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.
Publications
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 | |
| Compliant Contacts Balance-Force Controller for Legged Robots | M. Hamze, M. Benallegue, R. Cisneros-Limón, A. Benallegue | IEEE Robotics and Automation Letters | 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 | ||
| 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 | ||
| Motion Accuracy and Computational Effort in QP-Based Robot Control | S. Chefchaouni Moussaoui, M. Benallegue, A. Escande, P.-B. Wieber | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning | R. Singh, M. Morisawa, M. Benallegue, Z. Xie, F. Kanehiro | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Synchronized Human-Humanoid Motion Imitation | A. Dallard, M. Benallegue, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 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 | ||
| Velocity-aided IMU-based Tilt and Attitude Estimation | M. Benallegue, A. Benallegue, R. Cisneros-Limón, Y. Chitour | IEEE Transactions on Automatic Control | 2023 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 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 | ||
| 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 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 |