M. Taha Chikhaoui

Publications

Article dans une revue (9)

Continuum concentric push-pull robots: a Cosserat rod model Matthias Tummers,Frédéric Boyer,Vincent Lebastard,Alexis Offermann,Jocelyne Troccazet al. The International Journal of Robotics Research, 2025, 44 (2), pp.216-246. ⟨10.1177/02783649241263366⟩ Article dans une revue hal-04715577v2
On High Performance Control of Concentric Tube Continuum Robots through Parsimonious Calibration Quentin Boyer,Sandrine Voros,Pierre Roux,François Marionnet,Kanty Rabenorosoaet al. IEEE Robotics and Automation Letters, 2024, 9 (11), pp.9621-9628. ⟨10.1109/LRA.2024.3455906⟩ Article dans une revue hal-04685717v1
Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives Matthias Tummers,Vincent Lebastard,Frédéric Boyer,Jocelyne Troccaz,Benoit Rosaet 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
Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots Mohamed Taha Chikhaoui,Amine Benouhiba,Patrick Rougeot,Kanty Rabenorosoa,Morvan Ouisseet al. Annals of Biomedical Engineering, 2018, 1, pp.1 - 11. ⟨10.1007/s10439-018-2038-2⟩ Article dans une revue hal-02130056v1
Eye-in-Hand Visual Servoing of Concentric Tube Robots Andrey Kudryavtsev,Mohamed Taha Chikhaoui,Aleksandr Liadov,Patrick Rougeot,Fabien Spindleret 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 Andreffet al. Techniques de l'Ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨10.51257/a-v1-s7767⟩ Article dans une revue lirmm-01624753v1
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
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

Communication dans un congrès (4)

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
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
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
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

Chapitre d'ouvrage (1)

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