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.
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 | |
| A soft skin with self-decoupled three-axis force-sensing taxels | Y. Yan, A. Zermane, J. Pan, A. Kheddar | Nature Machine Intelligence | 2024 | ||
| 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 | 2024 | ||
| Robot soft thermal display using self-heating and cooling system | Y. Osawa, I. Ogura, A. Kheddar | Case Studies in Thermal Engineering | 2024 | ||
| Pilot study protocol evaluating the impact of telerobotics interactions with autistic children during a Denver intervention on communication skills using single-case experimental design | C. Fournier, C. Michelon, V. Granit, P. Audoyer, A. Bernardot, M.-C. Picot, A. Kheddar, A. Baghdadli | BMJ Open | 2024 | ||
| Minimal Impact Pokes to Place Objects on Planar Surfaces | A. Zermane, L. Moussafir, Y. Yan, A. Kheddar | IEEE Robotics and Automation Letters | 2024 | ||
| End-Effectors Changer Design for Humanoids | J. Roux, J.-B. Izard, A. Tanguy, H. Kaminaga, F. Kanehiro, A. Kheddar | IEEE Robotics and Automation Letters | 2024 | ||
| The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method | X. Zhu, P. Gergondet, Z. Cai, X. Chen, Z. Yu, Q. Huang, A. Kheddar | IEEE-ASME Transactions on Mechatronics | 2024 | ||
| Sequential hierarchical least-squares programming for prioritized non-linear optimal control | K. Pfeiffer, A. Kheddar | Optimization Methods and Software | 2024 | ||
| Assessing time series correlation significance: A parametric approach with application to physiological signals | J. Medrano, A. Kheddar, S. Ramdani | Biomedical Signal Processing and Control | 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 | ||
| 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 | ||
| Planning Impact-Driven Logistic Tasks | A. Zermane, N. Dehio, A. Kheddar | IEEE Robotics and Automation Letters | 2024 | ||
| A Dance Performance with a Humanoid Robot using a Real-time Gesture Responsive Framework | H.-T. Hong, C.-Y. Chen, A. Tanguy, A. Kheddar | International Symposium on Robot and Human Interactive Communication | 2024 | ||
| Integrating transformer-based AI-generated dance movements into HRP-4 for human-robot artistic collaboration | H.-T. Hong, C.-Y. Chen, A. Kheddar | International Workshop on Human-Friendly Robotics | 2024 | ||
| A cross-temporal robotic dance performance: Dancing with a humanoid robot and artificial life | H.-T. Hong, I. Teles De Castro E Costa, A. Tanguy, A. Kheddar, C-Y. Chen | International Symposium on Electronic Art | 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 | ||
| Dance, Dance, Dance With My Hands: Third-Party Human Robot-Human Interactions | S.-S. Cîrcu, B. Yun, A. Kheddar, C.-Y. Chen, M. Croitoru | International Symposium on Robot and Human Interactive Communication | 2023 | ||
| A Pilot Usability Study of a Humanoid Avatar to Assist Therapists of ASD Children | C. Fournier, C. Michelon, A. Tanguy, P. Audoyer, V. Granit, A. Baghdadli, A. Kheddar | International Conference on Social Robotics | 2023 | ||
| Robotic Thermoregulation for Material Identification using Recycled Inner-Generated Motor Heat | Y. Osawa, Y. Domae, I. Ogura, Y. Furukawa, A. Kheddar | International Conference on Robotics and Biomimetics | 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 | ||
| Impact-aware task-space quadratic-programming control | Y. Wang, N. Dehio, A. Tanguy, A. Kheddar | The International Journal of Robotics Research | 2023 | ||
| Self-protect falling trajectories for humanoids with resilient trunk | Z. Cai, Z. Yu, X. Chen, Q. Huang, A. Kheddar | Mechatronics | 2023 | ||
| 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 | ||
| 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 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 | ||
| 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 | ||
| Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Robot-Safe Impacts with Soft Contacts Based on Learned Deformations | N. Dehio, A. Kheddar | IEEE International Conference on Robotics and Automation | 2021 | ||
| Benchmarking Cameras for OpenVSLAM Indoors | K. Chappellet, G. Caron, F. Kanehiro, K. Sakurada, A. Kheddar | IAPR/IEEE International Conference on Pattern Recognition | 2021 | ||
| 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 | ||
| A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities | Y. Osawa, A. Kheddar | International Symposium on Experimental Robotics | 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-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 | ||
| 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 | ||
| Autonomous Initiation of Human Physical Assistance by a Humanoid | A. Bolotnikova, S. Courtois, A. Kheddar | International Symposium on Robot and Human Interactive Communication | 2020 | ||
| 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 | ||
| 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 | ||
| Interlinked Visual Tracking and Robotics Manipulation of Articulated Objects | A. Paolillo, K. Chappellet, A. Bolotnikova, A. Kheddar | IEEE Robotics and Automation Letters | 2018 | ||
| 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 | ||
| Sample-efficient learning of task weights through Bayesian optimization | Y. Su, Y. Wang, 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 | ||
| Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer | A. Bolotnikova, S. Courtois, A. Kheddar | IEEE-RAS International Conference on Humanoid Robots | 2018 | ||
| Multi-Contact postures computation on Manifolds | S. Brossette, A. Escande, A. Kheddar | IEEE Transactions on Robotics | 2018 | ||
| Non-decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems | K. Bouyarmane, A. Kheddar | Journal of Intelligent & Robotic Systems | 2018 | ||
| Autonomous car driving by a humanoid robot | A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar | Journal of Field Robotics | 2018 | ||
| More than just co-worker influences human performance | A. Vasalya, G. Ganesh, A. Kheddar | PLoS One | 2018 | ||
| 3-D Robust Stability Polyhedron in Multicontact | H. Audren, A. Kheddar | IEEE Transactions on Robotics | 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 | ||
| On Weight-Prioritized Multi-Task Control of Humanoid Robots | K. Bouyarmane, A. Kheddar | IEEE Transactions on Automatic Control | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Generation of Whole-body Optimal Dynamic Multi-contact Motions | S. Lengagne, J. Vaillant, E. Yoshida, A. Kheddar | The International Journal of Robotics Research | 2013 | ||
| Planning contact points for humanoid robots | A. Escande, A. Kheddar, S. Miossec | Robotics and Autonomous Systems | 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 | ||
| Visio-haptic control for Human-Humanoid Cooperative Carrying | D. Agravante, A. Cherubini, A. Kheddar | International Workshop on Human-Friendly Robotics | 2013 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Constraint-based haptic rendering of multirate compliant mechanisms | I. Peterlik, M. Nouicer, C. Duriez, S. Cotin, A. Kheddar | IEEE Transactions on Haptics | 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| 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 | ||
| Planning contact supports for acyclic motion with task constraints and experiment on HRP-2 | A. Escande, A. Kheddar | IFAC Symposium on Robot Control | 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 | ||
| Contact planning for acyclic motion with tasks constraints | A. Escande, A. Kheddar | IEEE/RSJ International Conference on Intelligent Robots and Systems | 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 | ||
| 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 |