Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes. - Mehdi Benallegue; Adrien Escande; Sylvain Miossec; Abderrahmane Kheddar (ICRA, 2009)

A computational model for synchronous motion imitation by humans: The mirror controller applied on stepping motions. - Mehdi Benallegue; Pierre-Brice Wieber; Abderrahmane Kheddar; Bernard Espiau (Humanoids, 2010)

Contribution of actuated head and trunk to passive walkers stabilization. - Mehdi Benallegue; Jean-Paul Laumond; Alain Berthoz (ICRA, 2013)

Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain. - Mehdi Benallegue; Jean-Paul Laumond (Robotics: Science and Systems, 2013)

Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information. - Mehdi Benallegue; Florent Lamiraux (Humanoids, 2014)

A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients. - Adrien Escande; Sylvain Miossec; Mehdi Benallegue; Abderrahmane Kheddar (IEEE Trans. Robotics, 2014)

Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation. - Mehdi Benallegue; Alexis Mifsud; Florent Lamiraux (Humanoids, 2015)

A kinematics-dynamics based estimator of the center of mass position for anthropomorphic system - A complementary filtering approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (Humanoids, 2015)

Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units. - Alexis Mifsud; Mehdi Benallegue; Florent Lamiraux (IROS, 2015)

Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information. - Mehdi Benallegue; Florent Lamiraux (Int. J. Humanoid Robotics, 2015)

Bipedal Locomotion: A Continuous Tradeoff Between Robustness and Energy-Efficiency. - Mehdi Benallegue; Jean-Paul Laumond (Biomechanics of Anthropomorphic Systems, 2016)

Impact acceleration of falling humanoid robot with an airbag. - Shuuji Kajita; Rafael Cisneros 001; Mehdi Benallegue; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2016)

Stabilization of a compliant humanoid robot using only Inertial Measurement Units with a viscoelastic reaction mass pendulum model. - Alexis Mifsud; Mehdi Benallegue; Florent Lamiraux (IROS, 2016)

Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. - Justin Carpentier; Mehdi Benallegue; Nicolas Mansard; Jean-Paul Laumond (IEEE Trans. Robotics, 2016)

Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer. - Mehdi Benallegue; Abdelaziz Benallegue; Yacine Chitour (Humanoids, 2017)

Experimental evaluation of simple estimators for humanoid robots. - Thomas Flayols; Andrea Del Prete; Patrick M. Wensing; Alexis Mifsud; Mehdi Benallegue; Olivier Stasse (Humanoids, 2017)

Biped walking pattern generation based on spatially quantized dynamics. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros Limón; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2017)

On the centre of mass motion in human walking. - Justin Carpentier; Mehdi Benallegue; Jean-Paul Laumond (Int. J. Autom. Comput., 2017)

The Yoyo-Man. - Jean-Paul Laumond; Mehdi Benallegue; Justin Carpentier; Alain Berthoz (Int. J. Robotics Res., 2017)

Robot Motion Planning and Control: Is It More than a Technological Problem? - Mehdi Benallegue; Jean-Paul Laumond; Nicolas Mansard (Geometric and Numerical Foundations of Movements, 2017)

Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver. - Rafael Cisneros 001; Mehdi Benallegue; Mitsuharu Morisawa; Eiichi Yoshida; Kazuhito Yokoi; Fumio Kanehiro (Humanoids, 2018)

Biped Gait Control Based on Spatially Quantized Dynamics. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001; Takeshi Sakaguchi; Shinichiro Nakaoka; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2018)

Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Humanoids, 2018)

Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. - Mehdi Benallegue; Pierre Gergondet; Herve Audrerr; Alexis Mifsud; Mitsuharu Morisawa; Florent Lamiraux; Abderrahmane Kheddar; Fumio Kanehiro (ICRA, 2018)

Robust Humanoid Control Using a QP Solver with Integral Gains. - Rafael Cisneros Limón; Mehdi Benallegue; Abdelaziz Benallegue; Mitsuharu Morisawa; Herve Audren; Pierre Gergondet; Adrien Escande; Abderrahmane Kheddar; Fumio Kanehiro (IROS, 2018)

QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot. - Rafael Cisneros 001; Mehdi Benallegue; Mitsuharu Morisawa; Fumio Kanehiro (Humanoids, 2019)

Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. - Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros Limón; Takeshi Sakaguchi; Mitsuharu Morisawa; Hiroshi Kaminaga; Iori Kumagai; Kenji Kaneko; Fumio Kanehiro (Humanoids, 2019)

Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. - Iori Kumagai; Mitsuharu Morisawa; Mehdi Benallegue; Fumio Kanehiro (Humanoids, 2019)

Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. - Mitsuharu Morisawa; Mehdi Benallegue; Rafael Cisneros Limón; Iori Kumagai; Adrien Escande; Kenji Kaneko; Fumio Kanehiro (IROS, 2019)

Estimating the Center of Mass and the Angular Momentum Derivative for Legged Locomotion - A Recursive Approach. - François Bailly; Justin Carpentier; Mehdi Benallegue; Bruno Watier; Philippe Souères (IEEE Robotics Autom. Lett., 2019)

Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. - Iori Kumagai; Fumio Kanehiro; Mitsuharu Morisawa; Takeshi Sakaguchi; Shinichiro Nakaoka; Kenji Kaneko; Hiroshi Kaminaga; Shuuji Kajita; Mehdi Benallegue; Rafael Cisneros 001 (IEEE Robotics Autom. Mag., 2019)

Reliable chattering-free simulation of friction torque in joints presenting high stiction. - Rafael Cisneros 001; Mehdi Benallegue; Ryo Kikuuwe; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 2020)

Instance-specific 6-DoF Object Pose Estimation from Minimal Annotations. - Rohan P. Singh; Iori Kumagai; Antonio Gabas; Mehdi Benallegue; Yusuke Yoshiyasu; Fumio Kanehiro (SII, 2020)

An inverse dynamics-based multi-contact locomotion control framework without joint torque feedback. - Rafael Cisneros Limón; Mitsuharu Morisawa; Mehdi Benallegue; Adrien Escande; Fumio Kanehiro (Adv. Robotics, 2020)

Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. - Mitsuharu Morisawa; Rafael Cisneros 001; Mehdi Benallegue; Iori Kumagai; Adrien Escande; Fumio Kanehiro (Int. J. Humanoid Robotics, 2020)

On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers. - Mehdi Benallegue; Jean-Paul Laumond; Alain Berthoz (Int. J. Robotics Res., 2020)

Lyapunov-Stable Orientation Estimator for Humanoid Robots. - Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue; Yacine Chitour; Mitsuharu Morisawa; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2020)

Interact With Me: An Exploratory Study on Interaction Factors for Active Physical Human-Robot Interaction. - Yue Hu 001; Mehdi Benallegue; Gentiane Venture; Eiichi Yoshida (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. - Iori Kumagai; Mitsuharu Morisawa; Shizuko Hattori; Mehdi Benallegue; Fumio Kanehiro (IEEE Robotics Autom. Lett., 2020)

Rapid Pose Label Generation through Sparse Representation of Unknown Objects. - Rohan P. Singh; Mehdi Benallegue; Yusuke Yoshiyasu; Fumio Kanehiro (ICRA, 2021)

On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback. - Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue; Arnaud Tanguy; Adrien Escande; Mitsuharu Morisawa; Fumio Kanehiro (IROS, 2021)

Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. - Masaki Murooka; Kevin Chappellet; Arnaud Tanguy; Mehdi Benallegue; Iori Kumagai; Mitsuharu Morisawa; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2021)

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM. - Yang Chen 026; Leyuan Sun; Mehdi Benallegue; Rafael Cisneros Limón; Rohan P. Singh; Kenji Kaneko; Arnaud Tanguy; Guillaume Caron; Kenji Suzuki 002; Abderrahmane Kheddar; Fumio Kanehiro (Humanoids, 2022)

Learning Bipedal Walking On Planned Footsteps For Humanoid Robots. - Rohan P. Singh; Mehdi Benallegue; Mitsuharu Morisawa; Rafael Cisneros 001; Fumio Kanehiro (Humanoids, 2022)

Toward Active Physical Human-Robot Interaction: Quantifying the Human State During Interactions. - Yue Hu 001; Naoko Abe; Mehdi Benallegue; Natsuki Yamanobe; Gentiane Venture; Eiichi Yoshida (IEEE Trans. Hum. Mach. Syst., 2022)

Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human-Robot Interaction. - Sélim Chefchaouni Moussaoui; Rafael Cisneros Limón; Hiroshi Kaminaga; Mehdi Benallegue; Taiki Nobeshima; Shusuke Kanazawa; Fumio Kanehiro (Sensors, 2023)

Synchronized Human-Humanoid Motion Imitation. - Antonin Dallard; Mehdi Benallegue; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2023)

Velocity-Aided IMU-Based Tilt and Attitude Estimation. - Mehdi Benallegue; Abdelaziz Benallegue; Rafael Cisneros 001; Yacine Chitour (IEEE Trans. Autom. Control., 2023)

Motion Accuracy and Computational Effort in QP-based Robot Control. - Sélim Chefchaouni; Mehdi Benallegue; Adrien Escande; Pierre-Brice Wieber (Humanoids, 2024)

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning. - Rohan P. Singh; Mitsuharu Morisawa; Mehdi Benallegue; Zhaoming Xie; Fumio Kanehiro (Humanoids, 2024)

The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. - Arnaud Demont; Mehdi Benallegue; Abdelaziz Benallegue; Pierre Gergondet; Antonin Dallard; Rafael Cisneros 001; Masaki Murooka; Fumio Kanehiro (CoRR, 2024)

Human Understanding and Perception of Unanticipated Robot Action in the Context of Physical Interaction. - Naoko Abe; Yue Hu 001; Mehdi Benallegue; Natsuki Yamanobe; Gentiane Venture; Eiichi Yoshida (ACM Trans. Hum. Robot Interact., 2024)

Compliant Contacts Balance-Force Controller for Legged Robots. - Marwan Hamze; Mehdi Benallegue; Rafael Cisneros 001; Abdelaziz Benallegue (IEEE Robotics Autom. Lett., 2024)

Robust Bipedal Walking With Closed-Loop MPC: Adios Stabilizers. - Antonin Dallard; Mehdi Benallegue; Nicola Scianca; Fumio Kanehiro; Abderrahmane Kheddar (IEEE Trans. Robotics, 2025)

Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications. - Bastien Muraccioli; Mathieu Célérier; Mehdi Benallegue; Gentiane Venture (CoRR, 2025)

A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. - Rafael Cisneros Limón; Antonin Dallard; Mehdi Benallegue; Kenji Kaneko; Hiroshi Kaminaga; Pierre Gergondet; Arnaud Tanguy; Rohan Pratap Singh; Leyuan Sun; Yang Chen 026; Carole Fournier; Guillaume Lorthioir; et al. (Int. J. Soc. Robotics, 2025)

Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. - Mehdi Benallegue; Guillaume Lorthioir; Antonin Dallard; Rafael Cisneros 001; Iori Kumagai; Mitsuharu Morisawa; Hiroshi Kaminaga; Masaki Murooka; Antoine N. André; Pierre Gergondet; Kenji Kaneko; Guillaume Caron; et al. (IEEE Robotics Autom. Mag., 2025)