Bio

Rafael Cisneros-Limón received the B.Eng. degree from the University of the Americas - Puebla (UDLA-P), Mexico in 2006, the M.Sc. degree from the Center of Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Mexico in 2009, and the Ph.D. degree from the University of Tsukuba, Japan in 2015. Since then, he has been working at the National Institute of Advanced Industrial Science and Technology (AIST), Japan, from 2015 to 2018 as a post-doc and from 2018 until now as a researcher. He is currently a member of CNRS-AIST JRL (Joint Robotics Laboratory), IRL, AIST. His research interests include torque control, whole-body multi-contact motion control of humanoid robots, multi-body collision dynamics, teleoperation, and tactile feedback.

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
Learning to Classify Surface Roughness Using Tactile Force Sensors Y. Houhou, R. Cisneros-Limón, R. Singh IEEE/SICE International Symposium on System Integration 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
Teleoperation of Humanoid Robots: A Survey K. Darvish, L. Penco, J. Ramos, R. Cisneros-Limón, J. Pratt, E. Yoshida, S. Ivaldi, D. Pucci IEEE Transactions on Robotics 2023
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
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
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
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
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
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
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
Developing Semi-Autonomous Humanoid Robots that Perform Various Composite Tasks via a Task Sequencer and Dynamics Simulator S. Nakaoka, R. Cisneros-Limón, M. Morisawa, T. Sakaguchi, K. Kaneko, Kajita.shuuji, F. Kanehiro IEEE International Conference on Advanced Robotics and its Social Impacts 2017
Effective teleoperated manipulation for humanoid robots in partially unknown real environments: team AIST-NEDO's approach for performing the Plug Task during the DRC Finals R. Cisneros-Limón, S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro Advanced Robotics 2016
Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator R. Cisneros-Limón, K. Yokoi, E. Yoshida International Journal of Humanoid Robotics 2016
Enabling a teleoperated humanoid robot to pass through debris-filled terrain using manipulation R. Cisneros-Limón, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 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
Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom R. Cisneros-Limón, R. Kikuuwe, S. Nakaoka, F. Kanehiro IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2016
Task Sequencer Integrated into a Teleoperation Interface for Biped Humanoid Robots S. Nakaoka, M. Morisawa, R. Cisneros-Limón, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Humanoid Robot HRP-2Kai - Improvement of HRP-2 towards Disaster Response Tasks K. Kaneko, M. Morisawa, S. Kajita, S. Nakaoka, T. Sakaguchi, R. Cisneros-Limón, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Task-Level Teleoperated Manipulation for the HRP-2Kai Humanoid Robot R. Cisneros-Limón, S. Kajita, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2015
Partial yaw moment compensation through whole-body motion R. Cisneros-Limón, E. Yoshida, K. Yokoi IEEE-RAS International Conference on Humanoid Robots 2014
Yaw Moment Compensation By Using Full Body Motion R. Cisneros-Limón, K. Yokoi, E. Yoshida IEEE International Conference on Mechatronics and Automation 2014
Impulsive pedipulation of a spherical object for reaching a 3D goal position R. Cisneros-Limón, K. Yokoi, E. Yoshida IEEE-RAS International Conference on Humanoid Robots 2013
Ball dynamics simulation on OpenHRP3 R. Cisneros-Limón, E. Yoshida, K. Yokoi International Conference on Robotics and Biomimetics 2012