Publications RH

2002-2007


Revues internationales

2006

  • C.Sabourin, O. Bruneau, G. Buche, ”Control strategy for the robust dynamic walk of a biped robot”, International Journal of Robotics Research, 2006 25: 843-860,

  • F. B. Ouezdou, B. Mohamed, V. Scesa and R. Sellaouti, Design and experiments of a torso mechanism for the ROBIAN, ROBOTICA (2006) Volume 24, pages 337-347- 2005 Cambridge University Press.

  • Frolov, A. A. Prokopenko, R.A.Dufossé, M. Ouezdou, F.B., Adjustment of the human arm viscoelastic properties to the direction of reaching, Biological Cybernetics ,Volume 94, Issue 2, February 2006, Pages 97-109  

2005

  • T. Hoinville - P. Hénaff -E. Monacelli, Evolving Simplistic Neural Controllers toward Adaptation to Internal Perturbations, AMSE Journal of Advances in Modelling, advances C, Vol. 60 N°6, pp 57-71, 2005

  • F. Gravez, O. Bruneau, F.B. Ouezdou, "Analytical and automatic modelling of digital humanoids", International Journal of Humanoid Robotics, World Scientific, Vol.2, N°3, pp 337-359, 2005.

  • C. Sabourin, O. Bruneau, "Robustness of the dynamic walk of a biped robot subjected to disturbing external forces by using CMAC neural networks", Journal of Robotics and Autonomous Systems, Elsevier Science, N°51, pp 81-99, 2005.

  • J. Foret, O. Bruneau, J.-G. Fontaine, "Dynamics and m-stability of legged robots", International Journal of Humanoid Robotics, World Scientific, Vol.2, N°1, pp 1-20, 2005

  • R. Sellaouti and F. B. Ouezdou, Design and control of a 3DOFs parallel actuated mechanism for biped application, Mechanism and Machine Theory, Volume 40, N°12, pages 1367-1393, decembre 2005.

  • J. Chalfoun, R. Younes, M. Renault and F. B. Ouezdou, Forces, activation and displacement prediction during free movement in the hand and the forearm, Journal of Robotic Systems, Volume 22, N°11, pages 653-660.

2004

  • C. Sabourin, O. Bruneau, J.-G. Fontaine, "Start, Stop and transition of velocities of an underactuated bipedal robot without reference trajectories", International Journal of Humanoid Robotics, World Scientific, Vol.1, N°2, pp 349-374, 2004.

  • Mohamed, B., Gravez, F., Ouezdou, F.B, Emulation of the dynamic effects of human torso during a walking gait, Journal of Mechanical Design, Transactions of the ASME, Volume 126, Issue 5, September 2004, Pages 830-841 

2003


  • R. Thieffry and E. Monacelli and P. Henaff and S. Delaplace, Technical aid adaptation with robotic, AMSE, Bioengineering Applied to Handicap Rehabilitation pp. 57-69, 2003

2002

  • Bruneau, O., Ouezdou, F.B., Fontaine, J.-G., An approach for the design of walking humanoid robots having different leg mechanisms and using dynamic gaits, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication), DSC Volume 70, 2002, Pages 993-1000  

  • Frolov, A.A., Kaladjian, A., Dufossé, M., Bensmail, S., Ouezdou, F.B., How cerebral and cerebellar plastic rules may cooperate during arm movement learning , Cahiers de Psychologie Cognitive 21 (4-5), pp. 519-535

Revues nationales et européennes

2006

  • T. Hoinville P. Hénaff -- S. Delaplace, Etude sur l'intérêt des modèles biologiques de réseaux de neurones pour la synthèse de rythmes locomoteurs adaptatifs, Journal Européen des Systèmes Automatisés, Accepté en novembre 2005 avec révision

Conférences internationales avec comités de lecture et actes

2006

  • Vincent Scesa, Patrick Henaff, Fathi Ben Ouezdou, Faycal Namoun, Time Window Width Influence On Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study, Proceedings of IEEE International Conference on Artificial Neural Networks S. Kollias et al. (Eds.), Part I, LNCS 4131, pp. 93 - 102, 2006, Springer-Verlag Berlin Heidelberg, Septembre 2006, Athènes.

  • Vincent Scesa, Patrick Henaff, Fathi Ben Ouezdou and Faycal Namoun, On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT Algorithm, Proceedings of IEEE International Joint Conference on Neural Networks, pp 8931-8938, juillet 2006,Vancouver,

  • Hayssam Serhan, Chaiban Nasr and Patrick Henaff, Designing a Muscle like System based on PID Controller and Tuned by Neural Network, Proceedings of IEEE International Joint Conference on Neural Networks, pp 10090-10097, juillet 2006,Vancouver,

  • Hayssam Serhan, Chaiban Nasr and Patrick Henaff, Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the Plant," Proceedings of the Eleventh International Conference on Artificial Neural Networks In Engineering (ANNIE 2006)”, novembre 2006, St. Louis, Missouri.

  • O. Bruneau, A. David, Analytical Approach for the Generation of Highly Dynamic Gaits for Walking Robots, IEEE International Conf. on Intelligent Robots and Systems, Pékin, Chine, 9-15 octobre, IROS 2006, accepté.

  • David, O. Bruneau, Dynamic stabilization of an under-actuated robot using dynamic effects of the legs and the trunk, IEEE International Conf. on Intelligent Robots and Systems, Pékin, Chine, 9-15 octobre, IROS 2006, accepté.

  • C. Sabourin, K. Madani, O. Bruneau. Autonomous gait pattern for a dynamic biped walking. International Conference on Informatics in Control, Automation and Robotics (ICINCO). Setubal (Portugal), 2006, 8 pages (article accepté), 2006.

  • C. Sabourin, K. Madani, O. Bruneau A Fuzzy-CMAC Based Hybrid Intuitive Approach for Biped Robot’s Adaptive Dynamic Walking. International Conference on Neural Networks and Artificial Intelligence (ICNNAI). Brest (Biélorussie), pp 78-83, 2006.

  • Victor Nunez, Nelly Nadjar-Gauthier, Pierre Blazevic, Inertial Force Position control for jumping of humanoid robots, ISRA 2006, Août 2006, Mexique.

  • Victor Nunez, Nelly Nadjar-Gauthier, Kazuhito Yokoi, Pierre Blazevic and Olivier Stasse (2006), Whole body posture controller based on inertial forces, Humanoids 2006, Déc. 2006, Genova, Italie

2005

  • V. Scesa, B. Mohamed, P. Henaff, F.B. Ouezdou, Dynamic recurrent neural network for biped robot equilibrium control: preliminary results, Proceedings of IEEE International Conference on Robotics and Automation, pp 4125-4130, Avril 2005, Barcelone, Espagne,

  • A. David, O. Bruneau, J.-G. Fontaine, "Measure of the propulsion dynamic capability of a walking system", 8th International Conf. on Climbing and Walking Robots, Londres, CLAWAR 2005.

  • C. Zaoui, O.Bruneau, F.b. Ouezdou, A. Maalej, "Simulations of the dynamic behavior of a bipedal robot with torso subjected to external disturbances", 8th International Conf. on Climbing and Walking Robots, Londres, CLAWAR 2005.

  • C. Sabourin, O. Bruneau, G. Buche. Experimental validation of a robust control strategy for the robot RABBIT, IEEE International Conference on Robotics and Automation Barcelona, Spain, April18-22, ICRA 2005.

  • V. Nunez, S. Drakunov, N. Nadjar-Gauthier, J.C. Cadiou (2005), Control strategy for planar vertical jump, ICAR’05, August 2005, Seattle, USA.

  • V. Nunez, N. Nadjar-Gauthier (2005), Control strategy for vertical jump of humanoids robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2005, Edmonton, Alberta, Canada.

  • V. Nunez, N. Nadjar-Gauthier (2005), Humanoid vertical jump with compliant contact, Clawar’05, Sept. 2005, London; England.

2004

  • Thierry Hoinville and Patrick Hénaff, Evolving Plastic Neural Controllers stabilized by Homeostatic Mechanisms for Adaptation to a Perturbation,, Proceedings of Ninth International Conference on the Simulation and Synthesis of Living Systems (ALIFE9), pp81-88, september 2004 Boston, USA

  • Thierry Hoinville and Patrick Hénaff, Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion, Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2624-2629, October 2004, Sendai, Japan

  • F.B. Ouezdou, R. Sellaouti, A. Konno, B. Mohamed, V. Scesa, P. Henaff, C. Zaoui, O. Bruneau, ROBIAN Biped Robot : Design and Experiments, Proceedings of HLR Workshop on Humanoid and Legged Robots, , October 14-15, 2004, Metz, France

  • P. Henaff, T. Hoinville, V. Scesa, B. Mohamed, F.B. Ouezdou , Biologically inspired control based on Adaptive Neural Networks for Legged Robots, Proceedings of HLR Workshop on Humanoid and Legged Robots, , October 14-15, 2004, Metz, France

  • O. Bruneau, C. Sabourin, A. David, Rules and criterions for the dynamic stabilization of an under-actuated bipedal robot. Workshop on Humanoid and Legged Robots (HLR), October 14-15, 2004, Metz, France

  • Olivier Bruneau, Chiheb Zaoui, Fathi Ben Ouezdou, Aref Maalej, Samer Alfayed, Patrick Hénaff , Vincent Scesa Dynamic balance of a bipedal robot with torso subjected to 3D external disturbances, Workshop on Humanoid and Legged Robots (HLR), Karlsruhe, Allemagne, 25-26 Septembre, 2006.

  • David, O. Bruneau, J.-G. Fontaine, "Dynamic stabilization of an under-actuated robot using inertia of the transfer leg", Madrid, Spain, September 22-24, CLAWAR 2004.

  • C. Sabourin, O. Bruneau, J.-G. Fontaine, " Learning of the dynamic walk of an under-actuated bipedal robot: improvement of the robustness by using CMAC neural networks", Conference on Climbing and Walking Robots", Madrid, Spain, September 22-24, CLAWAR 2004.

  • C. Sabourin, O. Bruneau, J.-G. Fontaine, " Pragmatic rules for real-time control of the dynamic walking of an under-actued biped robot", Proceedings of the IEEE International Conference on Robotics and Automation, pp 4216-4221, New Orleans, USA, 26 avril-1er mai, ICRA 2004.

  • S. Bensmail, F. B. Ouezdou, A. A. Frolov and M. Dufossé, On the neuromimetic control of the human pinch movement, 11th world Congress in Mechanism and Machine Science. IFToMM 2004, Tianjin, China.

  • Renault, M.; Chalfoun, J.; Mohamed, B.; Ouezdou, F.B., Use of the Korenev's formalism for real time dynamic simulation of the hand forearm system,Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Volume 1,  28 Sept.-2 Oct. 2004 Page(s):655 - 660 vol.1

  • Chalfoun, J.; Renault, M.; Younes, R.; Ouezdou, F.B., Muscle forces prediction of the human hand and forearm system in highly realistic simulation, Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Volume 2,  28 Sept.-2 Oct. 2004 Page(s):1293 - 1298 vol.2

  • Zeghbib, Abdel-Hafid; Palis, Frank; Ben-Ouezdou, F. ,EMG-based finger movement classification using transparent fuzzy systems. Montseny, (roceedings of the 4th conference of the European Society for fuzzy logic and technology, EUSFLAT 2005 Barcelona, Spain September 2005, Barcelona : Technical Univ. of Catalonia, 2005, S. 816 - 821,

  • Zeghbib, Abdel-Hafid; Palis, Frank; Ouezdou, F.B., EMG feature evaluation using transparent fuzzy system for hand and finger movements identification, International Federation for Medical and Biological Engineering 3rd European medical & biological Engineering conference, EMBEC’05. IFMBE European conference on biomedical engineering (Prague Czech Republic November 2005). - Zagreb : IFMBE, 2005, 2169

2003

  • V. Scesa - P. Hénaff- B. Mohamed- R. Sellaouti-F. B. Ouezdou . Identification neuronale d'un torse de robot bipède : résultats expérimentaux, Actes de la Conférence Internationale sur la Modélisation Numérique et Applications, Beyrouth, Liban, Novembre 2003,

  • Thieffry R., Monacelli E., Henaff P., Delaplace S, Configuring sensors by user learning for a locomotion aid interface . Proceedings - IEEE International Conference on Robotics and Automation, 1, Pages 1509-1514, Taipei, Mai 2003.

  • J. Foret, O. Bruneau, J.-G. Fontaine "Unified Approach for m-Stability Analysis and Control of Legged Robots", IEEE International Conf. on Intelligent Robots and Systems, Las Vegas, Etats-Unis, 28-30 octobre, IROS 2003.

  • F. Gravez, O. Bruneau, F.B. Ouezdou, "Analytical parameterization of anthropomorphic bipeds", Congrès International sur les modélisations numériques appliquées, CIMNA 2003.

2002

  • P. Henaff, O. Chocron, Adaptive Learning Control in Evolutionary Design of Mobile Robots, Proc. of IEEE International Conference on Systems, Man and Cybernetics, octobre 2002, Pages 345-349. Hammamet Tunisie

  • R. Thieffry and E. Monacelli and P. Henaff and S. Delaplace, Approaches and learning phases for a robotic adaptive deambulation task, Proc. of IEEE International Conference on Systems, Man and Cybernetics, pages 210-215, octobre 2002, Hammamet Tunisie

  • P. Henaff, O. Chocron, Evolving mobile robots with learning abilities by neural controller, International Symposium on Measurement and Control In robotics, Bourges, juin 2002

  • R. Thieffry and E. Monacelli and P. Henaff and S. Delaplace, différentes approches d'apprentissage neuronal pour la conduite adaptative d'un déambulateur, Actes de la conférence Handicap 2002, pages 157-162, juin, 2002, Paris

  • F. Gravez, B. Mohamed, O Bruneau, F.B. Ouezdou, ''Four Dof Torso dynamic effects on biped walking gait'', 14th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2002. /li>
  • J. Foret, O. Bruneau, J.-G. Fontaine, ''Novel criterion based on a unified analysis of the stability and the propulsion of dynamic walking robots'', 5th International Conf. on Climbing and Walking Robots, pp 809-816, CLAWAR 2002.

  • F.B. Ouezdou, A. Konno, R. Sellaouti, F. Gravez, B. Mohamed, O. Bruneau ''ROBIAN biped project – a tool for the analysis of the human-being locomotion system'', 5th International Conf. on Climbing and Walking Robots, pp 375-382, CLAWAR 2002.

  • A. Konno, R. Sellaouti and F. B. Ouezdou, Design and developement of the biped prototype Robian, IEEE-ICRA (2002), pages 1384-1389

  • C. Sabourin, O. Bruneau, J.-G. Fontaine, ''Control strategy for the dynamic walking of a bipedal robot based on passive and active stages'', 12th International Symp. on Measurement and Control in Robotics , ISMCR 2002.

  • J. Foret, O. Bruneau, J.-G. Fontaine, ''Theoretical and Unified Characterization of Dynamic Walking Robots Stability”, 12th International Symp. on Measurement and Control in Robotics, ISMCR 2002.

  • H. Cherrid, N. Nadjar Gauthier et N.K. M’Sirdi. Observateur et commande par modes de glissement d’ordre supérieur pour robot manipulateur. CIFA’2002, Conférence Internationale Francophone d’Automatique, Nantes, Juillet 2002.

  • N. Nadjar-Gauthier, H. Cherrid, J. C. Cadiou, A new second order sliding mode control for the experimental walking of an electro pneumatic biped robot, CLAWAR’2002, France, 2002

  • Gravez, F.; Mohamed, B.; Ouezdou, F.B., Dynamic simulation of a humanoid robot with four DOFs torso, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on Robotics and Automation, Volume 1,  11-15 May 2002 Page(s):511 - 516 vol.1,

  • Konno, A., Sellaouti, R., Amar, F.B., Ouezdou, F.B., Design and development of the biped prototype ROBIAN , Proceedings. ICRA '02. IEEE International Conference on Robotics and Automation, Volume 2,  11-15 May 2002 Page(s):1384 - 1389 vol.2

  • Frolov, A.A.; Dufosse, M.; Bensmail, S.; Ouezdou, F.B.; Biologically inspired neural network approach to manipulator movement control, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on Robotics and Automation, Volume 4,  11-15 May 2002 Page(s):3876 - 3881 vol.4

Conférences et colloques nationaux avec Actes

2006



2005


  • Patrick.Hénaff, IRON : Implémentation Robotique de Neuro-contrôleurs adaptatif, Actes des journées Robea/CNRS (Robotiques et entités artificielles), Montpellier, avril 2005

2004


  • Patrick.Hénaff, IRON : Implémentation Robotique de Neuro-contrôleurs adaptatif, Actes des journées Robea/CNRS (Robotiques et entités artificielles), Toulouse, Janvier 2004

2003


  • A. David, O. Bruneau, J.-G. Fontaine "Evaluation d’un critère basé sur une analyse unifiée de la stabilité et de la propulsion dans le cadre de la marche dynamique d’un robot sous-actionné", 16ème Congrès Français de Mécanique, Nice, 1-5 septembre 2003.

2002


  • S. Bensmail, Y. Burnod, M. Dufossé, A. A. Frolov and F. B. Ouezdou, Coopération entre règles de plasticités dans l’apprentissage cérébro-cérébelleux. XIièmes journées Neurosciences et Sciences de l’Ingénieur, NSI2002, La londe les maures -Var, France, 2002.

Communications et séminaires sans actes

2006

  • Patrick Hénaff, Contrôle Inspiré de la biologie pour les robots à pattes, Séminaire invité au laboratoire de Biorobotique de l'Université de Marseille, février 2006.

2005

  • Patrick Hénaff, Contrôle Inspiré de la biologie pour les bipèdes, Journée sur la Robotique Humanoïde et les applications médicales, Université de Versailles, novembre 2005.

2004

2003

2002