PH

Patrick Henaff

Professeur des Universités, Ecole Nationale d'ingénieurs de Brest Institut National Polytechnique de Bretagne Laboratoire LabSTICC UMR CNRS 6285
50 %
Libre accès
103
Documents
Affiliations actuelles
  • École Nationale d'Ingénieurs de Brest (ENIB)
  • Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC)
  • Equipe Robot interaction, Ambient system, Machine learning, Behaviour, Optimization (Lab-STICC_RAMBO)
Identifiants chercheurs
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Publications

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Alternatives to Sine Carrier in Auditory BCI: Exploring Machine Learning Strategies for Assessing Modulation Detectability in EEG

Lenaïg Guého , Henrique Lefundes da Silva , Cyril Plapous , Laurent Bougrain , Patrick Hénaff et al.

IEEE Open Journal of Signal Processing, 2026, 7, pp.324-332. ⟨10.1109/OJSP.2026.3664271⟩

Article dans une revue hal-05544466v1

Effect of a slowdown correlated to the current state of the environment on an asynchronous learning architecture

Idriss Abdallah , Laurent Ciarletta , Patrick Henaff , Jonathan Champagne , Matthieu Bonavent

Reinforcement Learning Journal, 2025, 6, pp.384--398

Article dans une revue hal-05294363v1

Realizing Human-Robot Cooperative Rope-Spinning with Central Pattern Generator-Based Control Using Visual Information

Kakeru Yamasaki , Koki Iida , Patrick Henaff , Tomohiro Shibata

International Journal of Computer Vision & Signal Processing, 2025, 15 (1), pp.82-89

Article dans une revue hal-05097976v1

Trigger Circuit Board Design for Coordinated EEG, Motion, and Eye Gazing Recording in Two Person: A System Integration Approach

Masayuki Fujiwara , Phan Hoang Huu Du , Laurent Bougrain , Patrick Henaff , Hiroaki Wagatsuma

Journal of Robotics, Networking and Artificial Life, 2025, 11 (1), pp.38-43. ⟨10.57417/jrnal.11.1_38⟩

Article dans une revue hal-05097994v1

Individual adaptation and social attributes in a handshake robot with CPG control

Kakeru Yamasaki , Shibata Tomohiro , Patrick Henaff

Advanced Robotics, 2024, 0, pp.1-16. ⟨10.1080/01691864.2024.2384422⟩

Article dans une revue hal-04674318v1

Personalized Assist-As-Needed Dressing Assistance Robot without Human Modeling using Rowat-Selverston CPG Controller

Kakeru Yamasaki , Shibata Tomohiro , Patrick Henaff

Advanced Robotics, 2024, 38 (19-20), pp.1408-1423

Article dans une revue hal-04674349v1

A SYSTEMATIC RECORDING SYSTEM TO ANALYZE ERD/ERS IN EEG TO FOCUS INDIVIDUAL TIMING DIFFERENCES IN A THREE-GRASPING-TYPE TASK

Kosei Shibata , Masayuki Fujiwara , Phan Hoang Huu Duc , Laurent Bougrain , Patrick Henaff et al.

ICIC Express Letters, Part B: Applications, 2024, 15 (10), pp.1009-1016

Article dans une revue hal-04927552v1

Simulation of spinal muscle control in human gait using OpenSim

Andrii Dmytrovych Shachykov , Julien Frère , Patrick Henaff

IEEE Transactions on Medical Robotics and Bionics, 2022, 4 (1), pp.254-265. ⟨10.1109/tmrb.2022.3143263⟩

Article dans une revue hal-03527433v1
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Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers

Melanie Jouaiti , Patrick Henaff

Biological Cybernetics (Modeling), 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩

Article dans une revue hal-02291575v1
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Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context

Artem Melnyk , Patrick Henaff

International Journal of Social Robotics, In press, ⟨10.1007/s12369-019-00525-y⟩

Article dans une revue hal-01988627v1
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Robot-Based Motor Rehabilitation in Autism: A Systematic Review

Melanie Jouaiti , Patrick Henaff

International Journal of Social Robotics, 2019, 11 (5), pp.753-764. ⟨10.1007/s12369-019-00598-9⟩

Article dans une revue hal-02295952v1

Increasing Capacity of Association Memory by Means of Synaptic Clustering

Viacheslav Osaulenko , Bernard Girau , Oleksandr Makarenko , Patrick Henaff

Neural Processing Letters, 2019, 50 (3), pp.2717-2730. ⟨10.1007/s11063-019-10051-7⟩

Article dans une revue hal-02143550v1
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ОЦІНКА ЯКОСТІ УЯВНИХ РУХІВ НА ОСНОВІ МАШИННОГО НАВЧАННЯ ДЛЯ ЗАСТОСУВАННЯ В НЕЙРОКОМП’ЮТЕРНИХ ІНТЕРФЕЙСАХ

Oleksii Avilov , Anton Popov , Vladimir Timofieiev , Laurent Bougrain , Patrick Henaff

Microsystems, Electronics and Acoustics, 2018, 23 (5), pp.25-31. ⟨10.20535/2523-4455.2018.23.5.134021⟩

Article dans une revue hal-02153795v1
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Нейро-мускульноскелетный симулятор ритмических движений тазобедренного сустава человека

Andrii Dmytrovych Shachykov , Patrick Henaff , Olexandr Petrovych Shulyak

Bulletin of National Technical University of Ukraine "KPI". Series Instrument Making, 2018, 55(1), pp.118-125. ⟨10.20535/1970.55(1).2018.135832⟩

Article dans une revue hal-01798576v1
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Hebbian Plasticity in CPG Controllers Facilitates Self-Synchronization for Human-Robot Handshaking

Melanie Jouaiti , Lancelot Caron , Patrick Henaff

Frontiers in Neurorobotics, 2018, 12, pp.29. ⟨10.3389/fnbot.2018.00029⟩

Article dans une revue hal-01811316v1

Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots

John Nassour , Patrick Henaff , Fethi Ben Ouezdou , Gordon Cheng

Biological Cybernetics (Modeling), 2014, 1-13, pp.19. ⟨10.1007/s00422-014-0592-8⟩

Article dans une revue hal-01111244v1
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Flexible and Stable Pattern Generation by Evolving Constrained Plastic Neurocontrollers

Thierry Hoinville , C. Tapia , Patrick Henaff

Adaptive Behavior, 2011, 19, pp.187-207. ⟨10.1177/1059712311403631⟩

Article dans une revue hal-00784897v1

generalized model of articulated electromechanical systems with elasticities in transmissions

Patrick Henaff , Viacheslav Khomenko , Vladimir Borysenko

Journal of Technical Electrodynamics Institut d'Électrodynamique de l'Académie Nationale des Sciences d'Ukraine., 2010, 1, pp.141-146

Article dans une revue hal-00523315v1

MUSCLE EMULATION WITH DC MOTOR AND NEURAL NETWORKS FOR BIPED ROBOTS

Hayssam Serhan , Chaiban G. Nasr , Patrick Henaff

International Journal of Neural Systems, 2010, 20 (4), pp.341-353. ⟨10.1142/S0129065710002450⟩

Article dans une revue hal-00519954v1
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Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture

Patrick Henaff , Vincent Scesa , Fethi Ben Ouezdou , Olivier Bruneau

Control Engineering Practice, 2010, 19 (1), pp.89 - 99. ⟨10.1016/j.conengprac.2010.10.002⟩

Article dans une revue hal-00538710v1

On the role of sensory feedbacks in Rowat-Selverston CPG to improve robot legged locomotion

Elmira Amrollah , Patrick Henaff

Frontiers in Neurorobotics, 2010, 4 (113), pp.1-9. ⟨10.3389/fnbot.2010.00113⟩

Article dans une revue hal-00552103v1
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Etude sur l'intérêt des modèles biologiques de réseaux de neurones pour la synthèse de rythmes locomoteurs adaptatifs

Thierry Hoinville , Patrick Henaff , Stéphane Delaplace

Journal Européen des Systèmes Automatisés, 2007, Vol. 41 (N°3/4), pp.413-435

Article dans une revue hal-00519907v1

Evolving Simplistic Neural Controllers toward Adaptation to Internal Perturbations

Thierry Hoinville , Patrick Henaff , Eric Monacelli

AMSE Journal of Advances in Modelling, advances C, 2005, 60 (6), pp.57-71

Article dans une revue hal-00519921v1

Technical aid adaptation with robotic

Patrick Henaff , Eric Monacelli , Stéphane Delaplace , Rolland Thieffry

AMSE Journal of Advances in Modelling, advances C, 2003, 60 (6), pp.57-71

Article dans une revue hal-00523332v1
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An enhanced experimental paradigm for auditory BCIs by addressing both acoustic and human factors

Lénaïg Guého , Laurent Bougrain , Cyril Plapous , Patrick Hénaff , Rozenn Nicol

13th international winter conference on brain-computer interface, Feb 2026, Gangwon, South Korea

Communication dans un congrès hal-05471975v1
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Assessing Stimuli Detectability and Pleasantness for Auditory BCI

Lenaïg Guého , Laurent Bougrain , Cyril Plapous , Patrick Hénaff , Rozenn Nicol

BIOSIGNALS 2026 - 19th international conference on bio-inspired systems and signal processing, Mar 2026, Marbella, Spain

Communication dans un congrès hal-05471967v1

Learning Human Rhythmic Movements: Adaptive CPGs for Synchronized Virtual Agents

Maxime Faurent , Gireg Desmeulles , Patrick Henaff

Moco-2026 : Movement and Computing 2026, université de montpellier, Apr 2026, Montpellier, France

Communication dans un congrès hal-05485420v1
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Assessing detectability and pleasantness of stimuli for auditory BCIs

Lénaïg Guého , Cyril Plapous , Rozenn Nicol , Patrick Hénaff , Laurent Bougrain

Journées CORTICO 2025, May 2025, Lyon, France

Communication dans un congrès hal-05413844v1

Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze

Masayuki Fujiwara , Phan Hoang Huu Duc , Laurent Bougrain , Patrick Henaff , Hiroaki Wagatsuma

2024 International Conference on Artificial Life and Robotics ICAROB2024, Feb 2024, Oita, Japan

Communication dans un congrès hal-04508181v1

Social Attributes in a Handshake Robot Adaptive to Human Shaking Motion Using a CPG Controller

Kakeru Yamasaki , Shibata Tomohiro , Patrick Henaff

The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, Aug 2024, Passadena, CA, United States

Communication dans un congrès hal-04606905v1

Social Attributes Vary with Individual Differences in a CPG-Controlled Handshake Robot

Kakeru Yamasaki , Shibata Tomohiro , Patrick Henaff

29th Robotics Symposia, Mar 2024, Nago, Japan

Communication dans un congrès hal-04504158v1
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Exploring Engagement in Human-Robot Interaction through the Quantification of Human Spontaneous Movement

Isabel Casso , Hendry Ferreira Chame , Patrick Henaff , Yvonne N. Delevoye-Turrell

The 33rd IEEE International Conference on Robot and Human Interactive Communication - IEEE RO-MAN 2024, Aug 2024, Pasadena (CA), United States. ⟨10.1109/RO-MAN60168.2024.10731439⟩

Communication dans un congrès hal-04606893v1

Couplage entre un apprentissage par renforcement profond et une machine à états : approche théorique

Idriss Abdallah , Laurent Ciarletta , Patrick Henaff , Jonathan Champagne , Matthieu Bonnavent

CAID - Conference on Artificial Intelligence for Defense, DGA, Nov 2024, Rennes, France

Communication dans un congrès hal-04811715v1

Robot oscillation frequency impacts human engagement during Human-Robot Interaction

Isabel Casso , Hendry Ferreira Chame , Patrick Henaff , Yvonne N. Delevoye-Turrell

Rhythm Perception and Production Workshop (RPPW), Nottingham Trent University, Jun 2023, Nottingham (UK), United Kingdom

Communication dans un congrès hal-04533487v1
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L’effet de l’oscillation dans l’interaction humain-robot.

Isabel Casso , Hendry Ferreira Chame , Patrick Henaff , Yvonne N. Delevoye-Turrell

Drôles D’objets - Un Nouvel Art De Faire, May 2023, Nancy, France

Communication dans un congrès hal-04428759v1

Adaptive central pattern generators to control human/robot interactions (keynote speaker)

Patrick Henaff

13th International IEEE Conference Dependable Systems, Services and Technologies, DESSERT2023, IEEE Greece section, Oct 2023, Athens, Greece

Communication dans un congrès hal-04508215v1
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Towards a neuromusculoskeletal platform to simulate healthy and deficient gait with assistive devices

Lauriane Le Pape , Patrick Henaff , Tomohiro Shibata , Rikuo Kawamoto , Taiki Yoshitake

IEEE ICRA 2022 _ 4th Workshop on Integrating Multidisciplinary Approaches to Advance Physical Human-Robot Interaction: Challenges of Interfacing Wearable Robots with the Human Neuromotor System, May 2022, Philadelphia, United States

Communication dans un congrès hal-03674286v1

Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry Applications

Baptiste Menges , Adrien Guenard , Patrick Henaff

ISR 2021 - IEEE International Conference on Intelligence and Safety for Robotics, Mar 2021, Nagoya/ Virtual, Japan. ⟨10.1109/ISR50024.2021.9419530⟩

Communication dans un congrès hal-03164389v1

Dynamic Oscillators to Compensate Master Devices Imperfections in Robots Teleoperation Tasks Requiring Dynamic Movements

Baptiste Menges , Adrien Guenard , Patrick Henaff

CASE 2021 - IEEE 17th International Conference on Automation Science and Engineering, Aug 2021, Lyon, France

Communication dans un congrès hal-03336509v1
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Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator

Andrii Dmytrovych Shachykov , Oleksandr Shuliak , Patrick Henaff

IJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary

Communication dans un congrès hal-02309658v1
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Real Time Movement Classification in Versatile CPG Control

Melanie Jouaiti , Patrick Henaff

Workshop on Robust Artificial Intelligence for Neurorobotics, Aug 2019, Edinburgh, United Kingdom

Communication dans un congrès hal-02291647v1
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Motor Coordination Learning for Rhythmic Movements

Melanie Jouaiti , Patrick Henaff

Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway

Communication dans un congrès hal-02144957v1
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The Sound of Actuators: Disturbance in Human -Robot Interactions?

Melanie Jouaiti , Patrick Henaff

Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway

Communication dans un congrès hal-02144955v1
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Modeling of human gait control using CPGs

Andrii Dmytrovych Shachykov , Patrick Henaff , Alexander Shulyak

JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France

Communication dans un congrès hal-02006019v1
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Plastic CPG-based Robot Controllers for Human-Robot Rhythmic Interactions

Melanie Jouaiti , Patrick Henaff

JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France

Communication dans un congrès hal-02024599v1

Guido and Am I Robot?, case study of two robotic artworks operating in public spaces

Paul Granjon , Alain Dutech , Patrick Henaff

ICLI 2018 - International Conference on Live Interfaces, Jun 2018, Porto, Portugal

Communication dans un congrès hal-01843041v1
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Класифікація комбінованих уявних рухів за допомогою бінарних класифікаторів у нейрокомп’ютерних інтерфейсах

Oleksii Avilov , Anton Popov , Vladimir Ivanovich Timofeyev , Laurent Bougrain , Patrick Henaff

XVII International scientific and technical conference “Physical processes and fields of technical and biological objects”, Nov 2018, Kremenchuk, Ukraine

Communication dans un congrès hal-01928217v1
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CPG-based Controllers can Generate Both Discrete and Rhythmic Movements

Melanie Jouaiti , Patrick Henaff

IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain

Communication dans un congrès hal-01837189v1

Integration of collaborative robot in a hard steel industrial environment

Baptiste Menges , Michaël Sarrey , Patrick Henaff

CASE 2018 - 14th IEEE International Conference on Automation Science and Engineering, Aug 2018, munich, Germany

Communication dans un congrès hal-01843017v1

Implementation, risk assessment and safety human/robot interaction of collaborative robot UR10

Baptiste Menges , Michaël Sarrey , Patrick Henaff

SIAS 2018 - 9th International Conference on Safety of Industrial Automated Systems, Oct 2018, Nancy, France

Communication dans un congrès hal-01842999v1

Expanded Algorithm for Inertial Navigation

Petro Aksonenko , Vadym Avrutov , Yu F. Lazarev , Patrick Henaff , Laurent Ciarletta

SAI 2018 - IEEE Computing Conference, Jul 2018, londres, United Kingdom

Communication dans un congrès hal-01843047v1
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CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions

Melanie Jouaiti , Patrick Henaff

ARSO 2018 - IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy

Communication dans un congrès hal-01825464v2
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CPG-based circuitry for controlling musculoskeletal model of human locomotor system

Andrii Dmytrovych Shachykov , Patrick Henaff , Anton Popov , Olexandr Petrovych Shulyak

BioCAS 2017 - IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy

Communication dans un congrès hal-01798605v1

Expanded Calibration of the MEMS Inertial Sensors

Vadym Avrutov , Petro Aksonenko , Nadiya Bouraou , Henaff Patrick , Laurent Ciarletta

UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩

Communication dans un congrès hal-01654275v1

NEMS Gyroscope

V.V. Avrutov , N.I. Bouraou , L. Lakoza , O.M. Pavlovskyi , Patrick Henaff et al.

ICE ITMC 2017 - 23rd ICE/IEEE International Technology Management Conference, Jun 2017, Porto, Portugal. pp.394-398, ⟨10.1109/ICE.2017.8279912⟩

Communication dans un congrès hal-01843148v1

From the control of biological complex systems toward the control of robotic complex systems

Henaff Patrick

International Conference on Computer Science and Computational Intelligence (ICCSCI), Oct 2017, bali, Indonesia

Communication dans un congrès hal-01843711v1
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3D-Calibration of the IMU

V V Avrutov , P M Aksonenko , P Henaff , Laurent Ciarletta

ELNANO 2017 - IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩

Communication dans un congrès hal-01654279v1

Biological control for humanoid robots

Henaff Patrick

2017 IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, kiev, Ukraine

Communication dans un congrès hal-01843714v1
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Neuro-musculoskeletal Simulator of Human Rhythmic Movements

Andrii Dmytrovych Shachykov , Patrick Henaff , Anton Popov , Olexandr Petrovych Shulyak

UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine

Communication dans un congrès hal-01798629v1

Bio-inspired plastic controller for a robot arm to shake hand with human

Artem Melnyk , Patrick Henaff

IEEE 36th International Conference on ELECTRONICS AND NANOTECHNOLOGY ELNANO-2016, Univ KPI, Apr 2016, Kiev, Ukraine. pp.163-168

Communication dans un congrès hal-01310304v1

Analysis of a handshake between humans using wavelet transforms

Artem Melnyk , Patrick Henaff , Anton Popov

ELNANO 2015 - IEEE 35th International Conference on Electronics and Nanotechnology, Apr 2015, kiev, Ukraine. pp.397 - 401, ⟨10.1109/ELNANO.2015.7146918⟩

Communication dans un congrès hal-01255181v1

Sensor network architecture to measure characteristics of a handshake between humans

Artem Melnyk , Viacheslav Khomenko , Patrick Henaff , Vladimir Borysenko

Electronics and Nanotechnology (ELNANO), 2014 IEEE 34th International Conference on, 2014, Kiev, Ukraine. pp.264- 268, ⟨10.1109/ELNANO.2014.6873983⟩

Communication dans un congrès hal-01111251v1
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Analysis of synchrony of a handshake between humans

Artem Melnyk , Vladimir Borysenko , Patrick Henaff

AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1753-1758, ⟨10.1109/AIM.2014.6878337⟩

Communication dans un congrès hal-01111248v1

Interaction rythmique homme/robot : cas du « handshaking

Patrick Henaff

JNRI 2014, Journées Nationales de la Robotique Interactive, Dec 2014, toulouse, France

Communication dans un congrès hal-01111253v1

Learning spatial Touch in an Artificial Skin with Neural Network

Ganna Pugach , Alexandre Pitti , Artem Melnyk , Patrick Henaff , Philippe Gaussier

Eurohaptics 2014, 2014, versailles, France. pp.458-460, ⟨10.1007/978-3-662-44196-1⟩

Communication dans un congrès hal-01111217v1

Physical human-robot interaction in the handshaking case: learning of rhythmicity using oscillators neuron

Artem Melnyk , Viacheslav Khomenko , Vladimir Borysenko , Patrick Henaff

2013 IFAC Conference on Manufacturing Modelling, Management, and Control, IFAC MIM '2013, Jun 2013, St Petersbourg, Russia

Communication dans un congrès hal-00802019v1
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Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions

Ganna Pugach , Viacheslav Khomenko , Artem Melnyk , Alexandre Pitti , Patrick Henaff et al.

ELNANO 2013 - 33rd IEEE International Scientific Conference Electronics and Nanotechnology, Apr 2013, Kiev, Ukraine. pp.5, ⟨10.1109/ELNANO.2013.6552033⟩

Communication dans un congrès hal-00784892v1

Experience-based Learning Mechanism with a Concept of Vigilance

John Nassour , Patrick Henaff , Fethi Ben Ouezdou , Gordon Cheng

Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting 2011, Nov 2011, Bernstein, Germany. ⟨10.3389/conf.fncom.2011.53.00099⟩

Communication dans un congrès hal-00667682v1

Bipedal Locomotion Control with Rhythmic Neural Circuits

John Nassour , Patrick Henaff , Fethi Ben Ouezdou , Gordon Cheng

International Workshop on Bio-Inspired Robots, Apr 2011, nantes, France

Communication dans un congrès hal-00667709v1
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Non-Invasive Low Cost Method for Linear and Angular Accelerations Measurement in Biped Locomotion Mechanism

Viacheslav Khomenko , Patrick Henaff , Olivier Bruneau , Fethi Ben Ouezdou , Vladimir Borysenko et al.

IEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759

Communication dans un congrès hal-00667677v1
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Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being

Artem Melnyk , Sébastien Razakarivony , Patrick Henaff , Vladimir Borysenko , Philippe Gaussier

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩

Communication dans un congrès hal-00667693v1
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Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and Classification

John Nassour , Patrick Henaff , Fethi Ben Ouezdou , Gordon Cheng

International Conference on Simulation of Adaptive behavior, SAB 2010,, Aug 2010, France. pp.313-324

Communication dans un congrès hal-00519947v1

Experience-based Learning Mechanism for Neural Controller Adaptation: Application to Walking Biped Robots

John Nassour , Patrick Henaff , Fethi Ben Ouezdou , Gordon Cheng

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009 ), Sep 2009, France. pp.4955-4961

Communication dans un congrès hal-00519941v1

Three DOF Hybrid Mechanism for Humanoid Robotic Application:Modeling, Design and Realization

Samer Alfayad , Fethi Ben Ouezdou , Faycal Namoun , Olivier Bruneau , Patrick Henaff

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Sep 2009, United States. pp.4955-4961

Communication dans un congrès hal-00519956v1
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Dynamic Control Strategy of a Biped Inspired from Human Walking

Hayssam Serhan , Patrick Henaff , Chaiban G. Nasr , Fethi Ben Ouezdou

IEEE-RAS/EMBS Inter.l Conference on Biomedical Robotics and Biomechatronics -BioRob 2008, Oct 2008, Scottsdale, United States. pp.342-347, ⟨10.1109/BIOROB.2008.4762797⟩

Communication dans un congrès hal-00523030v1

A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking

Hayssam Serhan , Patrick Henaff , Fethi Ben Ouezdou , Chaiban G. Nasr

IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008, Sep 2008, Nice, France. pp.2479- 2485

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State Machine-Based Controller for Walk-Halt-Walk Transitions on a Biped Robot

Hayssam Serhan , Patrick Henaff , Chaiban G. Nasr , Fethi Ben Ouezdou

IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Dec 2008, Daejeon, South Korea. pp.535-540

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Time Window Width Influence On Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study

Vincent Scesa , Patrick Henaff , Fethi Ben Ouezdou , Faycal Namoun

16th International Conference on Artificial Neural Networks, ICANN 2006, Sep 2006, athene, Greece. pp.93 -102, ⟨10.1007/11840817_10⟩

Communication dans un congrès hal-00523037v1
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On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT Algorithm

Vincent Scesa , Patrick Henaff , Fethi Ben Ouezdou , Faycal Namoun

IEEE International Joint Conference on Neural Networks, IJCNN 2006,, Jul 2006, Vancouver, Canada. pp.4498 - 4505, ⟨10.1109/IJCNN.2006.247074⟩

Communication dans un congrès hal-00523039v1
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Designing a Muscle like System based on PID Controller and Tuned by Neural Network

Hayssam Serhan , Chaiban G. Nasr , Patrick Henaff

IEEE International Joint Conference on Neural Networks, Jul 2006, vancouver, Canada. pp.10090-10097, ⟨10.1109/IJCNN.2006.247203⟩

Communication dans un congrès hal-00523295v1

Dynamic recurrent neural network for biped robot equilibrium control: preliminary results

Vincent Scesa , Bachar Mohamed , Patrick Henaff , Fethi Ben Ouezdou

IEEE International Conference on Robotics and Automation, ICRA 2005, Apr 2005, Barcelone, Spain. pp.4125-4130

Communication dans un congrès hal-00523322v1
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Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion

Thierry Hoinville , Patrick Henaff

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2004, Japan. pp.2624-2629

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Evolving Plastic Neural Controllers stabilized by Homeostatic Mechanisms for Adaptation to a Perturbation

Thierry Hoinville , Patrick Henaff

International Conference on the Simulation and Synthesis of Living Systems (ALIFE9, Sep 2004, boston, United States. pp.81-88

Communication dans un congrès hal-00522803v1

Configuring sensors by user learning for a locomotion aid interface .

Rolland Thieffry , Eric Monacelli , Patrick Henaff , Stéphane Delaplace

IEEE International Conference on Robotics and Automation, ICRA 2003, May 2003, Pekin, China. pp.1509-1514

Communication dans un congrès hal-00523331v1

Evolving mobile robots with learning abilities by neural controller

Patrick Henaff , Olivier Chocron

International Symposium on Measurement and Control In Robotics , Jun 2002, bourges, France

Communication dans un congrès hal-01843705v1
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Approaches and learning phases for a robotic adaptive deambulation task

Rolland Thieffry , Eric Monacelli , Patrick Henaff , Stéphane Delaplace

IEEE International Conference on Systems, Man and Cybernetics, SMC 2002, Oct 2002, Hammamet, Tunisia. pp.210-215

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Adaptive Learning Control in Evolutionary Design of Mobile Robots,

Patrick Henaff , Olivier Chocron

IEEE International Conference on Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. pp.345-349, ⟨10.1109/ICSMC.2002.1176065⟩

Communication dans un congrès hal-00523329v1
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Fuzzy and neural control for mobile robotics experimentations

G. Bourdon , Patrick Henaff

1st IEEE International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97, May 1997, Adelaide, France. ⟨10.1109/KES.1997.619450⟩

Communication dans un congrès hal-01843716v1

Backpropagation Algorithm Without Output Desired: Implementation of Neural Control in Mobile Robotics,

Henaff Patrick , Stéphane Delaplace

Int. Conf. on Neural Networks and their Applications, 1996, Marseille, France

Communication dans un congrès hal-01843718v1
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Adaptive Neural Control with Backpropagation Algorithm

Henaff Patrick , Maurice Milgram

IEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France

Communication dans un congrès hal-01843723v1
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Adaptive neural control in mobile robotics: experimentation for a wheeled cart

Patrick Henaff , M. Milgram , J. Rabit

IEEE International Conference on Systems, Man and Cybernetics, Oct 1994, San Antonio, France. ⟨10.1109/ICSMC.1994.399997⟩

Communication dans un congrès hal-01843721v1
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A Neural Network Approach of the Control of Dynamic Biped Equilibrium

Patrick Henaff , Holger Schwenk , M. Milgram

3rd International Symposium on Measurement and Control in Robotics (ISMCR '93), Sep 1993, Turin, Italy. pp.AS.II-19

Communication dans un congrès hal-01348277v1
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Comparison of measured and modeled movements of the human lower limbs

Andrii Dmytrovych Shachykov , Patrick Henaff , Olexandr Petrovych Shulyak

АКТУАЛЬНІ ПРОБЛЕМИ АВТОМАТИКИ ТА ПРИЛАДОБУДУВАННЯ, 2017, 978-6177577-38-5

Chapitre d'ouvrage hal-01798594v1

Muscle-like Compliance in Knee Articulations Improves Biped Robot Walkings

Henaff Patrick , Hayssam Serhan

edited by Guanghui (Richard) Wang, Intech,. Recent Advances in Robotic Systems, 2016, 978-953-51-4767-1

Chapitre d'ouvrage hal-01842424v1

Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the Plant

Hayssam Serhan , Chaiban G. Nasr , Patrick Henaff

ASME books. Intelligent Engineering Systems Through Artificial Neural Networks, ASME books, pp.747-752, 2006

Chapitre d'ouvrage hal-00523296v1
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Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot

Henaff Patrick , Stéphane Delaplace

Morecki, A., Bianchi, G., Rzymkowski, C ROMANSY 11. International Centre for Mechanical Sciences Springer, Vienna. Part of the International Centre for Mechanical Sciences book series, 381 (347-354), 1997

Chapitre d'ouvrage hal-01843719v1

Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptation

Yannick Noe , Enrik Sina , Olivier Chocron , Patrick Henaff , Olivier Kermorgant

JT GDR LIRMM 2025, May 2025, Montpellier, France

Poster de conférence hal-05097740v1

Realizing a Personal Adaptive Dressing Assistance Robot

Kakeru Yamasaki , Takumi Kajiwara , Tomohiro Shibata , Patrick Henaff

IEEE International Conference on Robotics and Automation ICRA2024, May 2024, Yokohama Japan, Japan

Poster de conférence hal-04557303v1

Sorry I overreacted: The role of Affect in the Modulation of Motor Resonance during Face-to-Face Interaction

Isabel Casso , Hendry Ferreira Chame , Patrick Henaff , Yvonne N. Delevoye-Turrell

The European Society for Cognitive and Affective Neuroscience, May 2024, Ghent (BE), Belgium

Poster de conférence hal-04606872v1

Effects of Robot Oscillation Frequency on Human Motor Resonance

Isabel Casso , Hendry Ferreira Chame , Patrick Henaff , Yvonne N. Delevoye-Turrell

3rd international conference Timing Research Forum (TRF3), Oct 2023, Lisbon, Portugal. 2023

Poster de conférence hal-04533517v1