 2019, 4 (2), pp.989-996. ⟨10.1109/LRA.2019.2893610⟩

Article dans une revue hal-02179738v1
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Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots

Mohamed Taha Chikhaoui , Amine Benouhiba , Patrick Rougeot , Kanty Rabenorosoa , Morvan Ouisse et al.

Annals of Biomedical Engineering, 2018, 1, pp.1 - 11. ⟨10.1007/s10439-018-2038-2⟩

Article dans une revue hal-02130056v1
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Eye-in-Hand Visual Servoing of Concentric Tube Robots

Andrey Kudryavtsev , Mohamed Taha Chikhaoui , Aleksandr Liadov , Patrick Rougeot , Fabien Spindler et al.

IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2315 - 2321. ⟨10.1109/LRA.2018.2807592⟩

Article dans une revue hal-01853980v1

Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales

Mohamed Nassim Boushaki , Mohamed Taha Chikhaoui , Kanty Rabenorosoa , Chao Liu , Nicolas Andreff et al.

Techniques de l'Ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨10.51257/a-v1-s7767⟩

Article dans une revue lirmm-01624753v1
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Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-endoscopy.

Mohamed Taha Chikhaoui , Kanty Rabenorosoa , Nicolas Andreff

Advances in Robot Kinematics., 2014, pp.457-465

Article dans une revue hal-01051489v1
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Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-endoscopy.

Mohamed Taha Chikhaoui , Kanty Rabenorosoa , Nicolas Andreff

Advances in Robot Kinematics., 2014, pp.457-465. ⟨10.1007/978-3-319-06698-1_47⟩

Article dans une revue hal-01051375v1
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Hierarchy Control of Dual-arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques

Tarek Alsaka , Philippe Cinquin , M. Taha Chikhaoui

Advances in Robot Kinematics, Jun 2024, Ljubljana, Slovenia

Communication dans un congrès hal-04585876v1
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Cooperative Control of Dual-Arm Concentric Tube Continuum Robots

Hanna Jiamei Zhang , Sven Lilge , M. Taha Chikhaoui , Jessica Burgner-Kahrs

2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Jul 2022, Toronto, Canada. ⟨10.1109/MARSS55884.2022.9870466⟩

Communication dans un congrès hal-03833705v1
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An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots

Federico Zaccaria , Sébastien Briot , Mohamed Taha Chikhaoui , Edoardo Idá , Marco Carricato

23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2020), Sep 2020, Sapporo, Japan. ⟨10.1007/978-3-030-58380-4_61⟩

Communication dans un congrès hal-02849910v1
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Towards clinical application of continuum active micro-endoscope robot based on EAP actuation.

Mohamed Taha Chikhaoui , Kanty Rabenorosoa , Nicolas Andreff

SURGETICA 2014 "Gestes médico-chirurgicaux assistés par ordinateur: problèmes scientifiques, outils et applications cliniques", Dec 2014, Chambéry, France. pp.1-4

Communication dans un congrès hal-01313481v1
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Modeling and control strategies for flexible devices

Mohamed Taha Chikhaoui , Benoît Rosa

Luigi Manfredi. Endorobotics: Design, R&D and Future Trends, Elsevier Academic Press, pp.187-213, 2022, 978-0-12-821750-4. ⟨10.1016/B978-0-12-821750-4.00008-6⟩

Chapitre d'ouvrage hal-03677585v1