Abderrahmane Kheddar

ORCID

Publication Activity (10 Years)

Years Active: 1996-2024
Publications (10 Years): 126

Top Venues

CoRR

Humanoids

IEEE Robotics Autom. Lett.

ICRA

Publications

Seiichiro Katsura, Jingang Yi, Abderrahmane Kheddar
Special issue on control, mechatronics, and integrated design for physical human support. Adv. Robotics 38 (12) (2024)
Nícolas Figueroa, Julio Tafur, Abderrahmane Kheddar
Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC. SII (2024)
Kevin Chappellet, Masaki Murooka, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar
Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM With Wide-Angle Depth-Images. IEEE Trans Autom. Sci. Eng. 21 (3) (2024)
Abderrahmane Kheddar
In Memoriam: Philippe Coiffet (1940-2023) [Society News]. IEEE Robotics Autom. Mag. 31 (1) (2024)
Johan Medrano, Abderrahmane Kheddar, Sofiane Ramdani
Assessing time series correlation significance: A parametric approach with application to physiological signals. Biomed. Signal Process. Control. 94 (2024)
Kai Pfeiffer, Abderrahmane Kheddar
Efficient Lexicographic Optimization for Prioritized Robot Control and Planning. CoRR (2024)
Kris Hauser, Eleanor Watson, Joonbum Bae, Josh Bankston, Sven Behnke, Bill Borgia, Manuel G. Catalano, Stefano Dafarra, Jan B. F. van Erp, Thomas Ferris, Jeremy Fishel, Guy Hoffman, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaelle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Y. Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Daniele Pucci, Jean Chagas Vaz, Peter Whitney, Peggy Wu, David Locke
Analysis and Perspectives on the ANA Avatar XPRIZE Competition. CoRR (2024)
Ahmed Zermane, Niels Dehio, Abderrahmane Kheddar
Planning Impact-Driven Logistic Tasks. IEEE Robotics Autom. Lett. 9 (3) (2024)
Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar
Synchronized Human-Humanoid Motion Imitation. IEEE Robotics Autom. Lett. 8 (7) (2023)
Kai Pfeiffer, Abderrahmane Kheddar
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control. CoRR (2023)
Kai Pfeiffer, Adrien Escande, Pierre Gergondet, Abderrahmane Kheddar
The hierarchical Newton's method for numerically stable prioritized dynamic control. CoRR (2023)
Carole Fournier, Cécile Michelon, Arnaud Tanguy, Paul Audoyer, Véronique Granit, Amaria Baghdadli, Abderrahmane Kheddar
A Pilot Usability Study of a Humanoid Avatar to Assist Therapists of ASD Children. ICSR (1) (2023)
Kai Pfeiffer, Adrien Escande, Pierre Gergondet, Abderrahmane Kheddar
The Hierarchical Newton's Method for Numerically Stable Prioritized Dynamic Control. IEEE Trans. Control. Syst. Technol. 31 (4) (2023)
Yuquan Wang, Niels Dehio, Arnaud Tanguy, Abderrahmane Kheddar
Impact-aware task-space quadratic-programming control. Int. J. Robotics Res. 42 (14) (2023)
Yukiko Osawa, Yukiyasu Domae, Ichiro Ogura, Yoshiyuki Furukawa, Abderrahmane Kheddar
Robotic Thermoregulation for Material Identification using Recycled Inner-Generated Motor Heat. ROBIO (2023)
Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots. CoRR (2023)
Sorina-Silvia Cîrcu, Bruno Yun, Abderrahmane Kheddar, Chu-Yin Chen, Madalina Croitoru
Dance, Dance, Dance With My Hands: Third-Party Human Robot-Human Interactions. RO-MAN (2023)
Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
Impact-Aware Multi-Contact Balance Criteria. CoRR (2023)
Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots. IEEE Trans. Robotics 39 (5) (2023)
Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, Sami Haddadin
Robust Cartesian Kinematics Estimation for Task-Space Control Systems. IROS (2022)
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator. CoRR (2022)
Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros Limón, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. Humanoids (2022)
Christopher Yee Wong, Saeid Samadi, Wael Suleiman, Abderrahmane Kheddar
Touch Semantics for Intuitive Physical Manipulation of Humanoids. IEEE Trans. Hum. Mach. Syst. 52 (6) (2022)
Santos M. Orozco-Soto, Juan Manuel Ibarra Zannatha, Abderrahmane Kheddar
Robust Position Regulation of a Seesaw Actuated by a Humanoid. CASE (2022)
Mohamed Djeha, Antonin Dallard, Ahmed Zermane, Pierre Gergondet, Abderrahmane Kheddar
Human-Robot Handovers using Task-Space Quadratic Programming. CoRR (2022)
Yukiko Osawa, Kei Kase, Yukiyasu Domae, Yoshiyuki Furukawa, Abderrahmane Kheddar
Material Classification Using Active Temperature Controllable Robotic Gripper. SII (2022)
Mohamed Djeha, Antonin Dallard, Ahmed Zermane, Pierre Gergondet, Abderrahmane Kheddar
Human-Robot Handovers using Task-Space Quadratic Programming. RO-MAN (2022)
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator. IEEE Robotics Autom. Lett. 7 (3) (2022)
Yang Chen, Leyuan Sun, Mehdi Benallegue, Rafael Cisneros, Rohan P. Singh, Kenji Kaneko, Arnaud Tanguy, Guillaume Caron, Kenji Suzuki, Abderrahmane Kheddar, Fumio Kanehiro
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. CoRR (2022)
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts. IEEE Robotics Autom. Lett. 7 (2) (2022)
Niels Dehio, Yuquan Wang, Abderrahmane Kheddar
Dual-Arm Box Grabbing With Impact-Aware MPC Utilizing Soft Deformable End-Effector Pads. IEEE Robotics Autom. Lett. 7 (2) (2022)
Saeid Samadi, Julien Roux, Arnaud Tanguy, Stéphane Caron, Abderrahmane Kheddar
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts. IEEE Robotics Autom. Lett. 6 (2) (2021)
Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. 6 (3) (2021)
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps. IEEE Robotics Autom. Lett. 6 (2) (2021)
Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
Adaptive Task-Space Force Control for Humanoid-to-Human Assistance. IEEE Robotics Autom. Lett. 6 (3) (2021)
Yukiko Osawa, Yuho Kinbara, Masakazu Kageoka, Kenji Iida, Abderrahmane Kheddar
Soft robotic shell with active thermal display. CoRR (2021)
Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. SII (2021)
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts. CoRR (2021)
Saeid Samadi, Julien Roux, Arnaud Tanguy, Stéphane Caron, Abderrahmane Kheddar
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts. CoRR (2021)
Yukiko Osawa, Kei Kase, Yukiyasu Domae, Yoshiyuki Furukawa, Abderrahmane Kheddar
Material Classification Using Active Temperature Controllable Robotic Gripper. CoRR (2021)
Julien Roux, Saeid Samadi, Eisoku Kuroiwa, Takahide Yoshiike, Abderrahmane Kheddar
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts. ICAR (2021)
Niels Dehio, Abderrahmane Kheddar
Robot-Safe Impacts with Soft Contacts Based on Learned Deformations. ICRA (2021)
Julien Roux, Saeid Samadi, Eisoku Kuroiwa, Takahide Yoshiike, Abderrahmane Kheddar
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts. CoRR (2021)
Yukiko Osawa, Abderrahmane Kheddar
A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities. ISER (2020)
Yuquan Wang, Niels Dehio, Arnaud Tanguy, Abderrahmane Kheddar
Impact-Aware Task-Space Quadratic-Programming Control. CoRR (2020)
Kevin Chappellet, Guillaume Caron, Fumio Kanehiro, Ken Sakurada, Abderrahmane Kheddar
Benchmarking Cameras for Open VSLAM Indoors. ICPR (2020)
Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
Autonomous Initiation of Human Physical Assistance by a Humanoid. RO-MAN (2020)
Yukiko Osawa, Abderrahmane Kheddar
Detection of Human Contact by Thermal Exchange Observer of Robot Skin. CoRR (2020)
Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy, Sébastien Courtois, Abderrahmane Kheddar
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications. CoRR (2020)
Mohamed Djeha, Arnaud Tanguy, Abderrahmane Kheddar
Adaptive-Gains Enforcing Constraints in Closed-Loop QP Control. IEEE Robotics Autom. Lett. 5 (4) (2020)
Qiang Huang, Fumio Kanehiro, Tamim Asfour, Abderrahmane Kheddar, Zhuangguo Yu
Guest Editorial of Special Issue on New Advances of Humanoid Robotics for "2018 IEEE-RAS International Conference on Humanoid Robots". Int. J. Humanoid Robotics 17 (1) (2020)
Saeid Samadi, Stéphane Caron, Arnaud Tanguy, Abderrahmane Kheddar
Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios. ICRA (2020)
Qiang Huang, Fumio Kanehiro, Tamim Asfour, Abderrahmane Kheddar, Zhangguo Yu
Guest Editorial of Special Issue on New Advances of Humanoid Robotics for "2018 IEEE-RAS International Conference on Humanoid Robots". Int. J. Humanoid Robotics 17 (2) (2020)
Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
Multi-Contact Planning on Humans for Physical Assistance by Humanoid. IEEE Robotics Autom. Lett. 5 (1) (2020)
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet, Abderrahmane Kheddar
Impact-aware humanoid robot motion generation with a quadratic optimization controller. CoRR (2020)
Don Joven Agravante, Andrea Cherubini, Alexander Sherikov, Pierre-Brice Wieber, Abderrahmane Kheddar
Human-Humanoid Collaborative Carrying. IEEE Trans. Robotics 35 (4) (2019)
Yuquan Wang, Abderrahmane Kheddar
Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization. Robotics: Science and Systems (2019)
Karim Bouyarmane, Kevin Chappellet, Joris Vaillant, Abderrahmane Kheddar
Quadratic Programming for Multirobot and Task-Space Force Control. IEEE Trans. Robotics 35 (1) (2019)
Abderrahmane Kheddar, Máximo A. Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabaté, Stéphane Caron, Pierre Gergondet, Andrew I. Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics Autom. Mag. 26 (4) (2019)
Arnaud Tanguy, Daniele De Simone, Andrew I. Comport, Giuseppe Oriolo, Abderrahmane Kheddar
Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping. ICRA (2019)
Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control. ICRA (2019)
Takahiro Ito, Ko Ayusawa, Eiichi Yoshida, Abderrahmane Kheddar
Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot. ARSO (2019)
Saeid Samadi, Stéphane Caron, Arnaud Tanguy, Abderrahmane Kheddar
Balance of Humanoid robot in Multi-contact and Sliding Scenarios. CoRR (2019)
Youngeun Lee, Abderrahmane Kheddar, Young J. Kim
Continuous signed distance computation for polygonal robots in 3D. ICRA (2019)
Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
Contact Observer for Humanoid Robot Pepper based on Tracking Joint Position Discrepancies. RO-MAN (2018)
Karim Bouyarmane, Abderrahmane Kheddar
On Weight-Prioritized Multitask Control of Humanoid Robots. IEEE Trans. Autom. Control. 63 (6) (2018)
Tu-Hoa Pham, Nikolaos Kyriazis, Antonis A. Argyros, Abderrahmane Kheddar
Hand-Object Contact Force Estimation from Markerless Visual Tracking. IEEE Trans. Pattern Anal. Mach. Intell. 40 (12) (2018)
Tu-Hoa Pham, Stéphane Caron, Abderrahmane Kheddar
Multicontact Interaction Force Sensing From Whole-Body Motion Capture. IEEE Trans. Ind. Informatics 14 (6) (2018)
Vincent Samy, Karim Bouyarmane, Abderrahmane Kheddar
Analysis of a simple model for post-impact dynamics active compliance in humanoids falls with nonlinear optimization. SIMPAR (2018)
Antonio Paolillo, Pierre Gergondet, Andrea Cherubini, Marilena Vendittelli, Abderrahmane Kheddar
Autonomous car driving by a humanoid robot. J. Field Robotics 35 (2) (2018)
Stanislas Brossette, Adrien Escande, Abderrahmane Kheddar
Multicontact Postures Computation on Manifolds. IEEE Trans. Robotics 34 (5) (2018)
Mehdi Benallegue, Pierre Gergondet, Herve Audrerr, Alexis Mifsud, Mitsuharu Morisawa, Florent Lamiraux, Abderrahmane Kheddar, Fumio Kanehiro
Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. ICRA (2018)
Stéphane Caron, Abderrahmane Kheddar, Olivier Tempier
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control. CoRR (2018)
Herve Audren, Abderrahmane Kheddar
3-D Robust Stability Polyhedron in Multicontact. IEEE Trans. Robotics 34 (2) (2018)
Karim Bouyarmane, Abderrahmane Kheddar
Non-decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems. J. Intell. Robotic Syst. 91 (3-4) (2018)
Ashesh Vasalya, Gowrishankar Ganesh, Abderrahmane Kheddar
Distinct Motor Contagions During and After Observation of Actions by a Humanoid Co-Worker. RO-MAN (2018)
Anastasia Bolotnikova, Sébastien Courtois, Abderrahmane Kheddar
Compliant Robot Motion Regulated via Proprioceptive Sensor Based Contact Observer. Humanoids (2018)
Raphael Grimm, Abderrahmane Kheddar, Tamim Asfour
Generation of Walking Motions Based on Whole-Body Poses and QP Control. Humanoids (2018)
Arnaud Tanguy, Abderrahmane Kheddar, Andrew I. Comport
Online eye-robot self-calibration. SIMPAR (2018)
Antonio Paolillo, Kevin Chappellet, Anastasia Bolotnikova, Abderrahmane Kheddar
Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects. IEEE Robotics Autom. Lett. 3 (4) (2018)
Rafael Cisneros Limón, Mehdi Benallegue, Abdelaziz Benallegue, Mitsuharu Morisawa, Herve Audren, Pierre Gergondet, Adrien Escande, Abderrahmane Kheddar, Fumio Kanehiro
Robust Humanoid Control Using a QP Solver with Integral Gains. IROS (2018)
Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar
Singularity Resolution in Equality and Inequality Constrained Hierarchical Task-Space Control by Adaptive Nonlinear Least Squares. IEEE Robotics Autom. Lett. 3 (4) (2018)
Yinyin Su, Yuquan Wang, Abderrahmane Kheddar
Sample-Efficient Learning of Soft Task Priorities Through Bayesian Optimization. Humanoids (2018)
Giovanni De Magistris, Adrien Pajon, Sylvain Miossec, Abderrahmane Kheddar
Optimized humanoid walking with soft soles. Robotics Auton. Syst. 95 (2017)
Stéphane Caron, Abderrahmane Kheddar
Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum. CoRR (2017)
Laura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane Kheddar
Non-human Looking Robot Arms Induce Illusion of Embodiment. Int. J. Soc. Robotics 9 (4) (2017)
Adrien Pajon, Stéphane Caron, Giovanni De Magistris, Sylvain Miossec, Abderrahmane Kheddar
Walking on gravel with soft soles using linear inverted pendulum tracking and reaction force distribution. Humanoids (2017)
Eiichi Yoshida, Ko Ayusawa, Yusuke Yoshiyasu, Adrien Escande, Abderrahmane Kheddar
Toward a Human(oid) Motion Planner. ISRR (2017)
Kai Pfeiffer, Adrien Escande, Abderrahmane Kheddar
Nut fastening with a humanoid robot. IROS (2017)
Ori Cohen, François Keith, Moshe Koppel, Abderrahmane Kheddar, Rafael Malach, Doron Friedman
Real-Time fMRI control of a humanoid robot using two brain Networks simultaneously: a Pilot Study. GBCIC (2017)
Joris Vaillant, Karim Bouyarmane, Abderrahmane Kheddar
Multi-Character Physical and Behavioral Interactions Controller. IEEE Trans. Vis. Comput. Graph. 23 (6) (2017)
Stéphane Caron, Abderrahmane Kheddar
Dynamic walking over rough terrains by nonlinear predictive control of the floating-base inverted pendulum. IROS (2017)
Anastasia Bolotnikova, Kevin Chappellet, Antonio Paolillo, Adrien Escande, Gholamreza Anbarjafari, Adolfo Suarez-Roos, Patrice Rabaté, Abderrahmane Kheddar
A circuit-breaker use-case operated by a humanoid in aircraft manufacturing. CASE (2017)
Vincent Samy, Karim Bouyarmane, Abderrahmane Kheddar
QP-based adaptive-gains compliance control in humanoid falls. ICRA (2017)
Fabrizio Flacco, Abderrahmane Kheddar
Contact detection and physical interaction for low cost personal robots. RO-MAN (2017)
Vincent Samy, Stéphane Caron, Karim Bouyarmane, Abderrahmane Kheddar
Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model. Humanoids (2017)
Herve Audren, Abderrahmane Kheddar
Model-predictive control in multi-contact based on stability polyhedrons. Humanoids (2017)
Laura Aymerich-Franch, Damien Petit, Gowrishankar Ganesh, Abderrahmane Kheddar
Object Touch by a Humanoid Robot Avatar Induces Haptic Sensation in the Real Hand. J. Comput. Mediat. Commun. 22 (4) (2017)
Giovanni De Magistris, Sylvain Miossec, Adrien Escande, Abderrahmane Kheddar
Design of optimized soft soles for humanoid robots. Robotics Auton. Syst. 95 (2017)
Antonio Paolillo, Anastasia Bolotnikova, Kevin Chappellet, Abderrahmane Kheddar
Visual estimation of articulated objects configuration during manipulation with a humanoid. SII (2017)

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Publication Activity (10 Years)

Top Topics

Top Venues

Abderrahmane Kheddar