Nombre de documents

20

Publications list


Article dans une revue5 documents

Communication dans un congrès14 documents

  • Rafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Hervé Audren, et al.. Robust humanoid control using a QP solver with integral gains. IROS: International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, 〈https://www.iros2018.org〉. 〈hal-01845489v2〉
  • Mehdi Benallegue, Pierre Gergondet, Hervé Audren, Alexis Mifsud, Mitsuharu Morisawa, et al.. Model-Based External Force/Moment Estimation For Humanoid Robots With No Torque Measurement. ICRA: International Conference on Robotics and Automation, May 2018, Brisbane, Australia. IEEE International Conference on Robotics and Automation, 8p., 2018, 〈https://icra2018.org〉. 〈hal-01746095〉
  • Thomas Flayols, Andrea Del Prete, Patrick Wensing, Alexis Mifsud, Mehdi Benallegue, et al.. Experimental Evaluation of Simple Estimators for Humanoid Robots. IEEE RAS International Conference on Humanoid Robots (HUMANOIDS 2017), Nov 2017, Birmingham, United Kingdom. 〈http://humanoids2017.loria.fr/〉. 〈hal-01574819v2〉
  • Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour. Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. International Conference on Humanoid Robot, Nov 2017, Birmingham, United Kingdom. 2017. 〈hal-01499167v3〉
  • Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Stabilization of a Compliant Humanoid Robot Using Only Inertial Measurement Units with a Viscoelastic Reaction Mass Pendulum Model. IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. 2016. 〈hal-01285643〉
  • Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz. The Yoyo-Man. International Symposium on Robotics Research (ISRR), Sep 2015, Sestri Levante, Italy. International Symposium on Robotics Research, 2015. 〈hal-01175591〉
  • Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux. Fusion of Force-Torque Sensors, Inertial Measurements Units and Proprioception for a Humanoid Kinematics-Dynamics Observation. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. 〈hal-01202155〉
  • Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux. Estimation of Contact Forces and Floating Base Kinematics of a Humanoid Robot Using Only Inertial Measurement Units. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 6p., 2015. 〈hal-01142399v2〉
  • Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond. A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system — A complementary filtering approach. IEEE. 2015 IEEE-RAS International Conference on Humanoid Robots, Nov 2015, Seoul, South Korea. pp.1121 - 1126, 2015, 〈10.1109/HUMANOIDS.2015.7363493〉. 〈hal-01175592v3〉
  • Mehdi Benallegue, Florent Lamiraux. Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information. 2014 IEEE-RAS International Conference on Humanoid Robots, Nov 2014, Madrid, Spain. 〈hal-01079797〉
  • Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz. Contribution of actuated head and trunk to passive walkers stabilization. IEEE, International Conference on Robotics and Automation, May 2013, Karlsruhe, France. pp.5638 - 5643, 2013, 〈10.1109/ICRA.2013.6631387〉. 〈hal-01079775〉
  • Mehdi Benallegue, Jean-Paul Laumond. Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain. Robotics: Science and Systems, Jun 2013, Berlin, Germany. 〈hal-01079789〉
  • Mehdi Benallègue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau. A Computational Model for Synchronous Motion Imitation by Humans: The Mirror Controller Applied on Stepping Motions. Humanoids, Dec 2010, Nashville, TN, United States. 10th IEEE-RAS International Conference on Humanoid Robots, pp.322-327, 2010, 〈10.1109/ICHR.2010.5686304〉. 〈inria-00567736〉
  • Mehdi Benallègue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar. Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. IEEE, pp.483-488, 2009, 〈http://www.icra2009.org/〉. 〈10.1109/ROBOT.2009.5152722〉. 〈lirmm-00796369〉

Pré-publication, Document de travail1 document

  • Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz. A head-neck-system to walk without thinking. Rapport LAAS n° 15102. 2015. 〈hal-01136826〉