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Kheddar Abderrahmane

34

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kheddar-abderrahmane
0000-0001-9033-9742
IdRef : 068911890

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Publications

adrien-escande

	Humanoid robots in aircraft manufacturing Abderrahmane Kheddar , Stéphane Caron , Pierre Gergondet , Andrew Comport , Arnaud Tanguy IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.30-45. ⟨10.1109/MRA.2019.2943395⟩ Article dans une revue lirmm-02303117v1
	Singularity resolution in equality and inequality constrained hierarchical task-space control by adaptive non-linear least-squares Kai Pfeiffer , Adrien Escande , Abderrahmane Kheddar IEEE Robotics and Automation Letters, 2018, 3 (4), pp.3630-3637. ⟨10.1109/LRA.2018.2855265⟩ Article dans une revue hal-01852576v1
	Multi-Contact Postures Computation on Manifolds Stanislas Brossette , Adrien Escande , Abderrahmane Kheddar IEEE Transactions on Robotics, 2018, 34 (5), pp.1252-1265. ⟨10.1109/TRO.2018.2830390⟩ Article dans une revue hal-01781204v1
	Design of optimized soft soles for humanoid robots Giovanni de Magistris , Sylvain Miossec , Adrien Escande , Abderrahmane Kheddar Robotics and Autonomous Systems, 2017, 95, pp.129-142. ⟨10.1016/j.robot.2017.05.005⟩ Article dans une revue hal-01526014v2
	Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization Jovana Jovic , Adrien Escande , Ko Ayusawa , Eiichi Yoshida , Abderrahmane Kheddar IEEE Transactions on Robotics, 2016, 32 (3), pp.726-735. ⟨10.1109/TRO.2016.2558190⟩ Article dans une revue lirmm-01348410v1
	GPU Robot Motion Planning using Semi-Infinite Nonlinear Programming Benjamin Chrétien , Adrien Escande , Abderrahmane Kheddar IEEE Transactions on Parallel and Distributed Systems, 2016, 27 (10), pp.2926-2939. ⟨10.1109/TPDS.2016.2521373⟩ Article dans une revue hal-01266581v1
	Multi-contact vertical ladder climbing with an HRP-2 humanoid Joris Vaillant , Abderrahmane Kheddar , Hervé Audren , François Keith , Stanislas Brossette Autonomous Robots, 2016, 40 (3), pp.561-580. ⟨10.1007/s10514-016-9546-4⟩ Article dans une revue hal-01276931v1
	A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients Adrien Escande , Sylvain Miossec , Mehdi Benallegue , Abderrahmane Kheddar IEEE Transactions on Robotics, 2014, 30 (3), pp.666-678. ⟨10.1109/TRO.2013.2296332⟩ Article dans une revue hal-01079783v1
	Planning contact points for humanoid robots Adrien Escande , Abderrahmane Kheddar , Sylvain Miossec Robotics and Autonomous Systems, 2013, 61 (5), pp.428-442. ⟨10.1016/j.robot.2013.01.008⟩ Article dans une revue lirmm-00800829v1
	Autonomous 3D object modeling by a humanoid using an optimization-driven Next-Best-View formulation Torea Foissotte , Olivier Stasse , Pierre-Brice Wieber , Adrien Escande , Abderrahmane Kheddar International Journal of Humanoid Robotics, 2010, 7 (3), pp.407-428. ⟨10.1142/S0219843610002246⟩ Article dans une revue inria-00567850v1

	Robust humanoid control using a QP solver with integral gains Rafael Cisneros , Mehdi Benallegue , Abdelaziz Benallegue , Mitsuharu Morisawa , Hervé Audren IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.7472-7479, ⟨10.1109/IROS.2018.8593417⟩ Communication dans un congrès hal-01845489v2
	A circuit-breaker use-case operated by a humanoid in aircraft manufacturing Anastasia Bolotnikova , Kevin Chappellet , Antonio Paolillo , Adrien Escande , Gholamreza Anbarjafari CASE: Conference on Automation Science and Engineering, Aug 2017, Xi'an, China. pp.15-22, ⟨10.1109/COASE.2017.8256069⟩ Communication dans un congrès hal-01565060v1
	Nut fastening with a humanoid robot Kai Pfeiffer , Adrien Escande , Abderrahmane Kheddar IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6142-6148, ⟨10.1109/IROS.2017.8206515⟩ Communication dans un congrès hal-02189053v1
	Parametrization of Catmull-Clark Subdivision Surfaces for Posture Generation Adrien Escande , Stanislas Brossette , Abderrahmane Kheddar ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.1608-1614, ⟨10.1109/ICRA.2016.7487300⟩ Communication dans un congrès hal-01275693v1
	Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots Benjamin Chrétien , Adrien Escande , Abderrahmane Kheddar IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.3956-3961, ⟨10.1109/IROS.2015.7353934⟩ Communication dans un congrès lirmm-01253539v1
	Humanoid posture generation on non-Euclidean manifolds Stanislas Brossette , Adrien Escande , Grégoire Duchemin , Benjamin Chrétien , Abderrahmane Kheddar Humanoids, Nov 2015, Seoul, South Korea. pp.352-358, ⟨10.1109/HUMANOIDS.2015.7363574⟩ Communication dans un congrès hal-01265418v1
	Model preview control in multi-contact motion-application to a humanoid robot Hervé Audren , Joris Vaillant , Abderrahmane Kheddar , Adrien Escande , Kenji Kaneko IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.4030-4035, ⟨10.1109/IROS.2014.6943129⟩ Communication dans un congrès lirmm-01256511v1
	Integration of Non-Inclusive Contacts in Posture Generation Stanislas Brossette , Adrien Escande , Joris Vaillant , François Keith , Thomas Moulard IROS: Intelligent RObots and Systems, Sep 2014, Chicago, United States. pp.933-938, ⟨10.1109/IROS.2014.6942671⟩ Communication dans un congrès hal-01016319v1
	Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results Stanislas Brossette , Joris Vaillant , François Keith , Adrien Escande , Abderrahmane Kheddar RAM: Robotics, Automation and Mechatronics, Nov 2013, Manila, Philippines. pp.19-24, ⟨10.1109/RAM.2013.6758553⟩ Communication dans un congrès lirmm-00863931v1
	Potential Field Guide for Humanoid Multicontacts Acyclic Motion Planning Karim Bouyarmane , Adrien Escande , Florent Lamiraux , Abderrahmane Kheddar ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1165-1170 Communication dans un congrès lirmm-00776642v1
	Planning contact supports for acyclic motion with task constraints and experiment on HRP-2 Adrien Escande , Abderrahmane Kheddar Syroco'09: 9th Symposium on Robot Control, Sep 2009, Nagaragawa Convention Center, Gifu, Japan. pp.155-160, ⟨10.3182/20090909-4-JP-2010.00028⟩ Communication dans un congrès lirmm-00796727v1
	A Two-Steps Next-Best-View Algorithm for Autonomous 3D Object Modeling by a Humanoid Robot Torea Foissotte , Olivier Stasse , Adrien Escande , Pierre-Brice Wieber , Abderrahmane Kheddar ICRA'2009: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1159-1164, ⟨10.1109/ROBOT.2009.5152350⟩ Communication dans un congrès inria-00390587v1
	Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes Mehdi Benallègue , Adrien Escande , Sylvain Miossec , Abderrahmane Kheddar ICRA 2009 - IEEE International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.483-488, ⟨10.1109/ROBOT.2009.5152722⟩ Communication dans un congrès lirmm-00796369v1
	Contact planning for acyclic motion with tasks constraints Adrien Escande , Abderrahmane Kheddar IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.435-440, ⟨10.1109/IROS.2009.5354371⟩ Communication dans un congrès lirmm-00796364v1
	Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2 Adrien Escande , Abderrahmane Kheddar , Sylvain Miossec , Sylvain Garsault ISER'08: 11th International Symposium on Experimental Robotics, Jul 2008, Athens, Greece. pp.293-302, ⟨10.1007/978-3-642-00196-3_35⟩ Communication dans un congrès lirmm-00798815v1
	Real-time (self)-collision avoidance task on a HRP-2 humanoid robot Olivier Stasse , Adrien Escande , Nicolas Mansard , Sylvain Miossec , Paul Evrard ICRA'2008: International Conference on Robotics and Automation, May 2008, Pasadena Conference Center, Pasadena, CA, United States. pp.3200-3205, ⟨10.1109/ROBOT.2008.4543698⟩ Communication dans un congrès lirmm-00798791v1
	Challenges in Contact-Support Planning for Acyclic Motion of Humanoids and Androids Abderrahmane Kheddar , Adrien Escande ISR'08: International Symposium on Robotics, Oct 2008, Coex, South Korea. pp.6 Communication dans un congrès lirmm-00798784v1
	Interaction haptique et robotique humanoïde Abderrahmane Kheddar , Jean-Rémy Chardonnet , Adrien Escande , Paul Evrard Journées Nationales de la Robotique Humanoïde, Mar 2007, Montpellier, France Communication dans un congrès hal-01182744v1
	Towards Autonomous Object Reconstruction for Visual Search by the Humanoid Robot HRP-2 Olivier Stasse , Diane Larlus , Baptiste Lagarde , Adrien Escande , François Saidi Humanoids, Nov 2007, Pittsburgh, United States. pp.151-158, ⟨10.1109/ICHR.2007.4813862⟩ Communication dans un congrès inria-00548676v1

	Contact Planning for Acyclic Motion with Task Constraints and Experiment on HRP-2 Humanoid Adrien Escande , Abderrahmane Kheddar IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. International Conference on Intelligent Robots and Systems, pp.416-417, 2009, ⟨10.1109/IROS.2009.5353971⟩ Poster de conférence lirmm-00796366v1
	A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot Torea Foissotte , Olivier Stasse , Adrien Escande , Abderrahmane Kheddar Humanoids, Dec 2008, Daejeon, South Korea. 8th IEEE-RAS International Conference on Humanoid Robots, pp.333-338, 2008, ⟨10.1109/ICHR.2008.4756001⟩ Poster de conférence lirmm-00798770v1

	Multi-contact Motion Planning and Control Karim Bouyarmane , Stéphane Caron , Adrien Escande , Abderrahmane Kheddar Ambarish Goswami; Prahlad Vadakkepat. Humanoid Robotics: A Reference, Springer Nature, pp.1763-1804, 2018, 978-94-007-6047-9. ⟨10.1007/978-94-007-6046-2_32⟩ Chapitre d'ouvrage lirmm-02154697v1
	Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid Adrien Escande , Abderrahmane Kheddar Harada, Kensuke; Yoshida, Eiichi; Yokoi, Kazuhito. Motion Planning for Humanoid Robots, Springer London, pp.161-179, 2010, 978-1-84996-219-3. ⟨10.1007/978-1-84996-220-9_6⟩ Chapitre d'ouvrage lirmm-00800801v1

	Singularity Resolution for Multi-Level Constrained Dynamically Feasible Kinematic Control Kai Pfeiffer , Adrien Escande , Pierre Gergondet , Abderrahmane Kheddar 2020 Pré-publication, Document de travail hal-02896719v1