Bio

Abderrahmane Kheddar received the BSCS degree from the Institut National d’Informatique (INI), Algiers, the MSc and PhD degrees in robotics, both from the University of Pierre and Marie Curie, Paris 6. He is presently Directeur de Recherche at CNRS. He is the Director of the CNRS-AIST Joint Robotic Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan; and team leader of the Interactive Digital Humans (IDH) team at CNRS-UM LIRMM at Montpellier, France. Prior to this, he was (1999-2003) assistant professor and (2004-2008) full professor at the University of Evry where he created and headed the virtual reality and haptics group. His current research interests include humanoid robotics, haptics, and thought-based control using brain machine interfaces en physical re-embodiment. He is a founding member of the IEEE/RAS chapter on haptics (acting also as a senior advisor), the co-chair and co-founding member of the IEEE/RAS Technical committee on model-based optimization. He is presently Editor of the IEEE Transactions on Robotics and the Journal of Intelligent and Robotic Systems, and Frontiers in Bionics; he is a founding member of the IEEE Transactions on Haptics and served in its editorial board during three years (2007-2010) and served as AE also the MIT Press PRESENCE journal (2013-2014). He also coordinated or acted as a PI for several EU projects and JSPS Kakenhi projects.

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
Planning Impact-Driven Logistic Tasks A. Zermane, N. Dehio, A. Kheddar 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
Analysis and Perspectives on the ANA Avatar XPRIZE Competition K. Hauser, E. Watson, J. Bae, J. Bankston, S. Behnke, B. Borgia, M. G. Catalano, S. Dafarra, J. B.f. Van Erp, T. Ferris, J. Fishel, G. Hoffman, S. Ivaldi, F. Kanehiro, A. Kheddar, G. Lannuzel, J. Ford Morie, P. Naughton, S. Nguyen, P. Oh, T. Padir, J. Pippine, J. Park, D. Pucci, J. Vaz, P. Whitney, P. Wu, D. Locke International Journal of Social Robotics 2024
Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC N. Figueroa, J. Tafur, A. Kheddar IEEE/SICE International Symposium on System Integration 2024
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots M. Djeha, P. Gergondet, A. Kheddar IEEE Transactions on Robotics 2023
The Hierarchical Newton’s Method for Numerically Stable Prioritized Dynamic Control K. Pfeiffer, A. Escande, P. Gergondet, A. Kheddar IEEE Transactions on Control Systems Technology 2023
Synchronized Human-Humanoid Motion Imitation A. Dallard, M. Benallegue, F. Kanehiro, A. Kheddar IEEE Robotics and Automation Letters 2023
Humanoid Loco-Manipulations using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images K. Chappellet, M. Murooka, G. Caron, F. Kanehiro, A. Kheddar IEEE Transactions on Automation Science and Engineering 2023
Material Classification Using Active Temperature Controllable Robotic Gripper Y. Osawa, K. Kase, Y. Domae, Y. Furukawa, A. Kheddar IEEE/SICE International Symposium on System Integration 2022
Human-Robot Handovers Using Task-Space Quadratic Programming M. Djeha, A. Dallard, A. Zermane, P. Gergondet, A. Kheddar International Symposium on Robot and Human Interactive Communication 2022
Robust Cartesian Kinematics Estimation for Task-Space Control Systems S. Baradaran Birjandi, N. Dehio, A. Kheddar, S. Haddadin IEEE/RSJ International Conference on Intelligent Robots and Systems 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
Robust Position Regulation of a Seesaw Actuated by a Humanoid S. Orozco-Soto, J. Ibarra-Zannatha, A. Kheddar IEEE International Conference on Automation Science and Engineering 2022
Dual-Arm Box Grabbing With Impact-Aware MPC Utilizing Soft Deformable End-Effector Pads N. Dehio, Y. Wang, A. Kheddar IEEE Robotics and Automation Letters 2022
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts Y. Wang, N. Dehio, A. Kheddar IEEE Robotics and Automation Letters 2022
Touch Semantics for Intuitive Physical Manipulation of Humanoids C. Wong, S. Samadi, W. Suleiman, A. Kheddar IEEE Transactions on Human-Machine Systems 2022
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator Y. Wang, N. Dehio, A. Kheddar IEEE Robotics and Automation Letters 2022
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts J. Roux, S. Samadi, E. Kuroiwa, T. Yoshiike, A. Kheddar International Conference on Advanced Robotics 2021
Benchmarking Cameras for OpenVSLAM Indoors K. Chappellet, G. Caron, F. Kanehiro, K. Sakurada, A. Kheddar IAPR/IEEE International Conference on Pattern Recognition 2021
Robot-Safe Impacts with Soft Contacts Based on Learned Deformations N. Dehio, A. Kheddar IEEE International Conference on Robotics and Automation 2021
A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities Y. Osawa, A. Kheddar International Symposium on Experimental Robotics 2021
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications A. Bolotnikova, P. Gergondet, A. Tanguy, S. Courtois, A. Kheddar IEEE/SICE International Symposium on System Integration 2021
Soft robotic shell with active thermal display Y. Osawa, Y. Kinbara, M. Kageoka, K. Iida, A. Kheddar Scientific Reports 2021
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts S. Samadi, J. Roux, A. Tanguy, S. Caron, A. Kheddar IEEE Robotics and Automation Letters 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
Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps M. Murooka, I. Kumagai, M. Morisawa, F. Kanehiro, A. Kheddar IEEE Robotics and Automation Letters 2021
Adaptive task-space force control for humanoid-to-human assistance A. Bolotnikova, S. Courtois, A. Kheddar IEEE Robotics and Automation Letters 2021
Radius selection using kernel density estimation for the computation of nonlinear measures J. Medrano, A. Kheddar, A. Lesne, S. Ramdani Chaos: An Interdisciplinary Journal of Nonlinear Science 2021
Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control M. Djeha, A. Tanguy, A. Kheddar IEEE Robotics and Automation Letters 2020
Multi-Contact Planning on Humans for Physical Assistance by Humanoids A. Bolotnikova, S. Courtois, A. Kheddar IEEE Robotics and Automation Letters 2020
Autonomous Initiation of Human Physical Assistance by a Humanoid A. Bolotnikova, S. Courtois, A. Kheddar International Symposium on Robot and Human Interactive Communication 2020
Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios S. Samadi, S. Caron, A. Tanguy, A. Kheddar IEEE International Conference on Robotics and Automation 2020
Impact-friendly robust control design with task-space quadratic optimization Y. Wang, A. Kheddar Robotics: Science and Systems 2019
Humanoid robots in aircraft manufacturing: the Airbus use-cases A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan, J. Englsberger, M. Roa, P.-B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, P. Rabate IEEE Robotics & Automation Magazine 2019
Human-Humanoid Collaborative Carrying D. Agravante, A. Cherubini, A. Sherikov, P.-B. Wieber, A. Kheddar IEEE Transactions on Robotics 2019
Quadratic Programming for Multirobot and Task-Space Force Control K. Bouyarmane, K. Chappellet, J. Vaillant, A. Kheddar IEEE Transactions on Robotics 2019
Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot T. Ito, Ko Ayusawa, E. Yoshida, A. Kheddar IEEE International Conference on Advanced Robotics and its Social Impacts 2019
Impact-aware humanoid robot motion generation with a quadratic optimization controller Y. Wang, A. Tanguy, P. Gergondet, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2019
Stair Climbing Stabilization of the HRP-4 Humanoid Robot Using Whole-Body Admittance Control S. Caron, A. Kheddar, O. Tempier IEEE International Conference on Robotics and Automation 2019
Continuous Signed Distance Computation for Polygonal Robots in 3D Y. Lee, A. Kheddar, Y. J.kim IEEE International Conference on Robotics and Automation 2019
Closed-Loop MPC with Dense Visual SLAM - Stability through Reactive Stepping A. Tanguy, D. De Simone, A. Comport, G. Oriolo, A. Kheddar IEEE International Conference on Robotics and Automation 2019
Toward a Human(oid) Motion Planner E. Yoshida, Ko Ayusawa, Y. Yoshiyasu, A. Escande, A. Kheddar International Symposium on Robotics Research 2019
Online eye-robot self-calibration A. Tanguy, A. Kheddar, A. Comport IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2018
Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization V. Samy, K. Bouyarmane, A. Kheddar IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2018
Distinct motor contagions during and after observation of actions by a humanoid co-worker A. Vasalya, G. Ganesh, A. Kheddar International Symposium on Robot and Human Interactive Communication 2018
Contact Observer for Humanoid Robot Pepper based on Tracking Joint Position Discrepancies A. Bolotnikova, S. Courtois, A. Kheddar International Symposium on Robot and Human Interactive Communication 2018
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
Multi-Contact postures computation on Manifolds S. Brossette, A. Escande, A. Kheddar IEEE Transactions on Robotics 2018
3-D Robust Stability Polyhedron in Multicontact H. Audren, A. Kheddar IEEE Transactions on Robotics 2018
On Weight-Prioritized Multi-Task Control of Humanoid Robots K. Bouyarmane, A. Kheddar IEEE Transactions on Automatic Control 2018
Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares K. Pfeiffer, A. Escande, A. Kheddar IEEE Robotics and Automation Letters 2018
Interlinked Visual Tracking and Robotics Manipulation of Articulated Objects A. Paolillo, K. Chappellet, A. Bolotnikova, A. Kheddar IEEE Robotics and Automation Letters 2018
Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer A. Bolotnikova, S. Courtois, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2018
Generation of Walking Motions Based on Whole-Body Poses and QP control R. Grimm, A. Kheddar, T. Asfour IEEE-RAS International Conference on Humanoid Robots 2018
Sample-efficient learning of task weights through Bayesian optimization Y. Su, Y. Wang, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2018
More than just co-worker influences human performance A. Vasalya, G. Ganesh, A. Kheddar PLoS One 2018
Autonomous car driving by a humanoid robot A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar Journal of Field Robotics 2018
Non-decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems K. Bouyarmane, A. Kheddar Journal of Intelligent & Robotic Systems 2018
Self-locking Underactuated Mechanism for Robotic Gripper J. Hsu, E. Yoshida, K. Harada, A. Kheddar IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017
Hand-object contact force estimation from markerless visual tracking Tu-H. Pham, N. Kyriazis, A. Argyros, A. Kheddar IEEE Transactions on Pattern Analysis and Machine Intelligence 2017
Multi-Contact Interaction Force Sensing from Whole-Body Motion Capture Tu-H. Pham, S. Caron, A. Kheddar IEEE Transactions on Industrial Informatics 2017
Optimized humanoid walking with soft soles G. De Magistris, A. Pajon, S. Miossec, A. Kheddar Robotics and Autonomous Systems 2017
Design of optimized soft soles for humanoid robots G. De Magistris, S. Miossec, A. Escande, A. Kheddar Robotics and Autonomous Systems 2017
Visual Estimation of Articulated Objects Configuration During Manipulation with a Humanoid A. Paolillo, A. Bolotnikova, K. Chappellet, A. Kheddar IEEE/SICE International Symposium on System Integration 2017
Contact Detection and Physical Interaction on Low Cost Personal Robot F. Flacco, A. Kheddar International Symposium on Robot and Human Interactive Communication 2017
Nut Fastening with a Humanoid Robot K. Pfeiffer, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2017
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum S. Caron, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2017
QP-based Adaptive-Gains Compliance Control in Humanoid Falls V. Samy, K. Bouyarmane, A. Kheddar IEEE International Conference on Robotics and Automation 2017
Adaptive compliance in post-impact humanoid falls using preview control of a reduce model V. Samy, S. Caron, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2017
Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model V. Samy, S. Caron, K. Bouyarmane, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2017
Walking on Gravel with Soft Soles using Linear Inverted Pendulum Tracking and Reaction Force Distribution A. Pajon, S. Caron, G. De Magistris, S. Miossec, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2017
Model-predictive control in multi-contact based on stability polyhedrons H. Audren, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2017
Real-time fMRI control of a humanoid robot using two brain networks: a pilot study O. Cohen, F. Keith, M. Koppel, A. Kheddar, R. Malach, D. Friedman Graz Brain-Computer Interface Conference 2017
A Circuit-Breaker Use-Case Operated by a Humanoid in Aircraft Manufacturing A. Bolotnikova, K. Chappellet, A. Paolillo, A. Escande, G. Anbarjafari, A. Suarez-Roos, P. Rabate, A. Kheddar IEEE International Conference on Automation Science and Engineering 2017
Non-human Looking Robot Arms Induce Illusion of Embodiment L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar International Journal of Social Robotics 2017
Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real Hand L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar Journal of Computer-Mediated Communication 2017
Multi-Contact Vertical Ladder Climbing with a HRP-2 Humanoid J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro Autonomous Robots 2016
The second me: seeing the real body during humanoid embodiment produces an illusion of bi-location. L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar Consciousness and Cognition 2016
Introducing Geometric Constraint Expressions Into Robot Constrained Motion Specification and Control G. Borghesan, E. Scioni, A. Kheddar, H. Bruyninckx IEEE Robotics and Automation Letters 2016
Forward modelling the rubber hand: illusion of ownership modifies motor-sensory predictions by the brain L. Aymerich-Franch, D. Petit, A. Kheddar, G. Ganesh Royal Society Open Science 2016
The role of audio-visual feedback in a thought-based control of a humanoid robot: a BCI study in healthy and spinal cord injured people E. Tidoni, P. Gergondet, G. Fusco, A. Kheddar IEEE Transactions on Neural Systems and Rehabilitation Engineering 2016
GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming B. Chrétien, A. Escande, A. Kheddar IEEE Transactions on Parallel and Distributed Systems 2016
Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization J. Jovic, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture IEEE Transactions on Robotics 2016
Multi-character physical and behavioral interactions controller J. Vaillant, K. Bouyarmane, A. Kheddar IEEE Transactions on Visualization and Computer Graphics 2016
Whole-Body Contact Force Sensing From Motion Capture Tu-H. Pham, A. Bufort, S. Caron, A. Kheddar IEEE/SICE International Symposium on System Integration (SII) 2016
Adaptation of walking ground reaction forces to abrupt changes in ground stiffness properties A. Pajon, E. Chiovetto, C. Monaghan, M. Giese, A. Kheddar International Conference on Biomedical Robotics and Biomechatronics 2016
Stability Polygons Reshaping and Morphing for Smooth Multi-Contact Transitions and Force Control of Humanoid Robots H. Audren, A. Kheddar, P. Gergondet IEEE-RAS International Conference on Humanoid Robots 2016
Multi-Contact Walking Pattern Generation Based on Model Preview Control of 3D COM Accelerations S. Caron, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2016
Multi-Contact Motion Retargeting from Human to Humanoid Robot A. Di Fava, K. Bouyarmane, K. Chappellet, E. Ruffaldi, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2016
Residual-Based Contacts Estimation for Humanoid Robots F. Flacco, A. Paolillo, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2016
Walking pattern generators designed for physical collaboration D. Agravante, J.-P. Laumond, P.-B. Wieber, A. Cherubini, A. Kheddar IEEE International Conference on Robotics and Automation 2016
Humanoid walking with compliant soles using a deformation estimator G. De Magistris, A. Pajon, S. Miossec, A. Kheddar IEEE International Conference on Robotics and Automation 2016
Parametrization of Catmull-Clark subdivision surfaces for posture generation A. Escande, S. Brossette, A. Kheddar IEEE International Conference on Robotics and Automation 2016
Closed-loop RGB-D SLAM multi-contact control for humanoid robots A. Tanguy, P. Gergondet, A. Comport, A. Kheddar IEEE/SICE International Symposium on System Integration 2016
Identification of dynamics of humanoids: systematic exciting motion generation J. Jovic, F. Philipp, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots B. Chrétien, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
An integrated framework for humanoid embodiment with a BCI D. Petit, P. Gergondet, A. Cherubini, A. Kheddar IEEE International Conference on Robotics and Automation 2015
Expliciting SSVEP misclassifications with extra-brain activities using time-frequency EEG analysis B. Daachi, P. Gergondet, L. Boubchir, A. Kheddar International Conference on Rehabilitation Robotics 2015
A humanoid walking pattern generator for sole design optimization A. Pajon, G. De Magistris, S. Miossec, K. Kaneko, A. Kheddar International Conference on Advanced Robotics 2015
Falls control using posture reshaping and active compliance V. Samy, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2015
Humanoid posture generation on non-Euclidian manifolds S. Brossette, A. Escande, G. Duchemin, B. Chrétien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2015
Online control of a humanoid robot through hand movement imagination using CSP and ECoG based features C. Kapeller, P. Gergondet, K. Kamada, H. Ogawa, T. Fumihiko, R. Ortner, R. Pruckl, A. Kheddar, J. Scharinger, C. Guger International Conference of the IEEE Engineering in Medicine and Biology Society 2015
Towards force sensing from vision: Observing hand-object interactions to infer manipulation forces Tu-H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE/CVF Conference on Computer Vision and Pattern Recognition 2015
Simulation-based optimal motion planning for deformable object E. Yoshida, Ko Ayusawa, G. Ramirez-Alpizar, K. Harada, C. Duriez, A. Kheddar IEEE International Conference on Advanced Robotics and its Social Impacts 2015
Embodiment of a humanoid robot is preserved during partial and delayed control L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar IEEE International Conference on Advanced Robotics and its Social Impacts 2015
SSVEP stimuli design for object-centric BCI P. Gergondet, A. Kheddar Brain-Computer Interfaces 2015
Model preview control in multi-contact motion -- Application to a humanoid robot H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Romeo2 Project: Humanoid Robot Assistant and Companion for Everyday Life: I. Situation Assessment for Social Intelligence A. Pandey, R. Gelin, R. Alami, R. Viry, A. Buendia, R. Meertens, M. Chetouani, L. Devillers, M. Tahon, D. Filliat, Y. Grenier, M. Maazaoui, A. Kheddar, F. Lerasle International Workshop on Artificial Intelligence and Cognition 2014
Navigation assistance for a BCI-controlled humanoid robot D. Petit, P. Gergondet, A. Cherubini, M. Meilland, A. Comport, A. Kheddar International Conference on Cyber Technology in Automation, Control, and Intelligent Systems 2014
Compliant control of a humanoid robot helping a person stand up from a seated position M. López, J. Vaillant, F. Keith, P. Fraisse, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2014
Toward autonomous car driving by a humanoid robot- A sensor-based framework A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, M. Vendittelli IEEE-RAS International Conference on Humanoid Robots 2014
Vertical ladder climbing by the HRP-2 humanoid robot J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro IEEE-RAS International Conference on Humanoid Robots 2014
Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing D. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar IEEE International Conference on Robotics and Automation 2014
Integration of non-inclusive contacts in posture generation S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot E. Tidoni, P. Gergondet, A. Kheddar, S. Aglioti Frontiers in Neurorobotics 2014
fMRI-based robotic embodiment: Controlling a humanoid robot by thought using real-time fMRI O. Cohen, D. Sebastien, A. Malach, R. Mendelsohn, A. Kheddar, D. Friedman PRESENCE: Virtual and Augmented Reality 2014
Model-based optimization for robotics K. Mombaur, A. Kheddar, K. Harada, T. Buschmann, C. Atkeson IEEE Robotics & Automation Magazine 2014
A Strictly Convex Hull for Computing Proximity Distances with Continuous Gradients A. Escande, S. Miossec, M. Benallegue, A. Kheddar IEEE Transactions on Robotics 2014
PSO algorithm based thermal contact resistance estimation for variable force hand/object interaction F. Maamir, M. Guiatni, Y. Morsly, A. Kheddar Mediterranean Conference on Control and Automation 2014
An integrated framework for humanoid embodiment with a BCI D. Petit, A. Kheddar, A. Cherubini, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2014
Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot E. Tidoni, P. Gergondet, A. Kheddar, S. Aglioti Frontiers in neurorobotics 2014
Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments P. Gergondet, D. Petit, M. Meilland, A. Kheddar, A. Comport, A. Cherubini International Conference on Ubiquitous Robots and Ambient Intelligence 2014
A combined force and thermal feedback interface for minimally-invasive procedure simulation, M. Guiatni, V. Riboulet, C. Duriez, A. Kheddar, S. Cotin IEEE-ASME Transactions on Mechatronics 2013
Planning contact points for humanoid robots A. Escande, A. Kheddar, S. Miossec Robotics and Autonomous Systems 2013
Generation of Whole-body Optimal Dynamic Multi-contact Motions S. Lengagne, J. Vaillant, E. Yoshida, A. Kheddar The International Journal of Robotics Research 2013
Visio-haptic control for Human-Humanoid Cooperative Carrying D. Agravante, A. Cherubini, A. Kheddar International Workshop on Human-Friendly Robotics 2013
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar IEEE International Conference on Robotics, Automation and Mechatronics 2013
Using vision and haptic sensing for human-humanoid haptic joint actions D. Agravante, A. Cherubini, A. Kheddar IEEE International Conference on Robotics, Automation and Mechatronics 2013
Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision D. Agravante, A. Cherubini, A. Bussy, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2013
On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control K. Bouyarmane, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2012
Proactive behavior of a humanoid robot in a haptic transportation task with a human partner A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2 P. Gergondet, A. Kheddar, C. Hintermüller, C. Guger, M. Slater ISER: International Symposium on Experimental Robotics 2012
Steering a robot with a brain-computer interface: impact of video feedback on BCI performance P. Gergondet, D. Petit, A. Kheddar Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Humanoid robot locomotion and manipulation step planning K. Bouyarmane, A. Kheddar Advanced Robotics 2012
Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios K. Bouyarmane, J. Vaillant, F. Keith, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2012
Using brain-computer interface to steer a humanoid robot P. Gergondet, S. Druon, A. Kheddar, C. Hintermüller, C. Guger, M. Slater Robotics and Biomimetics (ROBIO) 2011
Constraint-based haptic rendering of multirate compliant mechanisms I. Peterlik, M. Nouicer, C. Duriez, S. Cotin, A. Kheddar IEEE Transactions on Haptics 2011
Modelling, identification and control of Peltier thermoelectric modules for telepresence M. Guiatni, A. Kheddar Journal of Dynamic Systems Measurement and Control-Transactions of the ASME 2011
Poly(3,4-ethylenedioxythiophene)containing semi-interpenetrating polymer networks: a versatile concept for the design of optical or mechanical electroactive devices F. Vidal, C. Plesse, P.-H. Aubert, L. Beouch, F. Tran-Van, G. Palaprat, P. Verge, P. Yammine, J. Citerin, A. Kheddar, L. Sauques, C. Chevrot, D. Teyssie Polymer International 2010
Autonomous 3d Object Modeling by a Humanoid Using an Optimization-Driven Next-Best-View Formulation T. Foissotte, O. Stasse, P.-B. Wieber, A. Escande, A. Kheddar International Journal of Humanoid Robotics 2010
Planning contact supports for acyclic motion with task constraints and experiment on HRP-2 A. Escande, A. Kheddar IFAC Symposium on Robot Control 2009
Humanoid feet trajectory generation for the reduction of the dynamical effects P. Pierro, O. Stasse, A. Kheddar, K. Yokoi, C. Balaguer IEEE-RAS International Conference on Humanoid Robots 2009
Design and Evaluation of a Haptic Interface for Interactive Simulation of Minimally-Invasive Surgeries M. Guiatni, V. Riboulet, A. Kheddar IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2009
Integration of humanoid robots in collaborative working environment: a case study on motion generation O. Stasse, R. Rul, F. Lamiraux, A. Kheddar, K. Yokoi, W. Prinz Intelligent Service Robotics 2009
Thermal display for telepresence based on neural identification and heat flux servoing M. Guiatni, A. Benallegue, A. Kheddar Presence-Teleoperators and Virtual Environments 2009
A unified approach to integrate unilateral constraints in the stack of tasks N. Mansard, O. Khatib, A. Kheddar IEEE Transactions on Robotics 2009
Adaptive haptic feedback steering wheel for driving simulators, H. Mohellebi, A. Kheddar, S. Espie IEEE Transactions on Vehicular Technology 2009
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
Potential field guide for humanoid multicontacts acyclic motion planning K. Bouyarmane, A. Escande, F. Lamiraux, A. Kheddar IEEE International Conference on Robotics and Automation 2009
A two-steps next-best-view algorithm for autonomous 3D object modeling by a humanoid robot T. Foissotte, O. Stasse, A. Escande, P.-B. Wieber, A. Kheddar IEEE International Conference on Robotics and Automation 2009
Combining Haptic Sensing with Safe Interaction M. Battaglia, L. Blanchet, A. Kheddar, S. Kajita, K. Yokoi IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Contact planning for acyclic motion with tasks constraints A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Contact planning for acyclic motion with task constraints and experiments A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Study of an External Passive Shock-absorbing Mechanism for Walking Robots A. David, J.-R. Chardonnet, A. Kheddar, K. Kaneko, K. Yokoi IEEE-RAS International Conference on Humanoid Robots 2008
Modular architecture for humanoid walking pattern prototyping and experiments O. Stasse, B. Verrelst, P.-B. Wieber, B. Vanderbourght, P. Evrard, A. Kheddar, K. Yokoi Advanced Robotics 2008
Synthesis and Characterization of IPNs for Electrochemical Actuators F. Vidal, C. Plesse, G. Palaprat, J. Juger, J. Citerin, A. Kheddar, C. Chevrot, D. Teyssie Advances in Science and Technology 2008
Design and control of small-clearance driving simulator L. Nehaoua, H. Mohellebi, A. Amouri, H. Arioui, S. Espie, A. Kheddar IEEE Transactions on Vehicular Technology 2008
Planning of contact supports for acyclic motion of humanoids and androids: challenges and future perspectives A. Kheddar, A. Escande International Symposium on Robotics 2008
Planning support contact-points for acyclic motions and experiments on HRP-2 A. Escande, A. Kheddar, S. Miossec, S. Garsault International Symposium on Experimental Robotics 2008
Real-time (self)-collision avoidance task on a HRP-2 humanoid robot O. Stasse, A. Escande, N. Mansard, S. Miossec, P. Evrard, A. Kheddar IEEE International Conference on Robotics and Automation 2008
A Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot T. Foissotte, O. Stasse, A. Escande, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2008
Visuo-haptic blending applied to a tele-touch-diagnosis Application B. Bayart, A. Drif, A. Kheddar, J.-Y. Didier Lecture Notes in Computer Science 2007
VITAL: an electromagnetic integrated tactile display M. Benali-Khoudja, M. Hafez, A. Kheddar Displays 2007
Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2 O. Stasse, D. Larlus, B. Lagarde, A. Escande, F. Saidi, A. Kheddar, K. Yokoi, F. Jurie IEEE-RAS International Conference on Humanoid Robots 2007
Continuous gradient proximity distance for humanoids free-collision optimized-postures A. Escande, S. Miossec, A. Kheddar IEEE-RAS International Conference on Humanoid Robots 2007
Conducting IPN actuators: From polymer chemistry to actuator with linear actuation F. Vidal, C. Plesse, G. Palaprat, A. Kheddar, J. Citerin, D. Teyssie, C. Chevrot Synthetic Metals 2006
Realistic haptic rendering of interactive deformable objects in virtual environments C. Duriez, F. Dubois, A. Kheddar, C. Andriot IEEE-ASME Transactions on Mechatronics 2006
Planning support contact-points for humanoid robots and experiments on HRP-2 A. Escande, A. Kheddar, S. Miossec IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints R. Sellaouti, O. Stasse, S. Kajita, K. Yokoi, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2006
Feeling what you hear: auditory signals can modulate tactile tap perception J.-P. Bresciani, M. Ernst, K. Drewing, G. Bouyer, V. Maury, A. Kheddar Experimental Brain Research 2005
A model-based controller for interactive force reflecting virtual environment under time-delay H. Arioui, A. Kheddar, S. Mammar Journal of Intelligent & Robotic Systems 2003
Fast continuous collision detection between rigid bodies S. Redon, A. Kheddar, S. Coquillart Computer Graphics Forum 2002
Teleoperation based on the hidden robot concept A. Kheddar IEEE Transactions on Systems Man and Cybernetics 2001
Multi-robot teleoperation using direct human hand actions A. Kheddar, C. Tzafestas, P. Coiffet, T. Kotoku, K. Tanie Advanced Robotics 1998