Mehdi Benallegue

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 51

Top Topics

Motion Planning

Strictly Convex

Top Venues

IEEE Robotics Autom. Lett.

Publications

Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue, Pierre Gergondet, Antonin Dallard, Rafael Cisneros, Masaki Murooka, Fumio Kanehiro
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. CoRR (2024)
Naoko Abe, Yue Hu, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida
Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction. ACM Trans. Hum. Robot Interact. 13 (1) (2024)
Antonin Dallard, Mehdi Benallegue, Fumio Kanehiro, Abderrahmane Kheddar
Synchronized Human-Humanoid Motion Imitation. IEEE Robotics Autom. Lett. 8 (7) (2023)
Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros, Yacine Chitour
Velocity-Aided IMU-Based Tilt and Attitude Estimation. IEEE Trans. Autom. Control. 68 (10) (2023)
Sélim Chefchaouni Moussaoui, Rafael Cisneros Limón, Hiroshi Kaminaga, Mehdi Benallegue, Taiki Nobeshima, Shusuke Kanazawa, Fumio Kanehiro
Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction. Sensors 23 (9) (2023)
Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. 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)
Rohan P. Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. CoRR (2022)
Rohan P. Singh, Mehdi Benallegue, Mitsuharu Morisawa, Rafael Cisneros, Fumio Kanehiro
Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. Humanoids (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)
Yue Hu, Naoko Abe, Mehdi Benallegue, Natsuki Yamanobe, Gentiane Venture, Eiichi Yoshida
Toward Active Physical Human-Robot Interaction: Quantifying the Human State During Interactions. IEEE Trans. Hum. Mach. Syst. 52 (3) (2022)
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)
Rohan Pratap Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
Rapid Pose Label Generation through Sparse Representation of Unknown Objects. ICRA (2021)
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Arnaud Tanguy, Adrien Escande, Mitsuharu Morisawa, Fumio Kanehiro
On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. IROS (2021)
Iori Kumagai, Mitsuharu Morisawa, Shizuko Hattori, Mehdi Benallegue, Fumio Kanehiro
Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. IEEE Robotics Autom. Lett. 5 (4) (2020)
Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. Int. J. Humanoid Robotics 17 (1) (2020)
Yue Hu, Mehdi Benallegue, Gentiane Venture, Eiichi Yoshida
Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction. IEEE Robotics Autom. Lett. 5 (4) (2020)
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. CoRR (2020)
Rohan Pratap Singh, Iori Kumagai, Antonio Gabas, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. SII (2020)
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro
Lyapunov-Stable Orientation Estimator for Humanoid Robots. CoRR (2020)
Rohan Pratap Singh, Mehdi Benallegue, Yusuke Yoshiyasu, Fumio Kanehiro
Rapid Pose Label Generation through Sparse Representation of Unknown Objects. CoRR (2020)
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro
Lyapunov-Stable Orientation Estimator for Humanoid Robots. IEEE Robotics Autom. Lett. 5 (4) (2020)
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. Int. J. Robotics Res. 39 (4) (2020)
Rafael Cisneros Limón, Mitsuharu Morisawa, Mehdi Benallegue, Adrien Escande, Fumio Kanehiro
An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. Adv. Robotics 34 (21-22) (2020)
Rafael Cisneros, Mehdi Benallegue, Ryo Kikuuwe, Mitsuharu Morisawa, Fumio Kanehiro
Reliable chattering-free simulation of friction torque in joints presenting high stiction. IROS (2020)
François Bailly, Justin Carpentier, Mehdi Benallegue, Bruno Watier, Philippe Souères
Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. IEEE Robotics Autom. Lett. 4 (4) (2019)
Iori Kumagai, Mitsuharu Morisawa, Mehdi Benallegue, Fumio Kanehiro
Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. Humanoids (2019)
Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro
Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. Humanoids (2019)
Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Fumio Kanehiro
QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot. Humanoids (2019)
Iori Kumagai, Fumio Kanehiro, Mitsuharu Morisawa, Takeshi Sakaguchi, Shinichiro Nakaoka, Kenji Kaneko, Hiroshi Kaminaga, Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros
Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. IEEE Robotics Autom. Mag. 26 (4) (2019)
Mitsuharu Morisawa, Mehdi Benallegue, Rafael Cisneros Limón, Iori Kumagai, Adrien Escande, Kenji Kaneko, Fumio Kanehiro
Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. IROS (2019)
Rafael Cisneros, Mehdi Benallegue, Mitsuharu Morisawa, Eiichi Yoshida, Kazuhito Yokoi, Fumio Kanehiro
Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver. Humanoids (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)
Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. Humanoids (2018)
Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro
Biped Gait Control Based on Spatially Quantized Dynamics. Humanoids (2018)
Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. CoRR (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)
Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
Experimental evaluation of simple estimators for humanoid robots. Humanoids (2017)
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
The Yoyo-Man. Int. J. Robotics Res. 36 (13-14) (2017)
Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. Humanoids (2017)
Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro
Biped walking pattern generation based on spatially quantized dynamics. Humanoids (2017)
Justin Carpentier, Mehdi Benallegue, Jean-Paul Laumond
On the centre of mass motion in human walking. Int. J. Autom. Comput. 14 (5) (2017)
Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
Stabilization of a compliant humanoid robot using only Inertial Measurement Units with a viscoelastic reaction mass pendulum model. IROS (2016)
Shuuji Kajita, Rafael Cisneros, Mehdi Benallegue, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro
Impact acceleration of falling humanoid robot with an airbag. Humanoids (2016)
Mehdi Benallegue, Jean-Paul Laumond
Bipedal Locomotion: A Continuous Tradeoff Between Robustness and Energy-Efficiency. Biomechanics of Anthropomorphic Systems (2016)
Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond
Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Trans. Robotics 32 (4) (2016)
Jean-Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
The Yoyo-Man. ISRR (2) (2015)
Mehdi Benallegue, Alexis Mifsud, Florent Lamiraux
Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation. Humanoids (2015)
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. Humanoids (2015)
Alexis Mifsud, Mehdi Benallegue, Florent Lamiraux
Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units. IROS (2015)
Mehdi Benallegue, Florent Lamiraux
Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. Int. J. Humanoid Robotics 12 (3) (2015)
Adrien Escande, Sylvain Miossec, Mehdi Benallegue, Abderrahmane Kheddar
A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients. IEEE Trans. Robotics 30 (3) (2014)
Mehdi Benallegue, Florent Lamiraux
Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information. Humanoids (2014)
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
Contribution of actuated head and trunk to passive walkers stabilization. ICRA (2013)
Mehdi Benallegue, Jean-Paul Laumond
Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain. Robotics: Science and Systems (2013)
Mehdi Benallegue, Pierre-Brice Wieber, Abderrahmane Kheddar, Bernard Espiau
A computational model for synchronous motion imitation by humans: The mirror controller applied on stepping motions. Humanoids (2010)
Mehdi Benallegue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar
proximity queries using support mapping of sphere-torus-patches bounding volumes. ICRA (2009)