Patrick Henaff Professeur des Universités, Ecole Nationale d'ingénieurs de Brest Institut National Polytechnique de BretagneLaboratoire LabSTICC UMR CNRS 6285

Identifiants chercheurs

IdHAL :

patrick-henaff

ORCID :

0000-0002-5186-2466

IdRef :

183668537

Publications

Article dans une revue (24)

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 Hénaffet 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
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
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
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 Henaffet 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
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
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
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
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
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
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
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
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 Technical Electrodynamics / Tehnìčna elektrodinamìka, 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
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
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
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 Advances in modelling and analysis. C, Systems analysis, control & design, 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 Advances in modelling and analysis. C, Systems analysis, control & design, 2003, 60 (6), pp.57-71 Article dans une revue hal-00523332v1

Communication dans un congrès (68)

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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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 Henaffet 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
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
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
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
Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions Ganna Pugach,Viacheslav Khomenko,Artem Melnyk,Alexandre Pitti,Patrick Henaffet 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
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 Borysenkoet al. IEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759 Communication dans un congrès hal-00667677v1
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
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
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 Communication dans un congrès hal-00523317v1
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 Communication dans un congrès hal-00519960v1
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
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
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
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 Communication dans un congrès hal-00523324v1
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
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 Communication dans un congrès hal-00523327v1
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
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
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
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
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

Ouvrages (1)

Моделирование ритмических движений тазобедренного сустава человека на нейронном и мускульноскелетном уровне Andrii Dmytrovych Shachykov,Patrick Henaff,Olexandr Petrovych Shulyak National Technical University of Ukraine "Kyiv Polytechnic Institute", 2018 Ouvrages hal-01798555v1

Chapitre d'ouvrage (4)

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
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

Thèse (1)

Mises en œuvre de Commandes Neuronales par Rétropropagation Indirecte : Applications à la Robotique Mobile Patrick Henaff Robotique [cs.RO]. Université Pierre et Marie Curie, 1994. Français. ⟨NNT : 1994PA066152⟩ Thèse tel-03832547v1

HDR (1)

Commande bio-inspirée et genèse de mouvements rythmiques en robotique Patrick Henaff Automatique / Robotique. Université de Cergy Pontoise, 2011 HDR tel-00667651v1

Poster de conférence (4)

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