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Patrick Henaff
80
Documents
Presentation
**Patrick Hénaff**
**Professeur des universités**
· **Enseignement :** Ecole des Mines de Nancy, Département Information et Systèmes
· **Recherche** : LORIA, Département Systèmes complexes et intelligence artificielle, équipe Cortex
Patrick Hénaff a été nommé professeur des universités en septembre 2013 à l’école des Mines de Nancy et au laboratoire LORIA. Il s’intéresse à la modélisation des boucles sensorimotrices qui sont à l’œuvre chez l’humain lors des interactions physiques et sociales interpersonnelles afin de les implémenter dans les contrôleurs des robots humanoïdes pour qu’ils puissent interagir physiquement et socialement avec l’humain et « comme un humain » \[AIM2011\]. Il travaille depuis plusieurs années sur la genèse des mouvements rythmiques en robotique et plus particulièrement sur l’interaction physique et rythmique homme/robot telle que la poignée de main ou « handshaking » \[IFAC2013\] \[AIM2014\]. Il est un spécialiste de la commande des robots mobiles et humanoïdes par des réseaux de neurones dotés de capacités d’apprentissage ou d’adaptation en ligne.
**Titres Universitaires**
**►Juillet 2011** : **Habilitation à Diriger des Recherches,** “*Commande bio-inspirée et genèse de mouvements rythmiques en robotique* ”,
**►Juin 1994** : **Doctorat de l'Université Pierre et Marie Curie,** “*Mises en Œuvre de Commandes Neuronales Par Rétro-Propagation Indirecte : Applications à la Robotique Mobile”*
**►Juin 1988** : Maîtrise électronique et traitement du signal,Université de Rennes I
**►Juin 1985** :DUT Génie électrique et informatique industrielle,Université de Rennes I
**Parcours**
**►Laboratoires de Recherche :**
· **2013- :** Laboratoire LORIA, UMR7503, CNRS-INRIA-Université de Lorraine
· **2009-2013** : ETIS, équipe Neurocybernétique, UMR CNRS 8051, Université de Cergy Pontoise
· **2002-2008** : Laboratoire d’Ingénierie des Systèmes de Versailles, UVSQ
· **1990-2002** : Laboratoire de Robotique de Paris
**►Positions**
· **2013 - :** Professeur des Universités, Mines Nancy, Université de Lorraine
· **1997-2013 :** Maître de Conférences, Université de Cergy-Pontoise,
· **1996-1997 :** enseignant contractuel : I.U.T de Vélizy, Département GEI**I**
· **1993-1996 :** ATER: I.U.T de Cergy Pontoise, Département GEII
· **1990-1993 :** Doctorant**,** Allocataire de recherche Paris 6, moniteur Paris 7
**Activité Scientifique**
### Encadrement doctoral :
**►MELNYK Artem** (2010- 2014), «Perfectionnement des algorithmes de contrôle-commande des robots manipulateurs électriques en interaction physique avec leur environnement par une approche bio-inspirée». *18 décembre 2014.*
**►KHOMENKO Viacheslav** (2009-2013) «Modélisation et compensation des déficiences linéaires et non linéaires dans les transmissions électromécaniques des robots humanoïdes » 8 *juillet 2013*
**►NASSOUR John** (2007-2012)*,*“Success-Failure Learning for Humanoid: study on bipedal walking », 7 décembre 2012
**►SERHAN Hayssam** (2005-2009), «Approches Biomimétiques pour le contrôle de la marche des robots bipèdes : stratégie intuitive et intégration d’un modèle de muscle». *9 juillet 2009*
**►HOINVILLE Thierry** (2002-2007), «Évolution de contrôleurs neuronaux plastiques. De la locomotion adaptée vers la locomotion adaptative». *25 octobre 2007*
**►SCESA Vincent** (2003-2006), «Contrôle adaptatif par réseaux de neurones : évaluation d’une implémentation temps réel sur un contrôleur industriel multiprocesseur pour le contrôle du comportement dynamique d’une structure mécanique complexe». *20 octobre 2006*
**►THIEFFRY** Rolland (2000-2004), «Étude et validation de systèmes adaptatifs d'aide à l'autonomie des personnes handicapées». *8 décembre 2004,*
### Activité internationale :
**►Grande Bretagne :**
· Université de Cardiff (Prof. P. Granjon, School of Art and Design, Fine-Art) : Atelier pédagogique ARTEM, robot médiateur dans un musée
**►Luxembourg** :
· Université du Luxembourg
o Mechanical department (Pr. Plapper, robotique)
o Computer sciences département. (Prof Van der Torre) : Atelier pédagogique ARTEM, robot médiateur dans un musée
**►Ukraine** :
· Kiev Polytechnique Institue : 2013- : coopération sur la mesure des mouvements humains (Pr. A. Popov)
· UniversitéNationale Technique de Donetsk (UNTD),
o 2011-2013 : Responsable d'un projet Egide-PHC Dnipro
o 2011- : Création d’un parcours Master Franco/Ukrainien
o 2009-2012 : 2 Cotutelles de thèse : V. Khomenko, A. Melnyk
**►Liban** : Université Libanaise :
· 2009 : Thèse de Hayssam Serhan,“Approches biomimétiques pour le contrôle de la marche thèse avec le Pr. C. Nasr, Université Libanaise.
**►Afrique du sud** : Université TUT, Pretoria, Centre Franco-Sud Africain,:
· 2007-2013 : Expert externe pour l’évaluation des rapports de Master de technologie
**►Allemagne** :
· Université Otto Von Guericke de MagdeBurg,:
o 2003/2005 : Projet PAI-Egide (Procope) avec IRISA (Rennes): «l’Etude de la commande symbolique et neuronale d'une main artificielle à partir de signaux myo-électriques».
· UniversitéTechnique de Munich, *CoTeSys, Central Robotics Laboratory* :
o 2007-2013 : Co-encadrement doctoral avec le Pr G. Cheng: thèse de John Nassour.
### Jurys de thèse (Hors doctorants encadrés) :
**►Rapporteur**
· **Madame Hoda SBAITI,** Optimisation sur un modèle de comportement pour la thérapie en oncologie, Université de Versailles St-Quentin en Yvelines, 17 sept 2013
· **Mata KHALILI, Co-tutelle Tohoku university , Japon,**« Estimation de caractéristiques humaines pour le contrôle d'une aide robotisée à la marche » ou «Estimation of human characteristics for controlling a robotic walking aid », Université de Versailles St-Quentin en Yvelines, 9 juillet 2014
· **GAetan André,** Modélisation oscillatoire de l’écriture manuscrite, Université de Toulouse Paul Sabatier, 11 decembre 2013
**►Président :**
· **Madame Chunling TU, Cotutelle afrique du sud**, "Ameliorations de la Tranformee de Hough en traitment d'images", Université Paris-Est, 23 septembre 2014
· **Alin-Mihai CĂILEAN, Co-tutelle Roumanie**, Study, implementation and optimization of a visible light communications system. Application to automotive field. , Université de Versailles St-Quentin en Yvelines, 8 décembre 2014
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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
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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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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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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
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Expanded Algorithm for Inertial NavigationSAI 2018 - IEEE Computing Conference, Jul 2018, londres, United Kingdom
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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
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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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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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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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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
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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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3D-Calibration of the IMU ELNANO 2017 - IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩
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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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CPG-based circuitry for controlling musculoskeletal model of human locomotor systemBioCAS 2017 - IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy
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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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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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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⟩
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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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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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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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Bipedal Locomotion Control with Rhythmic Neural CircuitsInternational Workshop on Bio-Inspired Robots, Apr 2011, nantes, France
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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⟩
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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
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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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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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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⟩
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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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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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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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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⟩
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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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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
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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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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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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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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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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⟩
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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 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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Adaptive Neural Control with Backpropagation AlgorithmIEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France
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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
Book sections
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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
Book sections
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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⟩
Theses
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Commande bio-inspirée et genèse de mouvements rythmiques en robotiqueAutomatique / Robotique. Université de Cergy Pontoise, 2011
Habilitation à diriger des recherches
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