Mehdi Benallegue
Mehdi Benallegue
AIST Tsukuba Japan
Adresse e-mail validée de benallegue.com
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Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes
M Benallegue, A Escande, S Miossec, A Kheddar
2009 IEEE International Conference on Robotics and Automation, 483-488, 2009
372009
Center-of-mass estimation for a polyarticulated system in contact—a spectral approach
J Carpentier, M Benallegue, N Mansard, JP Laumond
IEEE Transactions on Robotics 32 (4), 810-822, 2016
322016
A strictly convex hull for computing proximity distances with continuous gradients
A Escande, S Miossec, M Benallegue, A Kheddar
IEEE Transactions on Robotics 30 (3), 666-678, 2014
312014
On the centre of mass motion in human walking
J Carpentier, M Benallegue, JP Laumond
International Journal of Automation and Computing 14 (5), 542-551, 2017
292017
Estimation and stabilization of humanoid flexibility deformation using only inertial measurement units and contact information
M Benallegue, F Lamiraux
International Journal of Humanoid Robotics 12 (03), 1550025, 2015
272015
Experimental evaluation of simple estimators for humanoid robots
T Flayols, A Del Prete, P Wensing, A Mifsud, M Benallegue, O Stasse
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017
252017
Biped walking pattern generation based on spatially quantized dynamics
S Kajita, M Benallegue, R Cisneros, T Sakaguchi, S Nakaoka, ...
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017
242017
The yoyo-man
JP Laumond, M Benallegue, J Carpentier, A Berthoz
The International Journal of Robotics Research 36 (13-14), 1508-1520, 2017
232017
Impact acceleration of falling humanoid robot with an airbag
S Kajita, R Cisneros, M Benallegue, T Sakaguchi, S Nakaoka, ...
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016
192016
Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information
M Benallegue, F Lamiraux
2014 IEEE-RAS International Conference on Humanoid Robots, 246-251, 2014
162014
Estimation of contact forces and floating base kinematics of a humanoid robot using only inertial measurement units
A Mifsud, M Benallegue, F Lamiraux
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015
152015
Contribution of actuated head and trunk to passive walkers stabilization
M Benallegue, JP Laumond, A Berthoz
2013 IEEE International Conference on Robotics and Automation, 5638-5643, 2013
142013
A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system—A complementary filtering approach
J Carpentier, M Benallegue, N Mansard, JP Laumond
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids …, 2015
112015
Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain.
M Benallegue, JP Laumond
Robotics: Science and Systems, 2013
102013
Robust humanoid control using a QP solver with integral gains
R Cisneros, M Benallegue, A Benallegue, M Morisawa, H Audren, ...
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
92018
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer
M Benallegue, A Benallegue, Y Chitour
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017
82017
Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation
M Benallegue, A Mifsud, F Lamiraux
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids …, 2015
82015
Stabilization of a compliant humanoid robot using only inertial measurement units with a viscoelastic reaction mass pendulum model
A Mifsud, M Benallegue, F Lamiraux
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
72016
Online 3D CoM trajectory generation for multi-contact locomotion synchronizing contact
M Morisawa, R Cisneros, M Benallegue, I Kumagai, A Escande, ...
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-8, 2018
62018
Estimating the center of mass and the angular momentum derivative for legged locomotion—a recursive approach
F Bailly, J Carpentier, M Benallegue, B Watier, P Souères
IEEE Robotics and Automation Letters 4 (4), 4155-4162, 2019
52019
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