Mehdi Benallegue

75 papers A* 4A 7Journal 36Unranked 27

Year	Rank	Type	Title / Venue / Authors
2026	—	`conf`	Estimation-based Control of Forces Applied to Parts of Humanoids That Do Not Have Force Sensors. AMC Yunosuke Aoyama, Mehdi Benallegue, Arnaud Demont, Fumio Kanehiro
2026	—	`conf`	Passivity-based Vs Momentum-residual-based external Disturbance Compensation for Closed Loop Torque Control : A comparative study. SII Martin Soucail, Mehdi Benallegue, Mathieu Célérier, Bastien Muraccioli, Thomas Duvinage, Helene Stefanelli, Rafael Cisneros Limón
2026	J	`jnl`	QP-Based Control of an Underactuated Aerial Manipulator under Constraints. CoRR Nesserine Laribi, Mohammed Rida Mokhtari, Abdelaziz Benallegue, AbdelHafid El Hadri, Mehdi Benallegue
2026	—	`conf`	QP-based impact momentum maximization for a hammering task by a humanoid robot. AMC Jimmy Vu, Ruud Erens, Helene Stefanelli, Rafael Cisneros, Mehdi Benallegue, Abdelaziz Benallegue
2026	—	`conf`	RGB-D Fusion for Wide Field of View User Feedback in Teleoperation Context. SII Raphaël D'Orfani, Antoine N. André, Mehdi Benallegue, Rafael Cisneros Limón, Guillaume Caron
2025	J	`jnl`	A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. Int. J. Soc. Robotics Rafael Cisneros Limón, Antonin Dallard, Mehdi Benallegue, Kenji Kaneko, Hiroshi Kaminaga, Pierre Gergondet, Arnaud Tanguy, Rohan Pratap Singh, Leyuan Sun, Yang Chen, Carole Fournier, Guillaume Lorthioir, Masato Tsuru, Sélim Chefchaouni Moussaoui, Yukiko Osawa, Guillaume Caron, Kevin Chappellet, Mitsuharu Morisawa, Adrien Escande, Ko Ayusawa, Younes Houhou, Iori Kumagai, Michio Ono, Koji Shirasaka, Shiryu Wada, Hiroshi Wada, Fumio Kanehiro, Abderrahmane Kheddar
2025	—	`conf`	Comparative Analysis of Dynamic Balance Descriptors in Humanoids and Humans During Perturbed Bipedal Locomotion and Fall. Humanoids Sirikorn Chalanunt, Ariane Lallès, Arnaud Demont, Mehdi Benallegue, Bruno Watier, Hélène Pillet
2025	J	`jnl`	Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications. CoRR Bastien Muraccioli, Mathieu Célérier, Mehdi Benallegue, Gentiane Venture
2025	J	`jnl`	Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. CoRR Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2025	J	`jnl`	Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. IEEE Robotics Autom. Mag. Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine N. André, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon
2025	A	`conf`	Landmark-Based Goal Recognition for Shared Autonomy: A Framework for Enhanced Teleoperation. IROS Guillaume Lorthioir, Mehdi Benallegue, Rafael Cisneros Limón, Ixchel Georgina Ramirez-Alpizar
2025	J	`jnl`	Robust Bipedal Walking With Closed-Loop MPC: Adios Stabilizers. IEEE Trans. Robotics Antonin Dallard, Mehdi Benallegue, Nicola Scianca, Fumio Kanehiro, Abderrahmane Kheddar
2025	J	`jnl`	Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning. CoRR Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue, Zhaoming Xie, Fumio Kanehiro
2024	J	`jnl`	Compliant Contacts Balance-Force Controller for Legged Robots. IEEE Robotics Autom. Lett. Marwan Hamze, Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue
2024	J	`jnl`	Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction. ACM Trans. Hum. Robot Interact. Naoko Abe, Yue Hu, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida
2024	J	`jnl`	Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. CoRR Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros Limón, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine N. André, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon
2024	—	`conf`	Motion Accuracy and Computational Effort in QP-based Robot Control. Humanoids Sélim Chefchaouni, Mehdi Benallegue, Adrien Escande, Pierre-Brice Wieber
2024	—	`conf`	Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning. Humanoids Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue, Zhaoming Xie, Fumio Kanehiro
2024	J	`jnl`	The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. CoRR Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue, Pierre Gergondet, Antonin Dallard, Rafael Cisneros, Masaki Murooka, Fumio Kanehiro
2023	J	`jnl`	Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction. Sensors Sélim Chefchaouni Moussaoui, Rafael Cisneros Limón, Hiroshi Kaminaga, Mehdi Benallegue, Taiki Nobeshima, Shusuke Kanazawa, Fumio Kanehiro
2023	J	`jnl`	Synchronized Human-Humanoid Motion Imitation. IEEE Robotics Autom. Lett. Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar
2023	J	`jnl`	Velocity-Aided IMU-Based Tilt and Attitude Estimation. IEEE Trans. Autom. Control. Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros, Yacine Chitour
2022	—	`conf`	Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. Humanoids Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros Limón, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro
2022	J	`jnl`	Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. CoRR Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro
2022	J	`jnl`	Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. CoRR Rohan P. Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
2022	—	`conf`	Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. Humanoids Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro
2022	J	`jnl`	Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. CoRR Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro
2022	J	`jnl`	Toward Active Physical Human-Robot Interaction: Quantifying the Human State During Interactions. IEEE Trans. Hum. Mach. Syst. Yue Hu, Naoko Abe, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida
2021	J	`jnl`	Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2021	A	`conf`	On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. IROS Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Arnaud Tanguy, Adrien Escande, Mitsuharu Morisawa, Fumio Kanehiro
2021	A*	`conf`	Rapid Pose Label Generation through Sparse Representation of Unknown Objects. ICRA Rohan P. Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
2020	J	`jnl`	An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. Adv. Robotics Rafael Cisneros Limón, Mitsuharu Morisawa, Mehdi Benallegue, Adrien Escande, Fumio Kanehiro
2020	—	`conf`	Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. SII Rohan P. Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
2020	J	`jnl`	Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction. IEEE Robotics Autom. Lett. Yue Hu, Mehdi Benallegue, Gentiane Venture, Eiichi Yoshida
2020	J	`jnl`	Lyapunov-Stable Orientation Estimator for Humanoid Robots. CoRR Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro
2020	J	`jnl`	Lyapunov-Stable Orientation Estimator for Humanoid Robots. IEEE Robotics Autom. Lett. Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro
2020	J	`jnl`	Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. IEEE Robotics Autom. Lett. Iori Kumagai, Mitsuharu Morisawa, Shizuko Hattori, Mehdi Benallegue, Fumio Kanehiro
2020	J	`jnl`	On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. CoRR Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
2020	J	`jnl`	On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. Int. J. Robotics Res. Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
2020	J	`jnl`	Rapid Pose Label Generation through Sparse Representation of Unknown Objects. CoRR Rohan P. Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
2020	A	`conf`	Reliable chattering-free simulation of friction torque in joints presenting high stiction. IROS Rafael Cisneros, Mehdi Benallegue, Ryo Kikuuwe, Mitsuharu Morisawa, Fumio Kanehiro
2020	J	`jnl`	Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. Int. J. Humanoid Robotics Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
2019	—	`conf`	Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. Humanoids Iori Kumagai, Mitsuharu Morisawa, Mehdi Benallegue, Fumio Kanehiro
2019	J	`jnl`	Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. IEEE Robotics Autom. Lett. François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères
2019	A	`conf`	Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. IROS Mitsuharu Morisawa, Mehdi Benallegue, Rafael Cisneros Limón, Iori Kumagai, Adrien Escande, Kenji Kaneko, Fumio Kanehiro
2019	—	`conf`	Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. Humanoids Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro
2019	—	`conf`	QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot. Humanoids Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Fumio Kanehiro
2019	J	`jnl`	Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. IEEE Robotics Autom. Mag. Iori Kumagai, Fumio Kanehiro, Mitsuharu Morisawa, Takeshi Sakaguchi, Shinichiro Nakaoka, Kenji Kaneko, Hiroshi Kaminaga, Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros
2018	—	`conf`	Biped Gait Control Based on Spatially Quantized Dynamics. Humanoids Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro
2018	A*	`conf`	Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. ICRA Mehdi Benallegue, Pierre Gergondet, Herve Audrerr, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio Kanehiro
2018	—	`conf`	Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. Humanoids Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
2018	—	`conf`	Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver. Humanoids Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Eiichi Yoshida, Kazuhito Yokoi, Fumio Kanehiro
2018	A	`conf`	Robust Humanoid Control Using a QP Solver with Integral Gains. IROS Rafael Cisneros Limón, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Herve Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio Kanehiro
2018	J	`jnl`	Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. CoRR Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
2017	—	`conf`	Biped walking pattern generation based on spatially quantized dynamics. Humanoids Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro
2017	—	`conf`	Experimental evaluation of simple estimators for humanoid robots. Humanoids Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
2017	J	`jnl`	On the centre of mass motion in human walking. Int. J. Autom. Comput. Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond
2017	—	`ch.`	Robot Motion Planning and Control: Is It More than a Technological Problem? Geometric and Numerical Foundations of Movements Mehdi Benallegue, Jean-Paul Laumond, Nicolas Mansard
2017	J	`jnl`	The Yoyo-Man. Int. J. Robotics Res. Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
2017	—	`conf`	Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. Humanoids Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
2016	—	`conf`	Bipedal Locomotion: A Continuous Tradeoff Between Robustness and Energy-Efficiency. Biomechanics of Anthropomorphic Systems Mehdi Benallegue, Jean-Paul Laumond
2016	J	`jnl`	Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2016	—	`conf`	Impact acceleration of falling humanoid robot with an airbag. Humanoids Shuuji Kajita, Rafael Cisneros, Mehdi Benallegue, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro
2016	A	`conf`	Stabilization of a compliant humanoid robot using only Inertial Measurement Units with a viscoelastic reaction mass pendulum model. IROS Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
2015	—	`conf`	A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. Humanoids Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
2015	J	`jnl`	Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. Int. J. Humanoid Robotics Mehdi Benallegue, Florent Lamiraux
2015	A	`conf`	Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units. IROS Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
2015	—	`conf`	Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation. Humanoids Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux
2015	—	`conf`	The Yoyo-Man. ISRR (2) Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
2014	J	`jnl`	A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients. IEEE Trans. Robotics Adrien Escande, Sylvain Miossec, Mehdi Benallegue, Abderrahmane Kheddar
2014	—	`conf`	Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information. Humanoids Mehdi Benallegue, Florent Lamiraux
2013	A*	`conf`	Contribution of actuated head and trunk to passive walkers stabilization. ICRA Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
2013	—	`conf`	Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain. Robotics: Science and Systems Mehdi Benallegue, Jean-Paul Laumond
2010	—	`conf`	A computational model for synchronous motion imitation by humans: The mirror controller applied on stepping motions. Humanoids Mehdi Benallegue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau
2009	A*	`conf`	Fast C ICRA Mehdi Benallegue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar