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Mehdi Benallegue

34

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Publications

	A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer Rafael Cisneros-Limón , Antonin Dallard , Mehdi Benallegue , Kenji Kaneko , Hiroshi Kaminaga International Journal of Social Robotics, inPress Article dans une revue hal-04425539v1
	Velocity-Aided IMU-Based Tilt and Attitude Estimation Mehdi Benallegue , Abdelaziz Benallegue , Rafael Cisneros , Yacine Chitour IEEE Transactions on Automatic Control, 2023, 68 (10), pp.5823-5836. ⟨10.1109/TAC.2022.3225758⟩ Article dans une revue hal-04271257v1
	Synchronized Human-Humanoid Motion Imitation Antonin Dallard , Mehdi Benallegue , Fumio Kanehiro , Abderrahmane Kheddar IEEE Robotics and Automation Letters, 2023, 8 (7), pp.4155-4162. ⟨10.1109/LRA.2023.3280807⟩ Article dans une revue hal-04094385v1
	Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction Sélim Chefchaouni Moussaoui , Rafael Cisneros-Limón , Hiroshi Kaminaga , Mehdi Benallegue , Taiki Nobeshima Sensors, 2023, 23 (9), pp.4569. ⟨10.3390/s23094569⟩ Article dans une revue hal-04178910v1
	Towards Active Physical Human-Robot Interaction: quantifying the human state during interactions Yue Hu , Naoko Abe , Mehdi Benallegue , Natsuki Yamanobe , Gentiane Venture IEEE Transactions on Human-Machine Systems, inPress, ⟨10.1109/THMS.2021.3138684⟩ Article dans une revue hal-03567276v1
	Humanoid Loco-Manipulations Pattern Generation and Stabilization Control Masaki Murooka , Kevin Chappellet , Arnaud Tanguy , Mehdi Benallegue , Iori Kumagai IEEE Robotics and Automation Letters, 2021, 6 (3), pp.5597-5604. ⟨10.1109/LRA.2021.3077858⟩ Article dans une revue hal-03425667v1
	On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz The International Journal of Robotics Research, 2020, 39 (4), pp.461-475. ⟨10.1177/0278364919894387⟩ Article dans une revue hal-02975133v2
	Lyapunov-Stable Orientation Estimator for Humanoid Robots Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue , Yacine Chitour , Mitsuharu Morisawa IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6371-6378. ⟨10.1109/LRA.2020.3013854⟩ Article dans une revue hal-02929331v1
	Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction Yue Hu , Mehdi Benallegue , Gentiane Venture , Eiichi Yoshida IEEE Robotics and Automation Letters, 2020, 5 (4), pp.6764-6771. ⟨10.1109/LRA.2020.3017475⟩ Article dans une revue hal-02957318v1
	Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion — A recursive approach François Bailly , Justin Carpentier , Mehdi Benallegue , Bruno Watier , Philippe Souères IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4155-4162. ⟨10.1109/LRA.2019.2931200⟩ Article dans une revue hal-02058890v2
	The Yoyo-Man Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz The International Journal of Robotics Research, 2017, 36 (13-14), pp.1508 - 1520. ⟨10.1177/0278364917693292⟩ Article dans une revue hal-01316032v3
	On the centre of mass motion in human walking Justin Carpentier , Mehdi Benallegue , Jean-Paul Laumond International Journal of Automation and Computing, 2017, 14 (5), pp.542-551 Article dans une revue hal-01377361v2
	Center of Mass Estimation for Polyarticulated System in Contact - A Spectral Approach Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond IEEE Transactions on Robotics, 2016, 32 (4), pp.810-822. ⟨10.1109/TRO.2016.2572680⟩ Article dans une revue hal-01182734v3
	Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information Mehdi Benallegue , Florent Lamiraux International Journal of Humanoid Robotics, 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, 12 (3), pp.15500255. ⟨10.1142/S0219843615500255⟩ Article dans une revue hal-01169149v2
	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

	Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM Yang Chen , Leyuan Sun , Mehdi Benallegue , Rafael Cisneros-Limon , Rohan Singh Humanoids 2022 - 21st IEEE-RAS International Conference on Humanoid Robots, Nov 2022, Ginowan, Japan. pp.306-313, ⟨10.1109/Humanoids53995.2022.9999740⟩ Communication dans un congrès hal-03843147v1
	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
	Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement Mehdi Benallegue , Pierre Gergondet , Hervé Audren , Alexis Mifsud , Mitsuharu Morisawa ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.3122-3129, ⟨10.1109/ICRA.2018.8460809⟩ Communication dans un congrès hal-01746095v1
	Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer Mehdi Benallegue , Abdelaziz Benallegue , Yacine Chitour International Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. ⟨10.1109/humanoids.2017.8246968⟩ Communication dans un congrès hal-01499167v3
	Experimental Evaluation of Simple Estimators for Humanoid Robots Thomas Flayols , Andrea del Prete , Patrick Wensing , Alexis Mifsud , Mehdi Benallegue IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom Communication dans un congrès hal-01574819v2
	Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea Communication dans un congrès hal-01285643v1
	A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach Justin Carpentier , Mehdi Benallegue , Nicolas Mansard , Jean-Paul Laumond 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, ⟨10.1109/HUMANOIDS.2015.7363493⟩ Communication dans un congrès hal-01175592v3
	Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation Mehdi Benallegue , Alexis Mifsud , Florent Lamiraux 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea Communication dans un congrès hal-01202155v1
	Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units Alexis Mifsud , Mehdi Benallegue , Florent Lamiraux IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p Communication dans un congrès hal-01142399v2
	The Yoyo-Man Jean-Paul Laumond , Mehdi Benallegue , Justin Carpentier , Alain Berthoz International Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy Communication dans un congrès hal-01175591v1
	Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information Mehdi Benallegue , Florent Lamiraux 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain Communication dans un congrès hal-01079797v1
	Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain Mehdi Benallegue , Jean-Paul Laumond Robotics: Science and Systems, Jun 2013, Berlin, Germany Communication dans un congrès hal-01079789v1
	Contribution of actuated head and trunk to passive walkers stabilization Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz IEEE, International Conference on Robotics and Automation, May 2013, Karlsruhe, France. pp.5638 - 5643, ⟨10.1109/ICRA.2013.6631387⟩ Communication dans un congrès hal-01079775v1
	A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping Motions Mehdi Benallègue , Pierre-Brice Wieber , Abderrahmane Kheddar , Bernard Espiau Humanoids, Dec 2010, Nashville, TN, United States. pp.322-327, ⟨10.1109/ICHR.2010.5686304⟩ Communication dans un congrès inria-00567736v1
	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

	Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers Antonin Dallard , Mehdi Benallegue , Nicola Scianca , Fumio Kanehiro , Abderrahmane Kheddar 2024 Pré-publication, Document de travail hal-04147602v3
	A Balance-Force Controller for a Legged Robot with Multiple Flexible-Contacts Marwan Hamze , Mehdi Benallegue , Rafael Cisneros , Abdelaziz Benallegue 2022 Pré-publication, Document de travail hal-03428689v4
	Velocity-Aided IMU-Based Attitude Estimation Mehdi Benallegue , Abdelaziz Benallegue , Rafael Cisneros , Yacine Chitour 2020 Pré-publication, Document de travail hal-02485372v1
	A head-neck-system to walk without thinking Mehdi Benallegue , Jean-Paul Laumond , Alain Berthoz 2015 Pré-publication, Document de travail hal-01136826v1