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.
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 | ||
| Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots | T. Tako, R. Cisneros-Limón, H. Kaminaga, K. Kaneko, M. Murooka, I. Kumagai, H. Masuzawa, Y. Kakiuchi | IEEE-RAS International Conference on Humanoid Robots | 2024 | ||
| Learning to Classify Surface Roughness Using Tactile Force Sensors | Y. Houhou, R. Cisneros-Limón, R. Singh | IEEE/SICE International Symposium on System Integration | 2024 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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, S. Kajita, 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 |