Bio

Mehdi Benallegue received the ingénieur degree from the Institut National d’Informatique (INI), Algeria, in 2007, the M.Sc. degree from the University of Paris 7, Paris, France, in 2008 and the Ph.D. degree from Université de Montpellier 2, France, in 2011. He has been a postdoctoral researcher in a neurophysiology laboratory in Collège de France and in LAAS CNRS. He is currently a Research Associate with the CNRS-AIST Joint Robotics Laboratory in National Institute of Advanced Industrial Science and Technology (AIST), Japan. His research interests include estimation and control of robots, biomechanics, neuroscience and computational geometry.

Title Authors Conference/Book Year bib pdf
Rapid Pose Label Generation through Sparse Representation of Unknown Objects R. Singh, M. Benallegue, Y. Yoshiyasu, F. Kanehiro IEEE International Conference on Robotics and Automation 2021
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control M. Murooka, K. Chappellet, A. Tanguy, M. Benallegue, I. Kumagai, M. Morisawa, F. Kanehiro, A. Kheddar IEEE Robotics and Automation Letters 2021
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro International Journal of Humanoid Robotics 2020
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations R. Singh, I. Kumagai, A. Gabas, M. Benallegue, Y. Yoshiyasu, F. Kanehiro IEEE/SICE International Symposium on System Integration 2020
Reliable chattering-free simulation of friction torque in joints presenting high stiction R. Cisneros-Limón, M. Benallegue, R. Kikuuwe, M. Morisawa, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 2020
An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback R. Cisneros-Limón, M. Morisawa, M. Benallegue, A. Escande, F. Kanehiro Advanced Robotics 2020
Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification I. Kumagai, M. Morisawa, S. Hattori, M. Benallegue, F. Kanehiro IEEE Robotics and Automation Letters 2020
Lyapunov-Stable Orientation Estimator for Humanoid Robots M. Benallegue, R. Cisneros-Limón, A. Benallegue, Y. Chitour, M. Morisawa, F. Kanehiro IEEE Robotics and Automation Letters 2020
Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction Y. Hu, M. Benallegue, G. Venture, E. Yoshida IEEE Robotics and Automation Letters 2020
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers M. Benallegue, J.-P. Laumond, A. Berthoz The International Journal of Robotics Research 2020
Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces M. Morisawa, M. Benallegue, R. Cisneros-Limón, I. Kumagai, A. Escande, K. Kaneko, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
Robust humanoid control using a QP solver with integral gains R. Cisneros-Limón, M. Benallegue, A. Benallegue, M. Morisawa, H. Audren, P. Gergondet, A. Escande, A. Kheddar, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Model-based external force/moment estimation for humanoid robots with no direct measurement M. Benallegue, P. Gergondet, H. Audren, A. Mifsud, M. Morisawa, F. Lamiraux, A. Kheddar, F. Kanehiro IEEE International Conference on Robotics and Automation 2018
Partial Yaw Moment Compensation using an Optimization-based Multi-Objective Motion Solver R. Cisneros-Limón, M. Benallegue, M. Morisawa, E. Yoshida, K. Yokoi, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2018
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact M. Morisawa, R. Cisneros-Limón, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2018
Biped walking pattern generation based on spatially quantized dynamics S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, Kanehiro.fumio IEEE-RAS International Conference on Humanoid Robots 2017
The Yoyo-Man J. Laumond, M. Benallegue, J. Carpentier, A. Berthoz The International Journal of Robotics Research 2017
Experimental evaluation of simple estimators for humanoid robots T. Flayols, A. Del Prete, P. Wensing, A. Mifsud, M. Benallegue, O. Stasse IEEE-RAS International Conference on Humanoid Robots 2017
Biped walking pattern generation based on spatially quantized dynamics S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2017
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer M. Benallegue, A. Benallegue, Y. Chitour IEEE-RAS International Conference on Humanoid Robots 2017
Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach J. Carpentier, M. Benallegue, N. Mansard, J.-P. Laumond IEEE Transactions on Robotics 2016
Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model A. Mifsud, M. Benallegue, F. Lamiraux IEEE/RSJ International Conference on Intelligent Robots and Systems 2016
Impact Acceleration of Falling Humanoid Robot with an Airbag S. Kajita, R. Cisneros-Limón, M. Benallegue, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2016
A Strictly Convex Hull for Computing Proximity Distances with Continuous Gradients A. Escande, S. Miossec, M. Benallegue, A. Kheddar IEEE Transactions on Robotics 2014