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    Christine Chevallereau, Directrice de recherche CNRS, LS2N, Nantes, France


    Christine Chevallereau graduated from Ecole Nationale Supérieure de Mécanique, Nantes, France in 1985, and received the Ph.D. degree in Control and Robotics from Ecole Nationale Supérieure de Mécanique, Nantes in 1988. Since 1989, she has been with the CNRS in the Institut de Recherche en Communications et Cybernétique de Nantes and then Laboratoire des Sciences du Numérique de Nantes. She is deputy director of the LS2N. Her research interests include modeling and control of manipulators and locomotor robots, in particular biped, and bio-inspired robots.


    Journal articles39 documents

    • Christine Chevallereau, Philippe Wenger, Yannick Aoustin, Franck Mercier, Nicolas Delanoue, et al.. Leg design for biped locomotion with mono-articular and bi-articular linear actuation. Mechanism and Machine Theory, Elsevier, 2021, 156, pp.104138. ⟨10.1016/j.mechmachtheory.2020.104138⟩. ⟨hal-02985257⟩
    • Qiuyue Luo, Christine Chevallereau, Yannick Aoustin. Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints. International Journal of Humanoid Robotics, World Scientific Publishing, 2019, pp.1950040. ⟨10.1142/S0219843619500403⟩. ⟨hal-02475100⟩
    • VÍctor De-León-Gómez, Qiuyue Luo, Anne Kalouguine, J. Alfonso Pámanes, Yannick Aoustin, et al.. An essential model for generating walking motions for humanoid robots. Robotics and Autonomous Systems, Elsevier, 2019, 112, pp.229-243. ⟨10.1016/j.robot.2018.11.015⟩. ⟨hal-01990079⟩
    • Qiuyue Luo, Anne Kalouguine, Christine Chevallereau, Yannick Aoustin, Victor de Leon Gomez. Self-Synchronization and Self-Stabilization of Walking Gaits Modeled by the Three-Dimensional LIP Model. IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.3332 - 3339. ⟨10.1109/lra.2018.2852767⟩. ⟨hal-01925444⟩
    • Marija Tomić, Christine Chevallereau, Kosta Jovanović, Veljko Potkonjak, Aleksandar Rodić. Human to humanoid motion conversion for dual-arm manipulation tasks. Robotica, Cambridge University Press, 2018, 36 (8), pp.1167-1187. ⟨10.1017/S0263574718000309⟩. ⟨hal-01819258⟩
    • Philip Long, Christine Chevallereau, Damien Chablat, Alexis Girin. An industrial security system for human-robot coexistence. Industrial Robot: An International Journal, Emerald, 2018, 45 (2), pp.220-226. ⟨10.1108/IR-09-2017-0165⟩. ⟨hal-01671012⟩
    • Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy Grizzle. Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits. Robotics and Autonomous Systems, Elsevier, 2018, 100, pp.43 - 60. ⟨10.1016/J.ROBOT.2017.10.018⟩. ⟨hal-01676223⟩
    • Marija Tomić, Kosta Jovanović, Christine Chevallereau, Veljko Potkonjak, Aleksandar Rodić. Toward optimal mapping of human dual-arm motion to humanoid motion for tasks involving contact with the environment. International Journal of Advanced Robotic Systems, InTech, 2018, 15 (1), ⟨10.1177/1729881418757377⟩. ⟨hal-01717333⟩
    • Christine Chevallereau, Frédéric Boyer, Mathieu Porez, Johan Mauny, Yannick Aoustin. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion. Bioinspiration and Biomimetics, IOP Publishing, 2017, 12 (4), pp.46006 - 46006. ⟨10.1088/1748-3190/aa728f⟩. ⟨hal-01558509⟩
    • Hamed Razavi, Anthony Bloch, Christine Chevallereau, Jessy Grizzle. Symmetry in legged locomotion: a new method for designing stable periodic gaits. Autonomous Robots, Springer Verlag, 2017, 41 (5), pp.1119-1142. ⟨10.1007/s10514-016-9593-x⟩. ⟨hal-01398837⟩
    • Hendry Ferreira Chame, Christine Chevallereau. Grounding Humanoid Visually Guided Walking: From Action-independent to Action-oriented Knowledge. Information Sciences, Elsevier, 2016, 352-353, pp.79-97. ⟨10.1016/j.ins.2016.02.053⟩. ⟨hal-01285516⟩
    • Oscar Montano, Yury Orlov, Yannick Aoustin, Christine Chevallereau. Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback. Autonomous Robots, Springer Verlag, 2016, ⟨10.1007/s10514-015-9543-z⟩. ⟨hal-01306820⟩
    • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Arm swing effects on walking bipedal gaits composed of impact, single and double support phases.. Robotics and Autonomous Systems, Elsevier, 2015, http://dx.doi.org/10.1016/j.robot.2014.12.005. ⟨10.1016/j.robot.2014.12.005⟩. ⟨hal-01100497⟩
    • Frédéric Boyer, Vincent Lebastard, Christine Chevallereau, Stefano Mintchev, Cesare Stefanini. Underwater navigation based on passive electric sense: New perspectives for underwater docking. The International Journal of Robotics Research, SAGE Publications, 2015, 34 (9), pp.1228-1250. ⟨10.1177/0278364915572071⟩. ⟨hal-01201695⟩
    • Jessy Grizzle, Christine Chevallereau, Ryan W. Sinnet, Aaron D. Ames. Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking. Automatica, Elsevier, 2014, 50 (8), pp.1955-1988. ⟨10.1016/j.automatica.2014.04.021⟩. ⟨hal-01676474⟩
    • Christine Chevallereau, Mohammed-Rédha Benachenhou, Vincent Lebastard, Frédéric Boyer. Electric Sensor-Based Control of Underwater Robot Groups. IEEE Transactions on Robotics, IEEE, 2014, pp.1-15. ⟨10.1109/TRO.2013.2295890⟩. ⟨hal-00994959⟩
    • Frédéric Boyer, Vincent Lebastard, C. Chevallereau, Noël Servagent. Underwater Reflex Navigation in Confined Environment Based on Electric Sense. IEEE Transactions on Robotics, IEEE, 2013, 29, pp.945-956. ⟨10.1109/TRO.2013.2255451⟩. ⟨in2p3-00858812⟩
    • Vincent Lebastard, Christine Chevallereau, Alexis Girin, Noël Servagent, Pol-Bernard Gossiaux, et al.. Environment reconstruction and navigation with electric sense based on kalman filter. The International Journal of Robotics Research, SAGE Publications, 2013, 32 (2), pp.172-188. ⟨10.1177/0278364912470181⟩. ⟨hal-00794706⟩
    • Ching-Long Shih, Jessy Grizzle, Christine Chevallereau. From stable walking to steering of a 3D bipedal robot with passive point feet. Robotica, Cambridge University Press, 2012, 30 (7), pp.1119-1130. ⟨10.1017/S026357471100138X⟩. ⟨hal-00794633⟩
    • Ting Wang, Christine Chevallereau, Carlos Rengifo. Walking and steering control for a 3D biped robot considering ground contact and stability. Robotics and Autonomous Systems, Elsevier, 2012, 60 (7), pp.962-977. ⟨10.1016/j.robot.2012.02.007⟩. ⟨hal-00794617⟩
    • Yuri Orlov, Yannick Aoustin, Christine Chevallereau. Finite Time Stabilization of a Double Integrator - Part I: Continuous Sliding Mode-based Position Feedback Synthesis. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2011, 56 (3), pp.614 - 618. ⟨hal-00794656⟩
    • Ting Wang, Christine Chevallereau. Stability analysis and time-varying walking control for an under-actuated planar biped robot. Robotics and Autonomous Systems, Elsevier, 2011, 59 (6), pp.444-456. ⟨10.1016/j.robot.2011.03.002⟩. ⟨hal-00589688⟩
    • Tlalolini David, Christine Chevallereau, Yannick Aoustin. Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2011, 16 (2), pp.310-320. ⟨10.1109/TMECH.2010.2042458⟩. ⟨hal-00483135⟩
    • Carlos Rengifo, Yannick Aoustin, Franck Plestan, Christine Chevallereau. Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behaviour. Journal of Biomechanical Engineering, American Society of Mechanical Engineers, 2010, 132 (4), pp.11. ⟨hal-00457640⟩
    • David Tlalolini, Yannick Aoustin, Christine Chevallereau. Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization. Multibody System Dynamics, Springer Verlag, 2010, 23 (1), pp.33-56. ⟨10.1007/s11044-009-9175-1⟩. ⟨hal-00794667⟩
    • Christine Chevallereau, Jessy Grizzle, Ching-Long Shih. Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot. IEEE Transactions on Robotics, IEEE, 2009, 25 (1), pp.37-50. ⟨10.1109/TRO.2008.2010366⟩. ⟨hal-00456192⟩
    • David Tlalolini, Christine Chevallereau, Yannick Aoustin. Comparison of different gaits with rotation of the feet for a planar biped. Robotics and Autonomous Systems, Elsevier, 2009, 57 (4), pp.371-383. ⟨10.1016/j.robot.2008.09.008⟩. ⟨hal-00794718⟩
    • Tetsuya Kinugasa, Christine Chevallereau, Yannick Aoustin. Effect of Circular Arc Feet on a Control Law for a Biped. Robotica, Cambridge University Press, 2009, 27, pp.621-632. ⟨10.1017/S0263574708005006⟩. ⟨hal-00794784⟩
    • Christine Chevallereau, Dalila Djoudi, Jessy Grizzle. Stable Bipedal Walking with Foot Rotation Through Direct Regulation of the Zero Moment Point. IEEE Transactions on Robotics, IEEE, 2008, 24 (2), pp.390-401. ⟨hal-00794801⟩
    • Pierre-Brice Wieber, Christine Chevallereau. Online adaptation of reference trajectories for the control of walking systems. Robotics and Autonomous Systems, Elsevier, 2006, 54 (7), pp.559-566. ⟨10.1016/j.robot.2006.04.007⟩. ⟨inria-00390423⟩
    • Yannick Aoustin, Christine Chevallereau, Alexander Formal'Skii. Numerical and Experimental Study of a Virtual Quadrupedal Walking Robot - SemiQuad. Multibody System Dynamics, Springer Verlag, 2006, 16, pp.1-20. ⟨10.1007/s11044-006-9015-5⟩. ⟨hal-00794912⟩
    • Christine Chevallereau, Eric Westervelt, Jessy Grizzle. Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot. The International Journal of Robotics Research, SAGE Publications, 2005, 24 (6), pp.431-464. ⟨hal-00794892⟩
    • Jessy Grizzle, Claude Moog, Christine Chevallereau. Nonlinear Control of Mechanical Systems with an Unactuated Cyclic Variable. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2005, 50 (5), pp.559 - 576. ⟨hal-00794882⟩
    • Christine Chevallereau, Alexander Formal'Skii, Dalila Djoudi. Tracking of a Joint Path for the Walking of an Underactuated Biped. Robotica, Cambridge University Press, 2004, 22, pp.15-28. ⟨hal-00794829⟩
    • Christine Chevallereau. Time scaling control for an underactuated biped robot. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2003, 19 (2), pp.362-368. ⟨hal-00794861⟩
    • Christine Chevallereau, Gabriel Abba, Yannick Aoustin, Franck Plestan, Eric Westervelt, et al.. RABBIT: A Testbed for Advanced Control Theory. IEEE Control Systems Magazine, Institute of Electrical and Electronics Engineers, 2003, 23 (5), pp.57-79. ⟨hal-00794856⟩
    • Alain Muraro, Christine Chevallereau, Yannick Aoustin. Optimal trajectories for a quadruped robot with Trot, Amble, Curvet Gaits for two energetic criteria. Multibody System Dynamic, 2003, 9 (1), pp.39-62. ⟨hal-00794871⟩
    • Christine Chevallereau, Yannick Aoustin. Optimal Reference Trajectories for Walking and Running of a Biped Robot. Robotica, Cambridge University Press, 2001, 19 (5), pp.557-569. ⟨hal-00794833⟩
    • Yannick Aoustin, Christine Chevallereau, Alain Glumineau, Claude Moog. Experimental Results for the End-effector Control of a Single Flexible Robotic Arm. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 1994, 2 (4), pp.371-381. ⟨hal-00410016⟩

    Conference papers40 documents

    • Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, et al.. Safe collaboration between human and robot in a context of intermittent haptique interface. ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2021, Virtual, United States. ⟨hal-03265711⟩
    • Benjamin Fasquelle, Matthieu Furet, Parag Khanna, Damien Chablat, Christine Chevallereau, et al.. A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints. ICRA'2020, May 2020, Paris, France. ⟨hal-02517339⟩
    • A Kalouguine, V De-León-Gómez, Christine Chevallereau, S Dalibard, Y Aoustin. Definition of a Walking with starting and stopping motions for the Humanoid Romeo. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France. ⟨hal-03021974⟩
    • Christine Böhmer, Anick Abourachid, Philippe Wenger, Benjamin Fasquelle, Matthieu Furet, et al.. Combining precision and power to maximize performance: a case study of the woodpecker's neck. 44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France. ⟨hal-02265058⟩
    • Matthieu Furet, Damien Chablat, Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, et al.. Prototype of a tensegrity manipulator to mimic bird necks. 24ème Congrès Français de Mécanique, Aug 2019, Brest, France. ⟨hal-02264288⟩
    • A. Abourachid, C Böhmer, Philippe Wenger, Damien Chablat, Christine Chevallereau, et al.. Modelling, design and control of a bird neck using tensegrity mechanisms. ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada. ⟨hal-02355070⟩
    • Victor de Leon Gomez, Chiara Barone, Aoustin Yannick, Christine Chevallereau. Study of the walking efficiency of a human with a cane. Romansy, Jun 2018, Rennes, France. ⟨hal-01845958⟩
    • Christine Chevallereau, Anne Kalouguine, Qiuyue Luo, Aoustin Yannick, Victor de Leon Gomez. An essential model for generating walking motions for humanoid robots. French-German Conference on Humanoid and Legged Robots 2018, Dec 2018, Munchen, Germany. ⟨hal-01984211⟩
    • Qiuyue Luo, Victor de Leon Gomez, Anne Kalouguine, Christine Chevallereau, Aoustin Yannick. Self-synchronization and Self-stabilization of Walking Gaits Modeled by the 3D LIP Model. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01984214⟩
    • Jayant Mohanta, Santhakumar Mohan, Philippe Wenger, Christine Chevallereau. A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine. IFToMM Asian Mechanism and Machine Science 2018, Dec 2018, Bengaluru, India. ⟨hal-01984427⟩
    • Anders van Riesen, Matthieu Furet, Christine Chevallereau, Philippe Wenger. Dynamic analysis and control of an antagonistically actuated tensegrity mechanism. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.481-490, ⟨10.1007/978-3-319-78963-7_60⟩. ⟨hal-01989963⟩
    • Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩. ⟨hal-01989982⟩
    • Matthieu Furet, Anders van Riesen, Christine Chevallereau, Philippe Wenger. Optimal design of tensegrity mechanisms used in a bird neck model. European Conference on Mechanism Science (EUCOMES'2018), Sep 2018, Aachen, Germany. pp.365-375, ⟨10.1007/978-3-319-98020-1_43⟩. ⟨hal-01989992⟩
    • Hendry Ferreira Chame, Christine Chevallereau. A Top-Down and Bottom-Up Visual Attention Model for Humanoid Object Approaching and Obstacle Avoidance. 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), Oct 2016, Recife, Brazil. ⟨10.1109/LARS-SBR.2016.12⟩. ⟨hal-01518593⟩
    • C. Bidard, Christine Chevallereau, Vaiyee Huynh. Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.483-488, ⟨10.1109/HUMANOIDS.2016.7803319⟩. ⟨cea-01840419⟩
    • Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin, Christine Chevallereau. Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.538-543, ⟨10.1109/HUMANOIDS.2016.7803327⟩. ⟨hal-02397623⟩
    • Christine Chevallereau, Yannick Aoustin. Self-stabilization of 3D walking via vertical oscillations of the hip. 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, ⟨10.1109/ICRA.2015.7139907⟩. ⟨hal-02397690⟩
    • Christine Chevallereau. Stable walking of Bipedal Robots. Thirteenth Scandinavian Conference on Artificial Intelligence: SCAI 2015, Nov 2015, Halmstad, Sweden. ⟨hal-02397945⟩
    • Hamed Razavi, Anthony Bloch, Christine Chevallereau, Jessy Grizzle. Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots. American Control Conference, Jul 2015, Chicago, United States. ⟨hal-02397820⟩
    • Christine Chevallereau, Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin. Nonlinear orbital H_inf-stabilization of underactuated mechanical systems with unilateral constraints. 2015 European Control Conference (ECC), Jul 2015, Linz, Austria. pp.806-811, ⟨10.1109/ECC.2015.7330641⟩. ⟨hal-02397956⟩
    • Christine Chevallereau, Mathieu Porez, Frédéric Boyer. Computational morphology for a soft micro air vehicle in hovering flight. 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, Chicago, United States. pp.3404-3410. ⟨hal-01206883⟩
    • Hendry Ferreira Chame, Christine Chevallereau. Embodied Localization in Visually-guided Walk of Humanoid Robots . 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Sep 2014, Vienna, Austria. ⟨10.5220/0005063001650174⟩. ⟨hal-01230640⟩
    • Mohammed-Rédha Benachenhou, Christine Chevallereau, Vincent Lebastard, Frédéric Boyer. Synthesis of an electric sensor based control for underwater multi-agents navigation in a file. 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, Germany. pp.4608 - 4613, ⟨10.1109/ICRA.2013.6631232⟩. ⟨hal-00994947⟩
    • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Contribution de l'Effet du Balancement des Bras sur la Marche d'un Robot Bipède. CIFA 2012, Jul 2012, Grenoble, France. ⟨hal-00716350⟩
    • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPED. Climbing and Walking Robot- CLAWAR 2012, Jul 2012, Baltimore, United States. ⟨hal-00716364⟩
    • Abdul Haq, Yannick Aoustin, Christine Chevallereau. L'effets des Articulations Compliantes sur l'Efficacité Énergétique d'un Robot Bipède. Septième Conférence Internationale Francophone d'Automatique (CIFA 2012), Jul 2012, Grenoble, France. ⟨hal-00716302⟩
    • Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. ARMS SWING EFFECTS ON A WALKING PLANAR BIPED. ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - ESDA2012, Jul 2012, Nantes, France. ⟨hal-00668760⟩
    • Vincent Lebastard, C Chevallereau, A Girin, Frédéric Boyer, Pol-Bernard Gossiaux. Localization of small objects with electric sense based on kalman filter. 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1137 - 1142, ⟨10.1109/ICRA.2012.6224824⟩. ⟨hal-01503057⟩
    • Christine Chevallereau, Frédéric Boyer, Vincent Lebastard, Mohammed-Rédha Benachenhou. Electric sensor based control for underwater multi-agents navigation in formation. 2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, Saint Paul, MN, United States. pp.1161 - 1167, ⟨10.1109/ICRA.2012.6224942⟩. ⟨hal-00994929⟩
    • Carlos Rengifo, Bassel Kaddar, Yannick Aoustin, Christine Chevallereau. Reactive Power Compensation in Mechanical Systems. The 2nd Joint International Conference on Multibody System Dynamics - IMSD2012, May 2012, Stuttgart, Germany. ⟨hal-00716393⟩
    • Karthick Munirathinam, Sophie Sakka, Christine Chevallereau. Dynamic motion imitation of two articulated systems using nonlinear time scaling of joint trajectories. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2012, Vilamoura-Algarve, Portugal. pp.3700 -- 3705, ⟨10.1109/IROS.2012.6385681⟩. ⟨hal-00770439⟩
    • Vincent Lebastard, Frédéric Boyer, Christine Chevallereau, Noël Servagent. Underwater electro-navigation in the dark. 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1155 - 1160, ⟨10.1109/ICRA.2012.6224836⟩. ⟨hal-01503049⟩
    • Carlos Rengifo, Yannick Aoustin, Franck Plestan, Christine Chevallereau. Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approaches. Multibody Dynamics 2011, 2011, Bruxelles, Belgium. pp.1. ⟨hal-00626575⟩
    • Abdul Haq, Yannick Aoustin, Christine Chevallereau. Compliant Joints Increase the Energy Efficiency of Bipedal Robot. The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), Sep 2011, Paris, France. ⟨hal-00668813⟩
    • Vincent Lebastard, Christine Chevallereau, Ali Amrouche, Brahim Jawad, Alexis Girin, et al.. Underwater robot navigation around a sphere using electrolocation sense and Kalman filter. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, Oct 2010, Taiwan. pp.4225-4230. ⟨hal-00704074⟩
    • Vincent Lebastard, Christine Chevallereau, Ali Amrouche, Brahim Jawad, Alexis Girin, et al.. Underwater robot navigation around a sphere using electrolocation sense and Kalman filter. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. pp.4225-4230, ⟨10.1109/IROS.2010.5648929⟩. ⟨hal-00634830⟩
    • Carlos Rengifo, Yannick Aoustin, Christine Chevallereau, Franck Plestan. A penalty-based approach for contact forces computation in bipedal robots. 9th IEEE-RAS International Conference on Humanoid Robots, Dec 2009, Paris, France. pp.121 -- 127, ⟨10.1109/ICHR.2009.5379590⟩. ⟨hal-00520395⟩
    • Yannick Aoustin, Serge Bellavoir, Gaël Branchu, Christine Chevallereau, Alexander Formal'Sky, et al.. A semi quadruped walking robot - first experimental results. 6th International Conference on Climbing and Walking Robots CLAWAR'03, Sep 2003, Catania, Italy. pp. 579-584. ⟨hal-00362673⟩
    • Christine Chevallereau, Lounis Adouane. On line reference trajectory adaptation for the control of a planar biped. 5th International Conference on CLimbing And WAlking Robots (CLAWAR), Sep 2002, Paris, France. ⟨hal-01714883⟩
    • Christine Chevallereau, Rabah Rabah. The Singular Value Decomposition and the Control of a Robot in Singular Configuration . CESA'96, IEEE-SMC-IMACS Multiconference, Symposium on Robotics and Cybernetics, Ecole Centrale de Lille, Jul 1996, Lille, France. pp.339-342. ⟨hal-01415991⟩

    Books3 documents

    • Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Aoustin Yannick. Bipedal Robots : Modeling, Design and Walking Synthesis. ISTE Ltd, John Wiley & sons,, 2009, 978-1-84821-076-9. ⟨hal-01702864⟩
    • Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Aoustin Yannick. Les robots marcheurs bipèdes : modélisation, conception, synthèse de la marche, commande. Hermès Sciences, Lavoisier, 2007, 978-2-7462-1370-8. ⟨hal-01702853⟩
    • Eric Westervelt, Jessy Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris. Feedback Control of Dynamic Bipedal Robot Locomotion. CRC Press, Taylor & Francis Group, 2007, 1-4200-5372-8. ⟨hal-01702841⟩

    Book sections14 documents

    • Anne Kalouguine, Christine Chevallereau, Sébastien Dalibard, Yannick Aoustin. Periodic walking motion of a Humanoid robot based on human data. EuCoMeS 2020 New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, pp.349-359, 2020. ⟨hal-03022032⟩
    • Vamsi Krishna Guda, Damien Chablat, Christine Chevallereau. Safety in a Human Robot Interactive: Application to Haptic Perception. Virtual, Augmented and Mixed Reality. Design and Interaction, pp.562-574, 2020, ⟨10.1007/978-3-030-49695-1_38⟩. ⟨hal-02994640⟩
    • Benjamin Fasquelle, Matthieu Furet, Christine Chevallereau, Philippe Wenger. Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck. Advances in Mechanism and Machine ScienceProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, pp.2087-2097, 2019, 978-3-030-20130-2. ⟨10.1007/978-3-030-20131-9_207⟩. ⟨hal-02353763⟩
    • Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Yannick Aoustin, Christine Chevallereau, et al.. Preliminary survey of backdrivable linear actuators for humanoid robots. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019. ⟨hal-01984430⟩
    • C. Bidard, Christine Chevallereau, Vaiyee Huynh. Balance Control for an Active Leg Exoskeleton Based on Human Balance Strategies. New Trends in Medical and Service Robots. MESROB 2016. Mechanisms and Machine Science, pp.197-211, 2018, ⟨10.1007/978-3-319-59972-4_15⟩. ⟨hal-02398116⟩
    • Oscar Montano, Yuri Orlov, Aoustin Yannick, Christine Chevallereau. HInfini Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint. New Perspectives and Applications of Modern Control Theory, 2018. ⟨hal-01697136⟩
    • Aoustin Yannick, Christine Chevallereau, Jean-Paul Laumond. Historical Perspective of Humanoid Robot Research in Europe. Springer. Humanoid Robotics: A Reference. Goswami A., Vadakkepat P. (eds), pp.19-34, 2017, 978-94-007-6045-5. ⟨10.1007/978-94-007-6046-2_144⟩. ⟨hal-01697135⟩
    • Jessy Grizzle, Christine Chevallereau. Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion. Humanoid Robotics: A Reference, Springer, 2017, Humanoid Control. ⟨hal-01702827⟩
    • Vigen Arakelian, Yannick Aoustin, Christine Chevallereau. Study and Choice of Actuation for a Walking Assist Device. In: Bleuler H., Bouri M., Mondada F., Pisla D., Rodic A., Helmer P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, pp.3-12, 2016, ⟨10.1007/978-3-319-23832-6_1⟩. ⟨hal-02883026⟩
    • Vigen Arakelian, Christine Chevallereau, Yannick Aoustin. On the Design of the Exoskeleton Arm with Decoupled Dynamics. In: Wenger P., Chevallereau C., Pisla D., Bleuler H., Rodić A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, pp.143-150, 2016, ⟨10.1007/978-3-319-30674-2_11⟩. ⟨hal-02883025⟩
    • Marija Tomić, Christian Vassallo, Christine Chevallereau, Aleksandar Rodić, Veljko Potkonjak. Arm Motions of a Humanoid Inspired by Human Motion. New Trends in Medical and Service Robots, pp.227-238, 2016, 978-3-319-23831-9. ⟨10.1007/978-3-319-23832-6_19⟩. ⟨hal-02398106⟩
    • Hendry Ferreira Chame, Christine Chevallereau. Sensory-motor Anticipation and Local Information Fusion for Reliable Humanoid Approach. P. Wenger et al. (eds.). New Trends in Medical and Service Robots, Mechanisms and Machine Science, 39, © Springer International Publishing Switzerland, 2016, ⟨10.1007/978-3-319-30674-2_10⟩. ⟨hal-01265030⟩
    • Christine Chevallereau, Yannick Aoustin, Vigen Arakalian. Study and choice of actuation for a walking assist device. Mechanism and Machine Science, New trends in medical and service robots, Springer, 2015., 2015. ⟨hal-01178930⟩
    • Ben Morris, Eric Westervelt, Christine Chevallereau, Gabriel Buche, Jessy Grizzle. Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity. Fast Motions in Biomechanics and Robotics, Springer, pp.277-297, 2006, 978-3-540-36118-3. ⟨10.1007/978-3-540-36119-0_13⟩. ⟨hal-01300126⟩

    Directions of work or proceedings1 document

    • Philippe Wenger, Christine Chevallereau, Doina Pisla Hannes Bleuler Aleksandar Rodic. New trends in medical and service robotics: Human centered analysis, control and design. France. Springer, 2016, 978-3-319-30674-2. ⟨hal-01740197⟩

    Patents1 document

    • Christine Chevallereau, Alexis Girin, Philip Long. Method and device for controlling a robot during co-activity. France, Patent n° : WO 2017/089623 A1. BRE. 2017. ⟨hal-01717183⟩

    Preprints, Working Papers, ...1 document

    • Abdul Haq, Yannick Aoustin, Christine Chevallereau. Effects of Knee Locking and Passive Joint Stiffness on Energy Consumption of a Seven-Link Planar Biped. 2012. ⟨hal-00668808⟩

    Reports3 documents

    • Qiuyue Luo, Anne Kalouguine, Christine Chevallereau, Yannick Aoustin, Victor de Leon Gomez. Report on Calculation of Jacobian Matrix of Poincaré Return Map for Self-synchronized 3D Walking Gaits. [Research Report] LABORATOIRE DES SCIENCES DU NUMÉRIQUE DE NANTES. 2018. ⟨hal-01818860⟩
    • Christine Chevallereau, Mohammed-Rédha Benachenhou, Vincent Lebastard, Frédéric Boyer. ANGELS project D.3.7. Multi-agents demonstrator. 2012. ⟨hal-00995040⟩
    • Pierre-Brice Wieber, Christine Chevallereau. Online adaptation of reference trajectories for the control of walking systems. [Research Report] RR-5298, INRIA. 2004, pp.16. ⟨inria-00070702⟩