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.

The publication list may not be complete, especially for publications prior to 2017. We are working on updating it.
Title Authors Conference/Book Year bib pdf
Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction N. Abe, Y. Hu, M. Benallegue, N. Yamanobe, G. Venture, E. Yoshida ACM Transactions on Human-Robot Interaction 2024
A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer R. Cisneros-Limón, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, R. Singh, L. Sun, Y. Chen, C. Fournier, G. Lorthioir, M. Tsuru, Ś. Chefchaouni-Moussaoui, Y. Osawa, G. Caron, K. Chappellet, M. Morisawa, A. Escande, Ko Ayusawa, Y. Houhou, I. Kumagai, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar International Journal of Social Robotics 2024
Velocity-aided IMU-based Tilt and Attitude Estimation M. Benallegue, A. Benallegue, R. Cisneros-Limón, Y. Chitour IEEE Transactions on Automatic Control 2023
Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction S. Chefchaouni Moussaoui, R. Cisneros-Limón, H. Kaminaga, M. Benallegue, T. Nobeshima, S. Kanazawa, F. Kanehiro Sensors 2023
Synchronized Human-Humanoid Motion Imitation A. Dallard, M. Benallegue, F. Kanehiro, A. Kheddar IEEE Robotics and Automation Letters 2023
Learning Bipedal Walking on Planned Footsteps for Humanoid Robots R. Singh, M. Benallegue, M. Morisawa, R. Cisneros-Limón, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2022
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM Y. Chen, L. Sun, M. Benallegue, R. Cisneros-Limón, R. Singh, K. Kaneko, A. Tanguy, G. Caron, K. Suzuki, A. Kheddar, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2022
Toward Active Physical Human-Robot Interaction: Quantifying the Human State During Interactions Y. Hu, N. Abe, M. Benallegue, N. Yamanobe, G. Venture, E. Yoshida IEEE Transactions on Human-Machine Systems 2022
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
On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback M. Benallegue, R. Cisneros-Limón, A. Benallegue, A. Tanguy, A. Escande, M. Morisawa, F. Kanehiro IEEE/RSJ International Conference on Intelligent Robots and Systems 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
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
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
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
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
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
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
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
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
Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency I. Kumagai, M. Morisawa, T. Sakaguchi, S. Nakaoka, K. Kaneko, H. Kaminaga, S. Kajita, M. Benallegue, R. Cisneros-Limón, F. Kanehiro IEEE Robotics & Automation Magazine 2019
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
Biped Gait Control Based on Spatially Quantized Dynamics S. Kajita, M. Benallegue, R. Cisneros-Limón, T. Sakaguchi, S. Nakaoka, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, 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, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 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
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
The Yoyo-Man J.-P. Laumond, M. Benallegue, J. Carpentier, A. Berthoz The International Journal of Robotics Research 2017
On the centre of mass motion in human walking J. Carpentier, M. Benallegue, J.-P. Laumond International Journal of Automation and Computing 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
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
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
A Strictly Convex Hull for Computing Proximity Distances with Continuous Gradients A. Escande, S. Miossec, M. Benallegue, A. Kheddar IEEE Transactions on Robotics 2014
Fast C1 Proximity Queries using Support Mapping of Sphere-Torus-Patches Bounding Volumes M. Benallegue, A. Escande, S. Miossec, A. Kheddar IEEE International Conference on Robotics and Automation 2009