Patrick Henaff
- 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)
Publications
Publications
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An enhanced experimental paradigm for auditory BCIs by addressing both acoustic and human factors13th international winter conference on brain-computer interface, Feb 2026, Gangwon, South Korea |
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Assessing Stimuli Detectability and Pleasantness for Auditory BCIBIOSIGNALS 2026 - 19th international conference on bio-inspired systems and signal processing, Mar 2026, Marbella, Spain |
Learning Human Rhythmic Movements: Adaptive CPGs for Synchronized Virtual AgentsMoco-2026 : Movement and Computing 2026, université de montpellier, Apr 2026, Montpellier, France |
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Assessing detectability and pleasantness of stimuli for auditory BCIsJournées CORTICO 2025, May 2025, Lyon, France |
Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze2024 International Conference on Artificial Life and Robotics ICAROB2024, Feb 2024, Oita, Japan |
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Social Attributes in a Handshake Robot Adaptive to Human Shaking Motion Using a CPG ControllerThe 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, Aug 2024, Passadena, CA, United States |
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Social Attributes Vary with Individual Differences in a CPG-Controlled Handshake Robot29th Robotics Symposia, Mar 2024, Nago, Japan |
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Exploring Engagement in Human-Robot Interaction through the Quantification of Human Spontaneous MovementThe 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⟩ |
Couplage entre un apprentissage par renforcement profond et une machine à états : approche théoriqueCAID - Conference on Artificial Intelligence for Defense, DGA, Nov 2024, Rennes, France |
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Robot oscillation frequency impacts human engagement during Human-Robot InteractionRhythm Perception and Production Workshop (RPPW), Nottingham Trent University, Jun 2023, Nottingham (UK), United Kingdom |
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L’effet de l’oscillation dans l’interaction humain-robot.Drôles D’objets - Un Nouvel Art De Faire, May 2023, Nancy, France |
Adaptive central pattern generators to control human/robot interactions (keynote speaker)13th International IEEE Conference Dependable Systems, Services and Technologies, DESSERT2023, IEEE Greece section, Oct 2023, Athens, Greece |
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Towards a neuromusculoskeletal platform to simulate healthy and deficient gait with assistive devicesIEEE 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 |
Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry ApplicationsISR 2021 - IEEE International Conference on Intelligence and Safety for Robotics, Mar 2021, Nagoya/ Virtual, Japan. ⟨10.1109/ISR50024.2021.9419530⟩ |
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Dynamic Oscillators to Compensate Master Devices Imperfections in Robots Teleoperation Tasks Requiring Dynamic MovementsCASE 2021 - IEEE 17th International Conference on Automation Science and Engineering, Aug 2021, Lyon, France |
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Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim SimulatorIJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary |
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Real Time Movement Classification in Versatile CPG ControlWorkshop on Robust Artificial Intelligence for Neurorobotics, Aug 2019, Edinburgh, United Kingdom |
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Motor Coordination Learning for Rhythmic MovementsDevelopment and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway |
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The Sound of Actuators: Disturbance in Human -Robot Interactions?Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway |
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Modeling of human gait control using CPGsJNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France |
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Plastic CPG-based Robot Controllers for Human-Robot Rhythmic InteractionsJNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France |
Guido and Am I Robot?, case study of two robotic artworks operating in public spacesICLI 2018 - International Conference on Live Interfaces, Jun 2018, Porto, Portugal |
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Класифікація комбінованих уявних рухів за допомогою бінарних класифікаторів у нейрокомп’ютерних інтерфейсахXVII International scientific and technical conference “Physical processes and fields of technical and biological objects”, Nov 2018, Kremenchuk, Ukraine |
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CPG-based Controllers can Generate Both Discrete and Rhythmic MovementsIROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain |
Integration of collaborative robot in a hard steel industrial environmentCASE 2018 - 14th IEEE International Conference on Automation Science and Engineering, Aug 2018, munich, Germany |
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Implementation, risk assessment and safety human/robot interaction of collaborative robot UR10SIAS 2018 - 9th International Conference on Safety of Industrial Automated Systems, Oct 2018, Nancy, France |
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Expanded Algorithm for Inertial NavigationSAI 2018 - IEEE Computing Conference, Jul 2018, londres, United Kingdom |
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CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot InteractionsARSO 2018 - IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy |
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CPG-based circuitry for controlling musculoskeletal model of human locomotor systemBioCAS 2017 - IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy |
Expanded Calibration of the MEMS Inertial SensorsUKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩ |
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NEMS GyroscopeICE ITMC 2017 - 23rd ICE/IEEE International Technology Management Conference, Jun 2017, Porto, Portugal. pp.394-398, ⟨10.1109/ICE.2017.8279912⟩ |
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From the control of biological complex systems toward the control of robotic complex systemsInternational Conference on Computer Science and Computational Intelligence (ICCSCI), Oct 2017, bali, Indonesia |
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3D-Calibration of the IMUELNANO 2017 - IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩ |
Biological control for humanoid robots2017 IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, kiev, Ukraine |
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Neuro-musculoskeletal Simulator of Human Rhythmic MovementsUKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine |
Bio-inspired plastic controller for a robot arm to shake hand with humanIEEE 36th International Conference on ELECTRONICS AND NANOTECHNOLOGY ELNANO-2016, Univ KPI, Apr 2016, Kiev, Ukraine. pp.163-168 |
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Analysis of a handshake between humans using wavelet transformsELNANO 2015 - IEEE 35th International Conference on Electronics and Nanotechnology, Apr 2015, kiev, Ukraine. pp.397 - 401, ⟨10.1109/ELNANO.2015.7146918⟩ |
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Sensor network architecture to measure characteristics of a handshake between humansElectronics and Nanotechnology (ELNANO), 2014 IEEE 34th International Conference on, 2014, Kiev, Ukraine. pp.264- 268, ⟨10.1109/ELNANO.2014.6873983⟩ |
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Analysis of synchrony of a handshake between humansAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1753-1758, ⟨10.1109/AIM.2014.6878337⟩ |
Interaction rythmique homme/robot : cas du « handshakingJNRI 2014, Journées Nationales de la Robotique Interactive, Dec 2014, toulouse, France |
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Learning spatial Touch in an Artificial Skin with Neural NetworkEurohaptics 2014, 2014, versailles, France. pp.458-460, ⟨10.1007/978-3-662-44196-1⟩ |
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Physical human-robot interaction in the handshaking case: learning of rhythmicity using oscillators neuron2013 IFAC Conference on Manufacturing Modelling, Management, and Control, IFAC MIM '2013, Jun 2013, St Petersbourg, Russia |
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Electronic hardware design of a low cost tactile sensor device for physical Human-Robot InteractionsELNANO 2013 - 33rd IEEE International Scientific Conference Electronics and Nanotechnology, Apr 2013, Kiev, Ukraine. pp.5, ⟨10.1109/ELNANO.2013.6552033⟩ |
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Experience-based Learning Mechanism with a Concept of VigilanceComputational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting 2011, Nov 2011, Bernstein, Germany. ⟨10.3389/conf.fncom.2011.53.00099⟩ |
Bipedal Locomotion Control with Rhythmic Neural CircuitsInternational Workshop on Bio-Inspired Robots, Apr 2011, nantes, France |
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Non-Invasive Low Cost Method for Linear and Angular Accelerations Measurement in Biped Locomotion MechanismIEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759 |
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Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human BeingIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩ |
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Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and ClassificationInternational Conference on Simulation of Adaptive behavior, SAB 2010,, Aug 2010, France. pp.313-324 |
Experience-based Learning Mechanism for Neural Controller Adaptation: Application to Walking Biped RobotsIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009 ), Sep 2009, France. pp.4955-4961 |
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Three DOF Hybrid Mechanism for Humanoid Robotic Application:Modeling, Design and RealizationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Sep 2009, United States. pp.4955-4961 |
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Dynamic Control Strategy of a Biped Inspired from Human WalkingIEEE-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⟩ |
A New Control Strategy for ROBIAN Biped Robot Inspired from Human WalkingIEEE/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 RobotIEEE-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 Study16th International Conference on Artificial Neural Networks, ICANN 2006, Sep 2006, athene, Greece. pp.93 -102, ⟨10.1007/11840817_10⟩ |
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On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT AlgorithmIEEE International Joint Conference on Neural Networks, IJCNN 2006,, Jul 2006, Vancouver, Canada. pp.4498 - 4505, ⟨10.1109/IJCNN.2006.247074⟩ |
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Designing a Muscle like System based on PID Controller and Tuned by Neural NetworkIEEE International Joint Conference on Neural Networks, Jul 2006, vancouver, Canada. pp.10090-10097, ⟨10.1109/IJCNN.2006.247203⟩ |
Dynamic recurrent neural network for biped robot equilibrium control: preliminary resultsIEEE International Conference on Robotics and Automation, ICRA 2005, Apr 2005, Barcelone, Spain. pp.4125-4130 |
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Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion2004 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 PerturbationInternational Conference on the Simulation and Synthesis of Living Systems (ALIFE9, Sep 2004, boston, United States. pp.81-88 |
Configuring sensors by user learning for a locomotion aid interface .IEEE International Conference on Robotics and Automation, ICRA 2003, May 2003, Pekin, China. pp.1509-1514 |
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Evolving mobile robots with learning abilities by neural controllerInternational Symposium on Measurement and Control In Robotics , Jun 2002, bourges, France |
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Approaches and learning phases for a robotic adaptive deambulation taskIEEE 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,IEEE International Conference on Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. pp.345-349, ⟨10.1109/ICSMC.2002.1176065⟩ |
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Fuzzy and neural control for mobile robotics experimentations1st IEEE International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97, May 1997, Adelaide, France. ⟨10.1109/KES.1997.619450⟩ |
Backpropagation Algorithm Without Output Desired: Implementation of Neural Control in Mobile Robotics,Int. Conf. on Neural Networks and their Applications, 1996, Marseille, France |
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Adaptive Neural Control with Backpropagation AlgorithmIEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France |
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Adaptive neural control in mobile robotics: experimentation for a wheeled cartIEEE International Conference on Systems, Man and Cybernetics, Oct 1994, San Antonio, France. ⟨10.1109/ICSMC.1994.399997⟩ |
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A Neural Network Approach of the Control of Dynamic Biped Equilibrium3rd International Symposium on Measurement and Control in Robotics (ISMCR '93), Sep 1993, Turin, Italy. pp.AS.II-19 |
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Comparison of measured and modeled movements of the human lower limbsАКТУАЛЬНІ ПРОБЛЕМИ АВТОМАТИКИ ТА ПРИЛАДОБУДУВАННЯ, 2017, 978-6177577-38-5 |
Muscle-like Compliance in Knee Articulations Improves Biped Robot Walkingsedited by Guanghui (Richard) Wang, Intech,. Recent Advances in Robotic Systems, 2016, 978-953-51-4767-1 |
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Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the PlantASME books. Intelligent Engineering Systems Through Artificial Neural Networks, ASME books, pp.747-752, 2006 |
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Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile RobotMorecki, 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 |
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Mises en œuvre de Commandes Neuronales par Rétropropagation Indirecte : Applications à la Robotique MobileRobotique [cs.RO]. Université Pierre et Marie Curie, 1994. Français. ⟨NNT : 1994PA066152⟩ |
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Commande bio-inspirée et genèse de mouvements rythmiques en robotiqueAutomatique / Robotique. Université de Cergy Pontoise, 2011 |
Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptationJT GDR LIRMM 2025, May 2025, Montpellier, France |
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Realizing a Personal Adaptive Dressing Assistance RobotIEEE International Conference on Robotics and Automation ICRA2024, May 2024, Yokohama Japan, Japan |
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Sorry I overreacted: The role of Affect in the Modulation of Motor Resonance during Face-to-Face InteractionThe European Society for Cognitive and Affective Neuroscience, May 2024, Ghent (BE), Belgium |
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Effects of Robot Oscillation Frequency on Human Motor Resonance3rd international conference Timing Research Forum (TRF3), Oct 2023, Lisbon, Portugal. 2023 |