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ORCIDMehdi Benallegue
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2020 – today
- 2024
[j19]Naoko Abe
, Yue Hu, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida:
Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction. ACM Trans. Hum. Robot Interact. 13(1): 9:1-9:26 (2024)- [i8]Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue, Pierre Gergondet, Antonin Dallard, Rafael Cisneros, Masaki Murooka, Fumio Kanehiro:
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. CoRR abs/2406.13267 (2024) - 2023
- [j18]Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar:
Synchronized Human-Humanoid Motion Imitation. IEEE Robotics Autom. Lett. 8(7): 4155-4162 (2023) - [j17]Sélim Chefchaouni Moussaoui, Rafael Cisneros Limón, Hiroshi Kaminaga, Mehdi Benallegue, Taiki Nobeshima, Shusuke Kanazawa, Fumio Kanehiro:
Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction. Sensors 23(9): 4569 (2023) - [j16]Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros, Yacine Chitour:
Velocity-Aided IMU-Based Tilt and Attitude Estimation. IEEE Trans. Autom. Control. 68(10): 5823-5836 (2023) - 2022
- [j15]Yue Hu, Naoko Abe, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida:
Toward Active Physical Human-Robot Interaction: Quantifying the Human State During Interactions. IEEE Trans. Hum. Mach. Syst. 52(3): 367-378 (2022) - [c30]Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros Limón, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro:
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. Humanoids 2022: 306-313 - [c29]Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro:
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. Humanoids 2022: 686-693 - [i7]Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro:
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. CoRR abs/2207.12644 (2022) - [i6]Rohan P. Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro:
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. CoRR abs/2207.13264 (2022) - [i5]Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro:
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. CoRR abs/2211.01749 (2022) - 2021
- [j14]Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar:
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. 6(3): 5597-5604 (2021) - [c28]Rohan P. Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro:
Rapid Pose Label Generation through Sparse Representation of Unknown Objects. ICRA 2021: 10287-10293 - [c27]Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Arnaud Tanguy, Adrien Escande, Mitsuharu Morisawa, Fumio Kanehiro:
On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. IROS 2021: 6262-6269 - 2020
- [j13]Rafael Cisneros Limón, Mitsuharu Morisawa, Mehdi Benallegue, Adrien Escande, Fumio Kanehiro:
An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. Adv. Robotics 34(21-22): 1398-1419 (2020) - [j12]Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro:
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. Int. J. Humanoid Robotics 17(1): 2050003:1-2050003:28 (2020) - [j11]Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz:
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. Int. J. Robotics Res. 39(4) (2020) - [j10]Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro:
Lyapunov-Stable Orientation Estimator for Humanoid Robots. IEEE Robotics Autom. Lett. 5(4): 6371-6378 (2020) - [j9]Iori Kumagai, Mitsuharu Morisawa, Shizuko Hattori, Mehdi Benallegue, Fumio Kanehiro:
Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. IEEE Robotics Autom. Lett. 5(4): 6379-6387 (2020) - [j8]Yue Hu, Mehdi Benallegue, Gentiane Venture, Eiichi Yoshida:
Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction. IEEE Robotics Autom. Lett. 5(4): 6764-6771 (2020) - [c26]Rafael Cisneros, Mehdi Benallegue, Ryo Kikuuwe, Mitsuharu Morisawa, Fumio Kanehiro:
Reliable chattering-free simulation of friction torque in joints presenting high stiction. IROS 2020: 6318-6325 - [c25]Rohan P. Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro:
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. SII 2020: 109-114 - [i4]Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro:
Lyapunov-Stable Orientation Estimator for Humanoid Robots. CoRR abs/2010.04401 (2020) - [i3]Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz:
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. CoRR abs/2010.12234 (2020) - [i2]Rohan P. Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro:
Rapid Pose Label Generation through Sparse Representation of Unknown Objects. CoRR abs/2011.03790 (2020)
2010 – 2019
- 2019
- [j7]François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères:
Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. IEEE Robotics Autom. Lett. 4(4): 4155-4162 (2019) - [j6]Iori Kumagai, Fumio Kanehiro, Mitsuharu Morisawa, Takeshi Sakaguchi, Shinichiro Nakaoka, Kenji Kaneko, Hiroshi Kaminaga, Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros:
Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. IEEE Robotics Autom. Mag. 26(4): 20-29 (2019) - [c24]Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro:
Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. Humanoids 2019: 17-24 - [c23]Iori Kumagai, Mitsuharu Morisawa, Mehdi Benallegue, Fumio Kanehiro:
Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. Humanoids 2019: 132-139 - [c22]Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Fumio Kanehiro:
QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot. Humanoids 2019: 663-670 - [c21]Mitsuharu Morisawa, Mehdi Benallegue, Rafael Cisneros Limón, Iori Kumagai, Adrien Escande, Kenji Kaneko, Fumio Kanehiro:
Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. IROS 2019: 2252-2258 - 2018
- [c20]Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro:
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. Humanoids 2018: 1-8 - [c19]Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro:
Biped Gait Control Based on Spatially Quantized Dynamics. Humanoids 2018: 75-81 - [c18]Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Eiichi Yoshida, Kazuhito Yokoi, Fumio Kanehiro:
Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver. Humanoids 2018: 1017-1024 - [c17]Mehdi Benallegue, Pierre Gergondet, Herve Audrerr, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio Kanehiro:
Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. ICRA 2018: 3122-3129 - [c16]Rafael Cisneros Limón, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Herve Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio Kanehiro:
Robust Humanoid Control Using a QP Solver with Integral Gains. IROS 2018: 7472-7479 - [i1]Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour:
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. CoRR abs/1810.13168 (2018) - 2017
- [j5]Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond:
On the centre of mass motion in human walking. Int. J. Autom. Comput. 14(5): 542-551 (2017) - [j4]Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz:
The Yoyo-Man. Int. J. Robotics Res. 36(13-14): 1508-1520 (2017) - [c15]Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro:
Biped walking pattern generation based on spatially quantized dynamics. Humanoids 2017: 599-605 - [c14]Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour:
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. Humanoids 2017: 830-835 - [c13]Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse:
Experimental evaluation of simple estimators for humanoid robots. Humanoids 2017: 889-895 - [p1]Mehdi Benallegue, Jean-Paul Laumond, Nicolas Mansard:
Robot Motion Planning and Control: Is It More than a Technological Problem? Geometric and Numerical Foundations of Movements 2017: 1-10 - 2016
- [j3]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32(4): 810-822 (2016) - [c12]Mehdi Benallegue, Jean-Paul Laumond:
Bipedal Locomotion: A Continuous Tradeoff Between Robustness and Energy-Efficiency. Biomechanics of Anthropomorphic Systems 2016: 263-279 - [c11]Shuuji Kajita, Rafael Cisneros, Mehdi Benallegue, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro:
Impact acceleration of falling humanoid robot with an airbag. Humanoids 2016: 637-643 - [c10]Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux:
Stabilization of a compliant humanoid robot using only Inertial Measurement Units with a viscoelastic reaction mass pendulum model. IROS 2016: 5405-5410 - 2015
- [j2]Mehdi Benallegue, Florent Lamiraux:
Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. Int. J. Humanoid Robotics 12(3): 1550025:1-1550025:20 (2015) - [c9]Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux:
Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation. Humanoids 2015: 664-669 - [c8]Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond:
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids 2015: 1121-1126 - [c7]Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux:
Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units. IROS 2015: 3374-3379 - [c6]Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz:
The Yoyo-Man. ISRR (2) 2015: 217-233 - 2014
- [j1]Adrien Escande, Sylvain Miossec, Mehdi Benallegue, Abderrahmane Kheddar:
A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients. IEEE Trans. Robotics 30(3): 666-678 (2014) - [c5]Mehdi Benallegue, Florent Lamiraux:
Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information. Humanoids 2014: 246-251 - 2013
- [c4]Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz:
Contribution of actuated head and trunk to passive walkers stabilization. ICRA 2013: 5638-5643 - [c3]Mehdi Benallegue, Jean-Paul Laumond:
Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain. Robotics: Science and Systems 2013 - 2010
- [c2]Mehdi Benallegue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau:
A computational model for synchronous motion imitation by humans: The mirror controller applied on stepping motions. Humanoids 2010: 322-327
2000 – 2009
- 2009
- [c1]Mehdi Benallegue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar:
Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes. ICRA 2009: 483-488
Coauthor Index
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