Accéder directement au contenu

Ahmed Chemori

17
Documents
Identifiants chercheurs
Contact
Site web
  • http://www.lirmm.fr/~chemori/

Présentation

**Ahmed Chemori** received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics and wearable robotics). He is the author of more about 170 scientific publications, including international journals, patents, book chapters and international conferences. He co-supervised 17 PhD theses (including 9 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 and PKM 2018 Summer Schools, WIR 2017 and Robo-Rehab 2019 workshops). He has been a visiting researcher/professor at different institutions (NTNU - Norway, Tohoku University - Japan, EPFL - Switzerland, TUT - Estonia, HUST - China, UPC - China, CINVESTAV - Mexico, UPT - Mexico, Chiang Mai University - Thailand, KAUST - Saudi Arabia, ENIT - Tunisia, ENSIT - Tunisia, UMC - Algeria, etc). He has also delivered various plenary/keynote lectures at different international conferences.
**Ahmed Chemori** received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching Assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic Control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics, and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics, and wearable robotics). He is the author of more than 150 scientific publications, including international journals, patents, books, book chapters, and international conferences. He co-supervised 19 PhD theses (including 15 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 and PKM 2018 Summer Schools, WIR 2017, and Robo-Rehab 2019 workshops). He has been a visiting researcher at different institutions (NTNU - Norway, Tohoku University - Japan, EPFL - Switzerland, TUT - Estonia, HUST - China, UPC - China, CINVESTAV - Mexico, UPT - Mexico, Chiang Mai University - Thailand, KAUST - Saudi Arabia, ENIT - Tunisia, ENSIT - Tunisia, UMC - Algeria, etc). He has also delivered various plenary/keynote lectures at different international conferences.

Domaines de recherche


Publications

krut
Image document

Human based hybrid kinematic/dynamic whole-body control in humanoid robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
HLR: Humanoid and Legged Robots, May 2014, Heidelberg, Germany. , French-German-Japanese Conference on Humanoid and Legged Robots, 2014
Poster de conférence lirmm-00993302v1
Image document

Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking

David Galdeano , Ahmed Chemori , Sébastien Krut
HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011
Poster de conférence lirmm-00982345v1
Image document

Control of Redundantly Actuated PKMs for Closed-Shape Trajectories Tracking with Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , François Pierrot , Sébastien Krut
Systems, Automation, and Control, 5, De Gruyter, pp.17-34, 2018, 9783110470468. ⟨10.1515/9783110470468-002⟩
Chapitre d'ouvrage lirmm-03990387v1
Image document

Optimal Pattern Generator for Dynamic Walking in humanoid Robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
Systems, Automation and Control, 1, De Gruyter, pp.115-139, 2016, 9783110448436. ⟨10.1515/9783110448436-008⟩
Chapitre d'ouvrage lirmm-03990367v1
Image document

Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot
Cecilia Norton. Parallel Manipulators: Design, Applications and Dynamic Analysis, Nova Science Pub Inc., pp.1-30, 2016, Chapter 1, 978-1634859264
Chapitre d'ouvrage lirmm-01892495v1
Image document

Continuous Closed Form Trajectories Generation and Control of Redundantly Actuated Parallel Kinematic Manipulators

Moussab Bennehar , Ahmed Chemori , Sébastien Krut , François Pierrot
SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808879⟩
Communication dans un congrès lirmm-00947459v1
Image document

A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
Humanoids, Nov 2014, Madrid, Spain. pp.693-698, ⟨10.1109/HUMANOIDS.2014.7041438⟩
Communication dans un congrès lirmm-01089549v1
Image document

Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
SSD: Systems, Signals and Devices, Feb 2014, Castelldefels-Barcelona, Spain. ⟨10.1109/SSD.2014.6808778⟩
Communication dans un congrès lirmm-00945690v1
Image document

Optimal Pattern Generator For Dynamic Walking in humanoid Robotics

David Galdeano , Ahmed Chemori , Sébastien Krut , Philippe Fraisse
SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. ⟨10.1109/SSD.2013.6564107⟩
Communication dans un congrès lirmm-00804250v1
Image document

Le pendule inversé stabilisé par volant d'inertie, un système non linéaire sous-actionné

Ahmed Chemori , Sébastien Krut , Nahla Touati
3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.10
Communication dans un congrès lirmm-00723940v1
Image document

A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground

Ahmed Chemori , Sébastien Le Floch , Sébastien Krut , Etienne Dombre
Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485
Communication dans un congrès lirmm-00643523v1
Image document

Sherpa, un robot marcheur bipède à actionnement réversible

Sébastien Krut , Ahmed Chemori
3èmes Journées Démonstrateurs 2010, Nov 2010, Angers, France. pp.9
Communication dans un congrès lirmm-00809721v1
Image document

Estimation-based Disturbance Rejection in Control for Limit Cycle Generation on Inertia wheel Inverted Pendulum Testbed

Sébastien Andary , Ahmed Chemori , Sébastien Krut
IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1302-1307, ⟨10.1109/IROS.2009.5354120⟩
Communication dans un congrès lirmm-00429808v1
Image document

A Control Law for Energy Efficient and Human Like Walking Biped Robot SHERPA Based on a Control and a Ballistic Phase - Application on the Cart-Table Model

Marc Bachelier , Sébastien Krut , Ahmed Chemori
Humanoids, Dec 2008, Daejeon, South Korea
Communication dans un congrès lirmm-00363728v1
Image document

Stable Limit Cycle Generation for Underactuated Mechanical Systems, Application: Inertia Wheel Inverted Pendulum

Sébastien Andary , Ahmed Chemori , Sébastien Krut
IROS: Intelligent RObots and Systems, Sep 2008, Nice, France. pp.526-531, ⟨10.1109/IROS.2008.4650994⟩
Communication dans un congrès lirmm-00305317v1