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Kheddar Abderrahmane

21

Documents

Identifiants chercheurs

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

Présentation

Publications

934229

	Quadratic Programming for Multirobot and Task-Space Force Control Karim Bouyarmane , Kevin Chappellet , Joris Vaillant , Abderrahmane Kheddar IEEE Transactions on Robotics, 2019, 35 (1), pp.64-77. ⟨10.1109/TRO.2018.2876782⟩ Article dans une revue lirmm-02154974v1
	On Weight-Prioritized Multi-Task Control of Humanoid Robots Karim Bouyarmane , Abderrahmane Kheddar IEEE Transactions on Automatic Control, 2018, 63 (6), pp.1632-1647. ⟨10.1109/TAC.2017.2752085⟩ Article dans une revue hal-01247118v3
	Non-Decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems Karim Bouyarmane , Abderrahmane Kheddar Journal of Intelligent and Robotic Systems, 2018, 91 (3-4), pp.377-401. ⟨10.1007/s10846-017-0692-5⟩ Article dans une revue hal-01523752v2
	Multi-Character Physical and Behavioral Interactions Controller Joris Vaillant , Karim Bouyarmane , Abderrahmane Kheddar IEEE Transactions on Visualization and Computer Graphics, 2017, 23 (6), pp.1650-1662. ⟨10.1109/TVCG.2016.2542067⟩ Article dans une revue hal-01246357v1
	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
	Humanoid Robot Locomotion and Manipulation Step Planning Karim Bouyarmane , Abderrahmane Kheddar Advanced Robotics, 2012, Special Issue on the Cutting Edge of Robotics in Japan (selected and recommended from the RSJ 2010 conference), 26 (10), pp.1099-1126. ⟨10.1080/01691864.2012.686345⟩ Article dans une revue lirmm-00777728v1

	Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2018), May 2018, Brisbane, Australia. pp.62-67, ⟨10.1109/SIMPAR.2018.8376272⟩ Communication dans un congrès lirmm-03131379v1
	Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model Vincent Samy , Stéphane Caron , Karim Bouyarmane , Abderrahmane Kheddar Humanoids 2017 - 17th IEEE-RAS International Conference on Humanoid Robots, Nov 2017, Birmingham, United Kingdom. pp.655-660, ⟨10.1109/HUMANOIDS.2017.8246942⟩ Communication dans un congrès hal-01569819v3
	QP-based Adaptive-Gains Compliance Control in Humanoid Falls Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar ICRA: International Conference on Robotics and Automation, May 2017, Singapour, Singapore. pp.4762-4767, ⟨10.1109/ICRA.2017.7989553⟩ Communication dans un congrès hal-01365108v2
	Multi-Contact Motion Retargeting from Human to Humanoid Robot Alessandro Di Fava , Karim Bouyarmane , Kevin Chappellet , Emanuele Ruffaldi , Abderrahmane Kheddar Humanoids 2016 - 16th IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancun, Mexico. pp.1081-1086, ⟨10.1109/HUMANOIDS.2016.7803405⟩ Communication dans un congrès hal-01414986v1
	On the Dynamics Modeling of Free-Floating-Base Articulated Mechanisms and Applications to Humanoid Whole-Body Dynamics and Control Karim Bouyarmane , Abderrahmane Kheddar Humanoids, Nov 2012, Osaka, Japan. pp.036-042 Communication dans un congrès lirmm-00765815v1
	Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios Karim Bouyarmane , Joris Vaillant , François Keith , Abderrahmane Kheddar Humanoids, Nov 2012, Osaka, Japan. pp.337-342 Communication dans un congrès lirmm-00765817v1
	FEM-based Static Posture Planning for a Humanoid Robot on Deformable Contact Support Karim Bouyarmane , Abderrahmane Kheddar Humanoids, Oct 2011, Bled, Slovenia. pp.487-492, ⟨10.1109/Humanoids.2011.6100848⟩ Communication dans un congrès lirmm-00765818v1
	Multi-Contact Stances Planning for Multiple Agents Karim Bouyarmane , Abderrahmane Kheddar ICRA'2011: International Conference on Robotics and Automation, May 2011, Shanghai International Conference Center, Shanghai, China. pp.5246-5253, ⟨10.1109/ICRA.2011.5980088⟩ Communication dans un congrès lirmm-00777727v1
	Using a Multi-Objective Controller to Synthesize Simulated Humanoid Robot Motion with Changing Contact Configurations Karim Bouyarmane , Abderrahmane Kheddar IROS: Intelligent Robots and Systems, Sep 2011, San Francisco, CA, United States. pp.4414-4419, ⟨10.1109/IROS.2011.6094483⟩ Communication dans un congrès lirmm-00765820v1
	Static Multi-Contact Inverse Problem for Multiple Humanoid Robots and Manipulated Objects Karim Bouyarmane , Abderrahmane Kheddar Humanoids, Dec 2010, Nashville, TN, United States. pp.008-013, ⟨10.1109/ICHR.2010.5686317⟩ Communication dans un congrès lirmm-00776649v1
	Multi-contacts stances planning for humanoid locomotion and manipulation Karim Bouyarmane , Abderrahmane Kheddar RSJ'10: 28th annual conference of the Robotics Society of Japan, Sep 2010, Nagoya, Japan Communication dans un congrès lirmm-00800868v1
	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

	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-robot and task-space force control with quadratic programming Karim Bouyarmane , Joris Vaillant , Kevin Chappellet , Abderrahmane Kheddar 2017 Pré-publication, Document de travail hal-01495662v1
	Active shock absorber control in humanoid robot falls with nonlinear optimization on a reduced dynamics model Vincent Samy , Karim Bouyarmane , Abderrahmane Kheddar 2017 Pré-publication, Document de travail hal-01590677v1