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Keywords

BPTT Neural networks Central pattern generator Learning Synchrony Accelerometers Biped robot Parkinson's disease Locomotion Calibration Legged locomotion Musculoskeletal model CTRNN Adaptive neural control Evolutionary robotics Human walking Deambulation Artificial skin Gyroscopes Neural control
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Number of documents

70

Curriculum Vitae de Patrick Hénaff

 

Patrick Hénaff 

Professeur des universités

·       Enseignement : Ecole des Mines de Nancy, Département Information et Systèmes

·       Recherche : LORIA, Département Systèmes complexes et intelligence artificielle, équipe Cortex

Patrick Hénaff  a été nommé professeur des universités en septembre 2013 à l’école des Mines de Nancy et au laboratoire LORIA. Il s’intéresse à la modélisation des boucles sensorimotrices qui sont à l’œuvre chez l’humain lors des interactions physiques et sociales interpersonnelles afin de les implémenter dans les contrôleurs des robots humanoïdes pour qu’ils puissent interagir physiquement et socialement avec l’humain et « comme un humain » [AIM2011]. Il travaille depuis plusieurs années sur la genèse des mouvements rythmiques en robotique et plus particulièrement sur l’interaction physique et rythmique homme/robot telle que la poignée de main ou « handshaking » [IFAC2013] [AIM2014]. Il est un spécialiste de la commande des robots mobiles et humanoïdes par des réseaux de neurones dotés de capacités d’apprentissage ou d’adaptation en ligne.

Titres Universitaires

►Juillet 2011 : Habilitation à Diriger des Recherches, “Commande bio-inspirée et genèse de mouvements rythmiques en robotique ”,

►Juin 1994 : Doctorat de l'Université Pierre et Marie Curie, “Mises en Œuvre de Commandes Neuronales Par Rétro-Propagation Indirecte : Applications à la Robotique Mobile”

►Juin 1988 : Maîtrise  électronique et traitement du signal,Université de Rennes I

►Juin 1985 :DUT Génie électrique et informatique industrielle,Université de Rennes I

 

 

Parcours

►Laboratoires de Recherche :

·      2013- : Laboratoire LORIA, UMR7503, CNRS-INRIA-Université de Lorraine

·      2009-2013 : ETIS, équipe Neurocybernétique, UMR CNRS 8051, Université de Cergy Pontoise

·      2002-2008 : Laboratoire d’Ingénierie des Systèmes de Versailles, UVSQ

·      1990-2002 : Laboratoire de Robotique de Paris

 

►Positions

·      2013 - : Professeur des Universités, Mines Nancy, Université de Lorraine

·      1997-2013 : Maître de Conférences, Université  de Cergy-Pontoise,

·      1996-1997 : enseignant contractuel : I.U.T de Vélizy, Département GEII

·      1993-1996 : ATER: I.U.T de Cergy Pontoise, Département GEII

·      1990-1993 : Doctorant, Allocataire de recherche Paris 6, moniteur Paris 7

 

Activité Scientifique

 

Encadrement doctoral :

►MELNYK Artem (2010-  2014), «Perfectionnement des algorithmes de contrôle-commande des robots manipulateurs électriques en interaction physique avec leur environnement par une approche bio-inspirée». 18 décembre 2014.

►KHOMENKO Viacheslav (2009-2013) «Modélisation et compensation des déficiences linéaires et non linéaires dans les transmissions électromécaniques des robots humanoïdes » 8 juillet 2013

►NASSOUR John (2007-2012),“Success-Failure Learning for Humanoid: study on bipedal walking », 7 décembre 2012

►SERHAN Hayssam (2005-2009), «Approches Biomimétiques pour le contrôle de la marche des robots bipèdes : stratégie intuitive et intégration d’un modèle de muscle». 9 juillet 2009

►HOINVILLE Thierry (2002-2007), «Évolution de contrôleurs neuronaux plastiques. De la locomotion adaptée vers la locomotion adaptative». 25 octobre 2007

►SCESA Vincent (2003-2006), «Contrôle adaptatif par réseaux de neurones : évaluation d’une implémentation temps réel sur un contrôleur industriel multiprocesseur pour le contrôle du comportement dynamique d’une structure mécanique complexe». 20 octobre 2006

►THIEFFRY Rolland (2000-2004), «Étude et validation de systèmes adaptatifs d'aide à l'autonomie des personnes handicapées». 8 décembre 2004,

Activité internationale :

►Grande Bretagne :

·      Université de Cardiff (Prof. P. Granjon, School of Art and Design, Fine-Art) : Atelier pédagogique ARTEM, robot médiateur dans un musée

►Luxembourg :

·      Université du Luxembourg

o   Mechanical  department  (Pr. Plapper, robotique) 

o   Computer sciences département. (Prof Van der Torre) : Atelier pédagogique ARTEM, robot médiateur dans un musée

►Ukraine :  

·      Kiev Polytechnique Institue : 2013- : coopération sur la mesure des mouvements humains (Pr. A. Popov)

·      UniversitéNationale Technique de Donetsk (UNTD),

o   2011-2013 : Responsable d'un projet Egide-PHC Dnipro

o   2011- : Création d’un parcours Master Franco/Ukrainien

o   2009-2012 : 2 Cotutelles de thèse : V. Khomenko, A. Melnyk

►Liban : Université Libanaise :

·      2009 : Thèse de Hayssam Serhan,“Approches biomimétiques pour le contrôle de la marche thèse avec le Pr. C. Nasr, Université Libanaise.

►Afrique du sud : Université TUT, Pretoria, Centre Franco-Sud Africain,:

·      2007-2013 : Expert externe pour l’évaluation des rapports de Master de technologie

►Allemagne :

·      Université Otto Von Guericke de MagdeBurg,:

o   2003/2005 : Projet PAI-Egide (Procope) avec IRISA (Rennes): «l’Etude de la commande symbolique et neuronale d'une main artificielle à partir de signaux myo-électriques».

·      UniversitéTechnique de Munich, CoTeSys, Central Robotics Laboratory :

o   2007-2013 : Co-encadrement doctoral avec le Pr G. Cheng: thèse de John Nassour.

Jurys de thèse (Hors doctorants encadrés) :

►Rapporteur

·      Madame Hoda SBAITI, Optimisation sur un modèle de comportement pour la thérapie en oncologie, Université de Versailles St-Quentin en Yvelines, 17 sept 2013

·      Mata KHALILI, Co-tutelle Tohoku university , Japon,« Estimation de caractéristiques humaines pour le contrôle d'une aide robotisée à la marche » ou «Estimation of human characteristics for controlling a robotic walking aid », Université de Versailles St-Quentin en Yvelines, 9 juillet 2014

·      GAetan André, Modélisation oscillatoire de l’écriture manuscrite, Université de Toulouse Paul Sabatier, 11 decembre 2013

►Président :

·      Madame Chunling TU, Cotutelle afrique du sud, "Ameliorations de la Tranformee de Hough en traitment d'images", Université Paris-Est, 23 septembre 2014

 

·      Alin-Mihai CĂILEAN, Co-tutelle Roumanie, Study, implementation and optimization of a visible light communications system. Application to automotive field. , Université de Versailles St-Quentin en Yvelines, 8 décembre 2014

Journal articles17 documents

  • Andrii Dmytrovych Shachykov, Julien Frère, Patrick Henaff. Simulation of spinal muscle control in human gait using OpenSim. IEEE Transactions on Medical Robotics and Bionics, IEEE, 2022, 4 (1), pp.254-265. ⟨10.1109/tmrb.2022.3143263⟩. ⟨hal-03527433⟩
  • Viacheslav Osaulenko, Bernard Girau, Oleksandr Makarenko, Patrick Henaff. Increasing Capacity of Association Memory by Means of Synaptic Clustering. Neural Processing Letters, Springer Verlag, 2019, 50 (3), pp.2717-2730. ⟨10.1007/s11063-019-10051-7⟩. ⟨hal-02143550⟩
  • Artem Melnyk, Patrick Henaff. Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context. International Journal of Social Robotics, Springer, In press, ⟨10.1007/s12369-019-00525-y⟩. ⟨hal-01988627⟩
  • Melanie Jouaiti, Patrick Henaff. Robot-Based Motor Rehabilitation in Autism: A Systematic Review. International Journal of Social Robotics, Springer, 2019, 11 (5), pp.753-764. ⟨10.1007/s12369-019-00598-9⟩. ⟨hal-02295952⟩
  • Melanie Jouaiti, Patrick Henaff. Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers. Biological Cybernetics (Modeling), Springer Verlag, 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩. ⟨hal-02291575⟩
  • Melanie Jouaiti, Lancelot Caron, Patrick Henaff. Hebbian Plasticity in CPG Controllers Facilitates Self-Synchronization for Human-Robot Handshaking. Frontiers in Neurorobotics, Frontiers, 2018, 12, pp.1-15. ⟨10.3389/fnbot.2018.00029⟩. ⟨hal-01811316⟩
  • Oleksii Avilov, Anton Popov, Vladimir Timofieiev, Laurent Bougrain, Patrick Henaff. ОЦІНКА ЯКОСТІ УЯВНИХ РУХІВ НА ОСНОВІ МАШИННОГО НАВЧАННЯ ДЛЯ ЗАСТОСУВАННЯ В НЕЙРОКОМП’ЮТЕРНИХ ІНТЕРФЕЙСАХ. Microsystems, Electronics and Acoustics, Oleksii Viktorovych Bogdanov, 2018, 23 (5), pp.25-31. ⟨10.20535/2523-4455.2018.23.5.134021⟩. ⟨hal-02153795⟩
  • Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak. Нейро-мускульноскелетный симулятор ритмических движений тазобедренного сустава человека. Bulletin of National Technical University of Ukraine "KPI". Series Instrument Making, National Technical University of Ukraine "Kyiv Polytechnic Institute", 2018, 55(1), pp.118-125. ⟨10.20535/1970.55(1).2018.135832⟩. ⟨hal-01798576⟩
  • John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots. Biological Cybernetics (Modeling), Springer Verlag, 2014, pp.19. ⟨10.1007/s00422-014-0592-8⟩. ⟨hal-01111244⟩
  • Thierry Hoinville, C. Tapia, Patrick Henaff. Flexible and Stable Pattern Generation by Evolving Constrained Plastic Neurocontrollers. Adaptive Behavior, SAGE Publications, 2011, 19, pp.187-207. ⟨10.1177/1059712311403631⟩. ⟨hal-00784897⟩
  • Elmira Amrollah, Patrick Henaff. On the role of sensory feedbacks in Rowat-Selverston CPG to improve robot legged locomotion. Frontiers in Neurorobotics, Frontiers, 2010, 4 (113), pp.1-9. ⟨10.3389/fnbot.2010.00113⟩. ⟨hal-00552103⟩
  • Patrick Henaff, Vincent Scesa, Fethi Ben Ouezdou, Olivier Bruneau. Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture. Control Engineering Practice, Elsevier, 2010, 19 (1), pp.89 - 99. ⟨10.1016/j.conengprac.2010.10.002⟩. ⟨hal-00538710⟩
  • Patrick Henaff, Viacheslav Khomenko, Vladimir Borysenko. generalized model of articulated electromechanical systems with elasticities in transmissions. Journal of Technical Electrodynamics Institut d'Électrodynamique de l'Académie Nationale des Sciences d'Ukraine., 2010, 1, pp.141-146. ⟨hal-00523315⟩
  • Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff. MUSCLE EMULATION WITH DC MOTOR AND NEURAL NETWORKS FOR BIPED ROBOTS. International Journal of Neural Systems, World Scientific Publishing, 2010, 20 (4), pp.341-353. ⟨10.1142/S0129065710002450⟩. ⟨hal-00519954⟩
  • Thierry Hoinville, Patrick Henaff, Stéphane Delaplace. Etude sur l'intérêt des modèles biologiques de réseaux de neurones pour la synthèse de rythmes locomoteurs adaptatifs. Journal Européen des Systèmes Automatisés (JESA), Lavoisier, 2007, Vol. 41 (N°3/4), pp.413-435. ⟨hal-00519907⟩
  • Thierry Hoinville, Patrick Henaff, Eric Monacelli. Evolving Simplistic Neural Controllers toward Adaptation to Internal Perturbations. AMSE Journal of Advances in Modelling, advances C, 2005, 60 (6), pp.57-71. ⟨hal-00519921⟩
  • Patrick Henaff, Eric Monacelli, Stéphane Delaplace, Rolland Thieffry. Technical aid adaptation with robotic. AMSE Journal of Advances in Modelling, advances C, 2003, 60 (6), pp.57-71. ⟨hal-00523332⟩

Conference papers49 documents

  • Lauriane Le Pape, Patrick Henaff, Tomohiro Shibata, Rikuo Kawamoto, Taiki Yoshitake. Towards a neuromusculoskeletal platform to simulate healthy and deficient gait with assistive devices. IEEE ICRA 2022 _ 4th Workshop on Integrating Multidisciplinary Approaches to Advance Physical Human-Robot Interaction: Challenges of Interfacing Wearable Robots with the Human Neuromotor System, May 2022, Philadelphia, United States. ⟨hal-03674286⟩
  • Baptiste Menges, Adrien Guenard, Patrick Henaff. Dynamic Oscillators to Compensate Master Devices Imperfections in Robots Teleoperation Tasks Requiring Dynamic Movements. CASE 2021 - IEEE 17th International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨hal-03336509⟩
  • Baptiste Menges, Adrien Guenard, Patrick Henaff. Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry Applications. ISR 2021 - IEEE International Conference on Intelligence and Safety for Robotics, Mar 2021, Nagoya/ Virtual, Japan. ⟨10.1109/ISR50024.2021.9419530⟩. ⟨hal-03164389⟩
  • Melanie Jouaiti, Patrick Henaff. Real Time Movement Classification in Versatile CPG Control. Workshop on Robust Artificial Intelligence for Neurorobotics, Aug 2019, Edinburgh, United Kingdom. ⟨hal-02291647⟩
  • Melanie Jouaiti, Patrick Henaff. Motor Coordination Learning for Rhythmic Movements. Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway. ⟨hal-02144957⟩
  • Melanie Jouaiti, Patrick Henaff. The Sound of Actuators: Disturbance in Human -Robot Interactions?. Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway. ⟨hal-02144955⟩
  • Andrii Dmytrovych Shachykov, Oleksandr Shuliak, Patrick Henaff. Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator. IJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary. ⟨hal-02309658⟩
  • Oleksii Avilov, Anton Popov, Vladimir Ivanovich Timofeyev, Laurent Bougrain, Patrick Henaff. Класифікація комбінованих уявних рухів за допомогою бінарних класифікаторів у нейрокомп’ютерних інтерфейсах. XVII International scientific and technical conference “Physical processes and fields of technical and biological objects”, Nov 2018, Kremenchuk, Ukraine. ⟨hal-01928217⟩
  • Melanie Jouaiti, Patrick Henaff. CPG-based Controllers can Generate Both Discrete and Rhythmic Movements. IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01837189⟩
  • Melanie Jouaiti, Patrick Henaff. Plastic CPG-based Robot Controllers for Human-Robot Rhythmic Interactions. JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France. ⟨hal-02024599⟩
  • Melanie Jouaiti, Patrick Henaff. CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions. ARSO 2018 - IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy. ⟨hal-01825464v2⟩
  • Andrii Dmytrovych Shachykov, Patrick Henaff, Alexander Shulyak. Modeling of human gait control using CPGs. JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France. ⟨hal-02006019⟩
  • V V Avrutov, P M Aksonenko, P Henaff, Laurent Ciarletta. 3D-Calibration of the IMU. ELNANO 2017 - IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩. ⟨hal-01654279⟩
  • Henaff Patrick. From the control of biological complex systems toward the control of robotic complex systems . International Conference on Computer Science and Computational Intelligence (ICCSCI), Oct 2017, bali, Indonesia. ⟨hal-01843711⟩
  • Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak. Neuro-musculoskeletal Simulator of Human Rhythmic Movements. UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine. ⟨hal-01798629⟩
  • Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak. CPG-based circuitry for controlling musculoskeletal model of human locomotor system. BioCAS 2017 - IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy. ⟨hal-01798605⟩
  • Vadym Avrutov, Petro Aksonenko, Nadiya Bouraou, Henaff Patrick, Laurent Ciarletta. Expanded Calibration of the MEMS Inertial Sensors. UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩. ⟨hal-01654275⟩
  • Artem Melnyk, Patrick Henaff. Bio-inspired plastic controller for a robot arm to shake hand with human. IEEE 36th International Conference on ELECTRONICS AND NANOTECHNOLOGY ELNANO-2016, Univ KPI, Apr 2016, Kiev, Ukraine. pp.163-168. ⟨hal-01310304⟩
  • Artem Melnyk, Patrick Henaff, Anton Popov. Analysis of a handshake between humans using wavelet transforms. ELNANO 2015 - IEEE 35th International Conference on Electronics and Nanotechnology, Apr 2015, kiev, Ukraine. pp.397 - 401, ⟨10.1109/ELNANO.2015.7146918⟩. ⟨hal-01255181⟩
  • Patrick Henaff. Interaction rythmique homme/robot : cas du « handshaking. JNRI 2014, Journées Nationales de la Robotique Interactive, Dec 2014, toulouse, France. ⟨hal-01111253⟩
  • Artem Melnyk, Vladimir Borysenko, Patrick Henaff. Analysis of synchrony of a handshake between humans. AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1753-1758, ⟨10.1109/AIM.2014.6878337⟩. ⟨hal-01111248⟩
  • Ganna Pugach, Alexandre Pitti, Artem Melnyk, Patrick Henaff, Philippe Gaussier. Learning spatial Touch in an Artificial Skin with Neural Network. Eurohaptics 2014, 2014, versailles, France. pp.458-460, ⟨10.1007/978-3-662-44196-1⟩. ⟨hal-01111217⟩
  • Artem Melnyk, Viacheslav Khomenko, Patrick Henaff, Vladimir Borysenko. Sensor network architecture to measure characteristics of a handshake between humans. Electronics and Nanotechnology (ELNANO), 2014 IEEE 34th International Conference on, 2014, Kiev, Ukraine. pp.264- 268, ⟨10.1109/ELNANO.2014.6873983⟩. ⟨hal-01111251⟩
  • Ganna Pugach, Viacheslav Khomenko, Artem Melnyk, Alexandre Pitti, Patrick Henaff, et al.. Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions. ELNANO 2013 - 33rd IEEE International Scientific Conference Electronics and Nanotechnology, Apr 2013, Kiev, Ukraine. pp.5, ⟨10.1109/ELNANO.2013.6552033⟩. ⟨hal-00784892⟩
  • Artem Melnyk, Viacheslav Khomenko, Vladimir Borysenko, Patrick Henaff. Physical human-robot interaction in the handshaking case: learning of rhythmicity using oscillators neuron. 2013 IFAC Conference on Manufacturing Modelling, Management, and Control, IFAC MIM '2013, Jun 2013, St Petersbourg, Russia. ⟨hal-00802019⟩
  • Viacheslav Khomenko, Patrick Henaff, Olivier Bruneau, Fethi Ben Ouezdou, Vladimir Borysenko, et al.. Non-Invasive Low Cost Method for Linear and Angular Accelerations Measurement in Biped Locomotion Mechanism. IEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759. ⟨hal-00667677⟩
  • John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Bipedal Locomotion Control with Rhythmic Neural Circuits. International Workshop on Bio-Inspired Robots, Apr 2011, nantes, France. ⟨hal-00667709⟩
  • John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Experience-based Learning Mechanism with a Concept of Vigilance. Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting 2011, Nov 2011, Bernstein, Germany. ⟨10.3389/conf.fncom.2011.53.00099⟩. ⟨hal-00667682⟩
  • Artem Melnyk, Sébastien Razakarivony, Patrick Henaff, Vladimir Borysenko, Philippe Gaussier. Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩. ⟨hal-00667693⟩
  • John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and Classification. International Conference on Simulation of Adaptive behavior, SAB 2010,, Aug 2010, France. pp.313-324. ⟨hal-00519947⟩
  • John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Experience-based Learning Mechanism for Neural Controller Adaptation: Application to Walking Biped Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009 ), Sep 2009, France. pp.4955-4961. ⟨hal-00519941⟩
  • Samer Alfayad, Fethi Ben Ouezdou, Faycal Namoun, Olivier Bruneau, Patrick Henaff. Three DOF Hybrid Mechanism for Humanoid Robotic Application:Modeling, Design and Realization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Sep 2009, United States. pp.4955-4961. ⟨hal-00519956⟩
  • Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou. Dynamic Control Strategy of a Biped Inspired from Human Walking. IEEE-RAS/EMBS Inter.l Conference on Biomedical Robotics and Biomechatronics -BioRob 2008, Oct 2008, Scottsdale, United States. pp.342-347. ⟨hal-00523030⟩
  • Hayssam Serhan, Patrick Henaff, Fethi Ben Ouezdou, Chaiban G. Nasr. A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008, Sep 2008, Nice, France. pp.2479- 2485. ⟨hal-00523317⟩
  • Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou. State Machine-Based Controller for Walk-Halt-Walk Transitions on a Biped Robot. IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Dec 2008, Daejeon, South Korea. pp.535-540. ⟨hal-00519960⟩
  • Patrick Henaff, Hayssam Serhan, Chaiban G. Nasr. Designing a Muscle like System based on PID Controller and Tuned by Neural Network. IEEE International Joint Conference on Neural Networks, Jul 2006, vancouver, Canada. pp.10090-10097. ⟨hal-00523295⟩
  • Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun. Time Window Width Influence On Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study. 16th International Conference on Artificial Neural Networks, ICANN 2006, Sep 2006, athene, Greece. pp.93 -102. ⟨hal-00523037⟩
  • Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun. On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT Algorithm. IEEE International Joint Conference on Neural Networks, IJCNN 2006,, Jul 2006, Vancouver, Canada. pp.4498 - 4505. ⟨hal-00523039⟩
  • Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fethi Ben Ouezdou. Dynamic recurrent neural network for biped robot equilibrium control: preliminary results. IEEE International Conference on Robotics and Automation, ICRA 2005, Apr 2005, Barcelone, Spain. pp.4125-4130. ⟨hal-00523322⟩
  • Thierry Hoinville, Patrick Henaff. Evolving Plastic Neural Controllers stabilized by Homeostatic Mechanisms for Adaptation to a Perturbation. International Conference on the Simulation and Synthesis of Living Systems (ALIFE9, Sep 2004, boston, United States. pp.81-88. ⟨hal-00522803⟩
  • Thierry Hoinville, Patrick Henaff. Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2004, Japan. pp.2624-2629. ⟨hal-00523324⟩
  • Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace. Configuring sensors by user learning for a locomotion aid interface .. IEEE International Conference on Robotics and Automation, ICRA 2003, May 2003, Pekin, China. pp.1509-1514. ⟨hal-00523331⟩
  • Patrick Henaff, Olivier Chocron. Adaptive Learning Control in Evolutionary Design of Mobile Robots,. IEEE International Conference on Systems, Man and Cybernetics, Oct 2002, Tunisia. pp.345-349. ⟨hal-00523329⟩
  • Patrick Henaff, Olivier Chocron. Evolving mobile robots with learning abilities by neural controller. International Symposium on Measurement and Control In Robotics , Jun 2002, bourges, France. ⟨hal-01843705⟩
  • Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace. Approaches and learning phases for a robotic adaptive deambulation task. IEEE International Conference on Systems, Man and Cybernetics, SMC 2002, Oct 2002, Hammamet, Tunisia. pp.210-215. ⟨hal-00523327⟩
  • Henaff Patrick, Stéphane Delaplace. Backpropagation Algorithm Without Output Desired: Implementation of Neural Control in Mobile Robotics,. Int. Conf. on Neural Networks and their Applications, 1996, Marseille, France. ⟨hal-01843718⟩
  • Henaff Patrick, Maurice Milgram. Adaptive Neural Control with Backpropagation Algorithm. IEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France. ⟨hal-01843723⟩
  • Patrick Henaff, M. Milgram, J. Rabit. Adaptive neural control in mobile robotics: experimentation for a wheeled cart. IEEE International Conference on Systems, Man and Cybernetics, Oct 1994, San Antonio, France. ⟨10.1109/ICSMC.1994.399997⟩. ⟨hal-01843721⟩
  • Patrick Henaff, Holger Schwenk, M. Milgram. A Neural Network Approach of the Control of Dynamic Biped Equilibrium. 3rd International Symposium on Measurement and Control in Robotics (ISMCR '93), Sep 1993, Turin, Italy. pp.AS.II-19. ⟨hal-01348277⟩

Book sections2 documents

  • Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak. Comparison of measured and modeled movements of the human lower limbs. АКТУАЛЬНІ ПРОБЛЕМИ АВТОМАТИКИ ТА ПРИЛАДОБУДУВАННЯ, 2017, 978-6177577-38-5. ⟨hal-01798594⟩
  • Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff. Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the Plant. ASME books. Intelligent Engineering Systems Through Artificial Neural Networks, ASME books, pp.747-752, 2006. ⟨hal-00523296⟩

Directions of work or proceedings1 document

Habilitation à diriger des recherches1 document

  • Patrick Henaff. Commande bio-inspirée et genèse de mouvements rythmiques en robotique. Automatique / Robotique. Université de Cergy Pontoise, 2011. ⟨tel-00667651⟩