Bio

Abderrahmane Kheddar received the BSCS degree from the Institut National d’Informatique (INI), Algiers, the MSc and PhD degrees in robotics, both from the University of Pierre and Marie Curie, Paris 6. He is presently Directeur de Recherche at CNRS. He is the Director of the CNRS-AIST Joint Robotic Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan; and team leader of the Interactive Digital Humans (IDH) team at CNRS-UM LIRMM at Montpellier, France. Prior to this, he was (1999-2003) assistant professor and (2004-2008) full professor at the University of Evry where he created and headed the virtual reality and haptics group. His current research interests include humanoid robotics, haptics, and thought-based control using brain machine interfaces en physical re-embodiment. He is a founding member of the IEEE/RAS chapter on haptics (acting also as a senior advisor), the co-chair and co-founding member of the IEEE/RAS Technical committee on model-based optimization. He is presently Editor of the IEEE Transactions on Robotics and the Journal of Intelligent and Robotic Systems, and Frontiers in Bionics; he is a founding member of the IEEE Transactions on Haptics and served in its editorial board during three years (2007-2010) and served as AE also the MIT Press PRESENCE journal (2013-2014). He also coordinated or acted as a PI for several EU projects and JSPS Kakenhi projects.

Title Authors Conference/Book Year bib pdf
Whole-Body Contact Force Sensing From Motion Capture Tu -H. Pham, A. Bufort, S. Caron, A. Kheddar IEEE/SICE International Symposium on System Integration (SII) 2016
Multi-Contact Vertical Ladder Climbing with an HRP-2 Humanoid J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, A. Escande, K. Bouyarmane, K. Kaneko, M. Morisawa, P. Gergondet, E. Yoshida, S. Kajita, F. Kanehiro Autonomous Robots 2016
Humanoid walking with compliant soles using a deformation estimator G. De Magistris, A. Pajon, S. Miossec, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2016
Parametrization of Catmull-Clark Subdivision Surfaces for Posture generation A. Escande, S. Brossette, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2016
GPU Robot Motion Planning using Semi-Infinite Nonlinear Programming B. Chrétien, A. Escande, A. Kheddar IEEE Transactions on Parallel and Distributed Systems (TPDS) 2016
Optimized humanoid walking with compliant soles (Submitted) G. De Magistris, A. Pajon, S. Miossec, A. Kheddar Robotics and Autonomous Systems 2016
Design of optimized compliant soles for humanoid robots (Submitted) G. De Magistris, A. Escande, S. Miossec, A. Kheddar Robotics and Autonomous Systems 2016
Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots H. Audren, A. Kheddar, P. Gergondet IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016 2016
Simulation-based optimal motion planning for deformable object E. Yoshida, Ko Ayusawa, I. G.Ramirez-Alpizar, H. Kensuke, D. Christian, A. Kheddar IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) 2015
Identification of dynamics of humanoids: Systematic exciting motion generation J. Jovic, F. Philipp, A. Escande, Ko Ayusawa, E. Yoshida, A. Kheddar, G. Venture IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
Embodiment of a humanoid robot avatar is preserved during partial and delayed control L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar IEEE International Workshop on Advanced Robotics and its Social Impacts, ARSO 2015
SSVEP stimuli design for object-centric BCI A. Kheddar, P. Gergondet 2015
Expliciting SSVEP misclassifications with extra-brain activities using time-frequency EEG analysis B. Daachi, P. Gergondet, L. Boubchir, A. Kheddar IEEE International Conference on Rehabilitation Robotics (ICORR) 2015
Online control of a humanoid robot through hand movement imagination using CSP and ECoG based features C. Kapeller, P. Gergondet, K Kamada, H. Ogawa, F Takeuchi, R. Ortner, R. Pruckl, A. Kheddar, J Scharinger, C. Guger Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2015
Capturing and Reproducing Hand-Object Interactions Through Vision-Based Force Sensing Tu -H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE ICCV Workshop on Object Understanding for Interaction (OUI) 2015
Towards Force Sensing From Vision: Observing Hand-Object Interactions to Infer Manipulation Forces Tu -H. Pham, A. Kheddar, A. Qammaz, A. Argyros IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2015
Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots B. Chrétien, A. Escande, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015
Falls control using posture reshaping and active compliance V. Samy, A. Kheddar IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2015
A humanoid walking pattern generator for sole design optimization A. Pajon, G. De Magistris, S. Miossec, K. Kaneko, A. Kheddar 17th International Conference on Advanced Robotics (ICAR) 2015
Humanoid posture generation on non-Euclidean manifolds S. Brossette, A. Escande, G. Duchemin, B. Chrétien, A. Kheddar IEEE-RAS International Conference on Humanoid Robots (Humanoids) 2015
Shape optimization of flexible soles for humanoid robots (Submitted) G. De Magistris, A. Escande, S. Miossec, A. Kheddar Optimization and Engineering 2015
Combining 3D SLAM and visual tracking to reach and retrieve objects in daily-life indoor environments P. Gergondet, D. Petit, M. Meilland, A. Kheddar, A. Comport, A. Cherubini International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014
An integrated framework for humanoid embodiment with a BCI D. Petit, A. Kheddar, A. Cherubini, A. Kheddar IEEE International Conference on Robotics and Automation (ICRA) 2014
Navigation assistance for a bci-controlled humanoid robot D. Petit, P. Gergondet, A. Cherubini, M. Meilland, A. Comport, A. Kheddar Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) 2014
Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot E. Tidoni, P. Gergondet, A. Kheddar, S. Aglioti Frontiers in neurorobotics 2014
Collaborative human-humanoid carrying using vision and haptic sensing D. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar Robotics and Automation (ICRA) 2014
Model Preview Control in Multi-Contact Motion - Application to a Humanoid Robot H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko, E. Yoshida IEEE/RSJ Internation Conference on Intelligent Robots and Systems (IROS) 2014
Vertical Ladder Climbing by the HRP-2 Humanoid Robot J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette, K. Kaneko, M. Morisawa, E. Yoshida, F. Kanehiro IEEE/RAS International Conference on Humanoid Robots (Humanoids) 2014
Integration of Non-Inclusive Contacts in Posture Generation S. Brossette, A. Escande, J. Vaillant, F. Keith, T. Moulard, A. Kheddar IEEE/RSJ International Conference on Intelligent Robots and Systems 2014
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results S. Brossette, J. Vaillant, F. Keith, A. Escande, A. Kheddar Cybernetics and Intelligent Systems Robotics, Automation and Mechatronics (CISRAM) 2013
Steering a robot with a brain-computer interface: impact of video feedback on BCI performance P. Gergondet, D. Petit, A. Kheddar Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Multitask Humanoid Control with a Brain-Computer Interface: user experiment with HRP-2 P. Gergondet, A. Kheddar, C. Hintermüller, C. Guger, M. Slater ISER: International Symposium on Experimental Robotics 2012
Proactive behavior of a humanoid robot in a haptic transportation task with a human partner A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier Ro-Man'2012: International Symposium on Robot and Human Interactive Communication 2012
Using brain-computer interface to steer a humanoid robot P. Gergondet, S. Druon, A. Kheddar, C. Hintermüller, C. Guger, M. Slater Robotics and Biomimetics (ROBIO) 2011