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Christine CHEVALLEREAU

CHERCHEUR

Directrice de recherche CNRS, Directrice adjointe du LS2N
HDR

: Christine.Chevallereauatls2n.fr

Adresse :

Centrale Nantes ( CN )
Petit Port
1, rue de la Noë
BP 92101
44321 NANTES Cedex 3

Batiment S, étage 4, bureau 419


Publications référencées sur HAL

Revues internationales avec comité de lecture (ART_INT)

    • [1] S. Mugisha, V. Krishna Guda, C. Chevallereau, D. Chablat, M. Zoppi. Motion Prediction With Gaussian Processes for Safe Human–Robot Interaction in Virtual Environments. In IEEE Access ; éd. IEEE, 2024, vol. 12.
      https://hal.science/hal-04637167v1
    • [2] V. Muralidharan, C. Chevallereau, P. Wenger. Coactivation in symmetric four-bar mechanisms antagonistically actuated by cables. In Journal of Mechanisms and Robotics ; éd. American Society of Mechanical Engineers, 2024.
      https://hal.science/hal-04507708v1
    • [3] V. Muralidharan, P. Wenger, C. Chevallereau. Design considerations and workspace computation of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators. In Mechanism and Machine Theory ; éd. Elsevier, 2024, vol. 195.
      https://hal.science/hal-04507710v1
    • [4] V. Muralidharan, P. Wenger, C. Chevallereau. Optimal design and comparison of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators. In Mechanism and Machine Theory ; éd. Elsevier, 2024, vol. 200.
      https://hal.science/hal-04644354v1
    • [5] N. Testard, C. Chevallereau, P. Wenger. Control analysis of an underactuated bio-inspired robot. In Robotica ; éd. Cambridge University Press, 2024.
      https://hal.science/hal-04710904v1
    • [6] V. Muralidharan, N. Testard, C. Chevallereau, A. Abourachid, P. Wenger. Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck. In Journal of Mechanisms and Robotics ; éd. American Society of Mechanical Engineers, 2023, vol. 15, num. 3.
      https://hal.science/hal-04087448v1
    • [7] A. Abourachid, C. Chevallereau, I. Pelletan, P. Wenger. An upright life, the postural stability of birds: a tensegrity system. In Journal of the Royal Society Interface ; éd. the Royal Society, 2023, vol. 20, num. 208.
      https://hal.science/hal-04287433v1
    • [8] M. Furet, A. Abourachid, C. Böhmer, V. Chummun, C. Chevallereau, R. Cornette, X. de La Bernardie, P. Wenger. Estimating motion between avian vertebrae by contact modeling of joint surfaces. In Computer Methods in Biomechanics and Biomedical Engineering ; éd. Taylor & Francis, 2022, vol. 25, num. 2.
      https://hal.science/hal-03344918v1
    • [9] S. Rousseau, C. Chevallereau, S. Caro. Human-Cable Collision Detection with a Cable-Driven Parallel Robot. In Mechatronics ; éd. Elsevier, 2022, vol. 86.
      https://hal.science/hal-03739801v1
    • [10] V. Guda, S. Mugisha, C. Chevallereau, M. Zoppi, R. Molfino, D. Chablat. Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface. In Journal of Mechanisms and Robotics ; éd. American Society of Mechanical Engineers, 2022, vol. 14, num. 4.
      https://hal.science/hal-03739832v1
    • [11] B. Fasquelle, P. Khanna, C. Chevallereau, D. Chablat, D. Creusot, S. Jolivet, P. Lemoine, P. Wenger. Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck. In Journal of Mechanisms and Robotics ; éd. American Society of Mechanical Engineers, 2022, vol. 14, num. 1.
      https://hal.science/hal-03314549v1
    • [12] S. Mugisha, V. Krisha Guda, C. Chevallereau, M. Zoppi, R. Molfino, D. Chablat, K. Vamsi, C. Guda, M. Chevallereau, R. Zoppi, D. Molfino. Improving Haptic Response for Contextual Human Robot Interaction. In Sensors ; éd. MDPI, 2022, vol. 22.
      https://hal.science/hal-03599147v1
    • [13] M. Langard, P. Lucidarme, N. Delanoue, R. Guyonneau, F. Mercier, C. Chevallereau, P. Wenger, Y. Aoustin. Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators. In Mathematical Problems in Engineering ; éd. Hindawi Publishing Corporation, 2022, vol. 2022.
      https://hal.science/hal-03822926v1
    • [14] Q. Luo, C. Chevallereau, Y. Ou, J. Pang, V. De-León-Gómez, Y. Aoustin. A self‐stabilised walking gait for humanoid robots based on the essential model with internal states. In IET Cyber-Systems and Robotics. 13-11-2022
      https://hal.science/hal-03850749v1
    • [15] M. Hobon, V. De-León-Gómez, G. Abba, Y. Aoustin, C. Chevallereau. Feasible Speeds for Two Optimal Periodic Walking Gaits of a Planar Biped Robot. In Robotica ; éd. Cambridge University Press, 2021, vol. 40, num. 11.
      https://hal.science/hal-03242271v1
    • [16] C. Chevallereau, P. Wenger, Y. Aoustin, F. Mercier, N. Delanoue, P. Lucidarme. Leg design for biped locomotion with mono-articular and bi-articular linear actuation. In Mechanism and Machine Theory ; éd. Elsevier, 2021, vol. 156.
      https://hal.science/hal-02985257v1
    • [17] A. Kalouguine, V. De-León-Gómez, C. Chevallereau, S. Dalibard, Y. Aoustin. A new human-like walking for the humanoid robot Romeo. In Multibody System Dynamics ; éd. Springer Verlag, 2021.
      https://hal.science/hal-03639417v1
    • [18] V. De-León-Gómez, Q. Luo, A. Kalouguine, J. Pámanes, Y. Aoustin, C. Chevallereau. An essential model for generating walking motions for humanoid robots. In Robotics and Autonomous Systems ; éd. Elsevier, 2019, vol. 112.
      https://hal.science/hal-01990079v1
    • [19] C. Böhmer, M. Furet, B. Fasquelle, D. Chablat, P. Wenger, C. Chevallereau, A. Abourachid. Combining precision and power to maximize performance: a case study of the woodpecker’s neck. In Computer Methods in Biomechanics and Biomedical Engineering ; éd. Taylor & Francis, 2019, vol. 22, num. sup1.
      https://hal.science/hal-03545754v1
    • [20] Q. Luo, C. Chevallereau, Y. Aoustin. Walking Stability of a Variable Length Inverted Pendulum Controlled with Virtual Constraints. In International Journal of Humanoid Robotics ; éd. World Scientific Publishing, 2019.
      https://hal.science/hal-02475100v1
    • [21] P. Long, C. Chevallereau, D. Chablat, A. Girin. An industrial security system for human-robot coexistence. In Industrial Robot: An International Journal ; éd. Emerald, 2018, vol. 45, num. 2.
      https://hal.science/hal-01671012v1
    • [22] C. Chevallereau, H. Razavi, D. Six, Y. Aoustin, J. Grizzle. Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits. In Robotics and Autonomous Systems ; éd. Elsevier, 2018, vol. 100.
      https://hal.science/hal-01676223v1
    • [23] M. Tomić, K. Jovanović, C. Chevallereau, V. Potkonjak, A. Rodić. Toward optimal mapping of human dual-arm motion to humanoid motion for tasks involving contact with the environment. In International Journal of Advanced Robotic Systems ; éd. InTech, 2018, vol. 15, num. 1.
      https://hal.science/hal-01717333v1
    • [24] M. Tomić, C. Chevallereau, K. Jovanović, V. Potkonjak, A. Rodić. Human to humanoid motion conversion for dual-arm manipulation tasks. In Robotica ; éd. Cambridge University Press, 2018, vol. 36, num. 8.
      https://hal.science/hal-01819258v1
    • [25] Q. Luo, A. Kalouguine, C. Chevallereau, Y. Aoustin, V. de Leon Gomez. Self-Synchronization and Self-Stabilization of Walking Gaits Modeled by the Three-Dimensional LIP Model. In IEEE Robotics and Automation Letters ; éd. IEEE, 2018, vol. 3, num. 4.
      https://hal.science/hal-01925444v1
    • [26] C. Chevallereau, F. Boyer, M. Porez, J. Mauny, Y. Aoustin. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion. In Bioinspiration and Biomimetics ; éd. IOP Publishing, 2017, vol. 12, num. 4.
      https://hal.science/hal-01558509v1
    • [27] H. Razavi, A. Bloch, C. Chevallereau, J. Grizzle. Symmetry in legged locomotion: a new method for designing stable periodic gaits. In Autonomous Robots ; éd. Springer Verlag, 2017, vol. 41, num. 5.
      https://hal.science/hal-01398837v1
    • [28] O. Montano, Y. Orlov, Y. Aoustin, C. Chevallereau. Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback. In Autonomous Robots ; éd. Springer Verlag, 2016.
      https://hal.science/hal-01306820v1
    • [29] H. Ferreira Chame, C. Chevallereau. Grounding Humanoid Visually Guided Walking: From Action-independent to Action-oriented Knowledge. In Information Sciences ; éd. Elsevier, 2016, vol. 352-353.
      https://hal.science/hal-01285516v1
    • [30] F. Boyer, V. Lebastard, C. Chevallereau, S. Mintchev, C. Stefanini. Underwater navigation based on passive electric sense: New perspectives for underwater docking. In The International Journal of Robotics Research ; éd. SAGE Publications, 2015, vol. 34, num. 9.
      https://imt-atlantique.hal.science/hal-01201695v1
    • [31] B. Kaddar, Y. Aoustin, C. Chevallereau. Arm swing effects on walking bipedal gaits composed of impact, single and double support phases.. In Robotics and Autonomous Systems ; éd. Elsevier, 2015.
      https://hal.science/hal-01100497v1
    • [32] J. Grizzle, C. Chevallereau, R. Sinnet, A. Ames. Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking. In Automatica ; éd. Elsevier, 2014, vol. 50, num. 8.
      https://hal.science/hal-01676474v1
    • [33] C. Chevallereau, M. Benachenhou, V. Lebastard, F. Boyer. Electric Sensor-Based Control of Underwater Robot Groups. In IEEE Transactions on Robotics ; éd. IEEE, 2014.
      https://hal.science/hal-00994959v1
    • [34] F. Boyer, V. Lebastard, C. Chevallereau, N. Servagent. Underwater Reflex Navigation in Confined Environment Based on Electric Sense. In IEEE Transactions on Robotics ; éd. IEEE, 2013, vol. 29.
      https://in2p3.hal.science/in2p3-00858812v1
    • [35] V. Lebastard, C. Chevallereau, A. Girin, N. Servagent, P. Gossiaux, F. Boyer. Environment reconstruction and navigation with electric sense based on kalman filter. In The International Journal of Robotics Research ; éd. SAGE Publications, 2013, vol. 32, num. 2.
      https://hal.science/hal-00794706v1
    • [36] T. Wang, C. Chevallereau, C. Rengifo. Walking and steering control for a 3D biped robot considering ground contact and stability. In Robotics and Autonomous Systems ; éd. Elsevier, 2012, vol. 60, num. 7.
      https://hal.science/hal-00794617v1
    • [37] C. Shih, J. Grizzle, C. Chevallereau. From stable walking to steering of a 3D bipedal robot with passive point feet. In Robotica ; éd. Cambridge University Press, 2012, vol. 30, num. 7.
      https://hal.science/hal-00794633v1
    • [38] T. David, C. Chevallereau, Y. Aoustin. Human-Like Walking: Optimal Motion of a Bipedal Robot With Toe-Rotation Motion. In IEEE/ASME Transactions on Mechatronics ; éd. Institute of Electrical and Electronics Engineers, 2011, vol. 16, num. 2.
      https://hal.science/hal-00483135v1
    • [39] Y. Orlov, Y. Aoustin, C. Chevallereau. Finite Time Stabilization of a Double Integrator - Part I: Continuous Sliding Mode-based Position Feedback Synthesis. In IEEE Transactions on Automatic Control ; éd. Institute of Electrical and Electronics Engineers, 2011, vol. 56, num. 3.
      https://hal.science/hal-00794656v1
    • [40] T. Wang, C. Chevallereau. Stability analysis and time-varying walking control for an under-actuated planar biped robot. In Robotics and Autonomous Systems ; éd. Elsevier, 2011, vol. 59, num. 6.
      https://hal.science/hal-00589688v1
    • [41] D. Tlalolini, Y. Aoustin, C. Chevallereau. Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization. In Multibody System Dynamics ; éd. Springer Verlag, 2010, vol. 23, num. 1.
      https://hal.science/hal-00794667v1
    • [42] C. Rengifo, Y. Aoustin, F. Plestan, C. Chevallereau. Distribution of Forces Between Synergistics and Antagonistics Muscles Using an Optimization Criterion Depending on Muscle Contraction Behaviour. In Journal of Biomechanical Engineering ; éd. American Society of Mechanical Engineers, 2010, vol. 132, num. 4.
      https://hal.science/hal-00457640v1
    • [43] T. Kinugasa, C. Chevallereau, Y. Aoustin. Effect of Circular Arc Feet on a Control Law for a Biped. In Robotica ; éd. Cambridge University Press, 2009, vol. 27.
      https://hal.science/hal-00794784v1
    • [44] C. Chevallereau, J. Grizzle, C. Shih. Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot. In IEEE Transactions on Robotics ; éd. IEEE, 2009, vol. 25, num. 1.
      https://hal.science/hal-00456192v1
    • [45] D. Tlalolini, C. Chevallereau, Y. Aoustin. Comparison of different gaits with rotation of the feet for a planar biped. In Robotics and Autonomous Systems ; éd. Elsevier, 2009, vol. 57, num. 4.
      https://hal.science/hal-00794718v1
    • [46] C. Chevallereau, D. Djoudi, J. Grizzle. Stable Bipedal Walking with Foot Rotation Through Direct Regulation of the Zero Moment Point. In IEEE Transactions on Robotics ; éd. IEEE, 2008, vol. 24, num. 2.
      https://hal.science/hal-00794801v1
    • [47] P. Wieber, C. Chevallereau. Online adaptation of reference trajectories for the control of walking systems. In Robotics and Autonomous Systems ; éd. Elsevier, 2006, vol. 54, num. 7.
      https://inria.hal.science/inria-00390423v1
    • [48] Y. Aoustin, C. Chevallereau, A. Formal'Skii. Numerical and Experimental Study of a Virtual Quadrupedal Walking Robot - SemiQuad. In Multibody System Dynamics ; éd. Springer Verlag, 2006, vol. 16.
      https://hal.science/hal-00794912v1
    • [49] J. Grizzle, C. Moog, C. Chevallereau. Nonlinear Control of Mechanical Systems with an Unactuated Cyclic Variable. In IEEE Transactions on Automatic Control ; éd. Institute of Electrical and Electronics Engineers, 2005, vol. 50, num. 5.
      https://hal.science/hal-00794882v1
    • [50] C. Chevallereau, E. Westervelt, J. Grizzle. Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot. In The International Journal of Robotics Research ; éd. SAGE Publications, 2005, vol. 24, num. 6.
      https://hal.science/hal-00794892v1
    • [51] C. Chevallereau, A. Formal'Skii, D. Djoudi. Tracking of a Joint Path for the Walking of an Underactuated Biped. In Robotica ; éd. Cambridge University Press, 2004, vol. 22.
      https://hal.science/hal-00794829v1
    • [52] C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. Westervelt, C. Canudas de Wit, J. Grizzle. RABBIT: A Testbed for Advanced Control Theory. In IEEE Control Systems Magazine ; éd. Institute of Electrical and Electronics Engineers, 2003, vol. 23, num. 5.
      https://hal.science/hal-00794856v1
    • [53] A. Muraro, C. Chevallereau, Y. Aoustin. Optimal trajectories for a quadruped robot with Trot, Amble, Curvet Gaits for two energetic criteria. In Multibody System Dynamic, vol. 9, num. 1. 02-2003
      https://hal.science/hal-00794871v1
    • [54] C. Chevallereau. Time scaling control for an underactuated biped robot. In IEEE Transactions on Robotics and Automation ; éd. Institute of Electrical and Electronics Engineers (IEEE), 2003, vol. 19, num. 2.
      https://hal.science/hal-00794861v1
    • [55] C. Chevallereau, Y. Aoustin. Optimal Reference Trajectories for Walking and Running of a Biped Robot. In Robotica ; éd. Cambridge University Press, 2001, vol. 19, num. 5.
      https://hal.science/hal-00794833v1
    • [56] Y. Aoustin, C. Chevallereau, A. Glumineau, C. Moog. Experimental Results for the End-effector Control of a Single Flexible Robotic Arm. In IEEE Transactions on Control Systems Technology ; éd. Institute of Electrical and Electronics Engineers, 1994, vol. 2, num. 4.
      https://hal.science/hal-00410016v1

Conférences internationales avec comité de lecture et actes (COMM_INT)

    • [57] P. Wenger, C. Chevallereau, S. Caro. A Class of Planar 3-Dof Cable-Driven Parallel Robots with Decoupled Workspace. In Mechanism and Machine Theory Symposium, celebrating 60 years since the journal's foundation, juin 2024, Guimarães, Portugal.
      https://hal.science/hal-04671100v1
    • [58] C. Chevallereau, P. Wenger, S. Caro. Compound Cable-driven Parallel Robot for a Larger Wrench-feasible Workspace. In Advances in Robot Kinematics 2024, juillet 2024, Ljubljana, Slovénie.
      https://hal.science/hal-04653314v1
    • [59] V. Muralidharan, C. Chevallereau, P. Wenger. Kinematics and Workspace of a Spatial 3-DoF Manipulator with Anti-parallelogram joints. In Advances in Robot Kinematics 2024, juillet 2024, Ljubljana, Slovénie.
      https://hal.science/hal-04644356v1
    • [60] V. Muralidharan, C. Chevallereau, P. Wenger, N. Testard. Effect of antagonistic cable actuation on the stiffness of symmetric four-bar mechanisms. In CableCon 2023: Cable-Driven Parallel Robots, juin 2023, Nantes, France.
      https://hal.science/hal-04118861v1
    • [61] N. Testard, C. Chevallereau, P. Wenger. Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace. In 6th International Conference on Cable-Driven Parallel Robots, juin 2023, Nantes, France.
      https://hal.science/hal-04121450v1
    • [62] N. Testard, C. Chevallereau, P. Wenger. Comparison of Explicit and Implicit Numerical Integrations for a Tendon-Driven Robot. In 6th International Conference on Cable-Driven Parallel Robots, juin 2023, Nantes, France.
      https://hal.science/hal-04121447v1
    • [63] N. Testard, C. Chevallereau, P. Wenger. Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator. In 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM WC 2023), novembre 2023, Tokyo, Japon.
      https://hal.science/hal-04311457v1
    • [64] V. Muralidharan, P. Wenger, C. Chevallereau. Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategies. In Advances in Robot Kinematics 2022, juin 2022, Bilbao, Espagne.
      https://hal.science/hal-03797235v1
    • [65] V. Muralidharan, P. Wenger, C. Chevallereau. Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators. In 25 ème Congrès Français de Mécanique, août 2022, Nantes, France.
      https://hal.science/hal-03797283v1
    • [66] S. Mugisha, M. Zoppi, R. Molfino, V. Guda, C. Chevallereau, D. Chablat. Safe collaboration between human and robot in a context of intermittent haptique interface. In ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, août 2021, Virtual, états-Unis.
      https://hal.science/hal-03265711v1
    • [67] S. Caro, C. Chevallereau, A. Remus. Manipulating Deformable Objects with a Dual-arm Robot. In ROBOVIS 2021 : 2nd International Conference on Robotics, Computer Vision and Intelligent Systems, octobre 2021, Valletta, Malte.
      https://hal.science/hal-03357556v1
    • [68] B. Fasquelle, M. Furet, P. Khanna, D. Chablat, C. Chevallereau, P. Wenger. A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints. In ICRA'2020, mai 2020, Paris, France.
      https://hal.science/hal-02517339v1
    • [69] A. Kalouguine, V. De-León-Gómez, C. Chevallereau, S. Dalibard, Y. Aoustin. Definition of a Walking with starting and stopping motions for the Humanoid Romeo. In 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), juillet 2020, Paris (on line), France.
      https://hal.science/hal-03021974v1
    • [70] A. Abourachid, C. Böhmer, P. Wenger, D. Chablat, C. Chevallereau, B. Fasquelle, M. Furet. Modelling, design and control of a bird neck using tensegrity mechanisms. In ICRA'2019 Worskhop on Tensegrity, mai 2019, Montréal, Canada.
      https://hal.science/hal-02355070v1
    • [71] M. Furet, D. Chablat, B. Fasquelle, P. Khanna, C. Chevallereau, P. Wenger. Prototype of a tensegrity manipulator to mimic bird necks. In 24ème Congrès Français de Mécanique, août 2019, Brest, France.
      https://hal.science/hal-02264288v1
    • [72] A. van Riesen, M. Furet, C. Chevallereau, P. Wenger. Dynamic analysis and control of an antagonistically actuated tensegrity mechanism. In 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), juin 2018, Rennes, France.
      https://hal.science/hal-01989963v1
    • [73] V. de Leon Gomez, C. Barone, A. Yannick, C. Chevallereau. Study of the walking efficiency of a human with a cane. In Romansy, juin 2018, Rennes, France.
      https://hal.science/hal-01845958v1
    • [74] Q. Luo, V. de Leon Gomez, A. Kalouguine, C. Chevallereau, A. Yannick. Self-synchronization and Self-stabilization of Walking Gaits Modeled by the 3D LIP Model. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, octobre 2018, Madrid, Espagne.
      https://hal.science/hal-01984214v1
    • [75] C. Chevallereau, A. Kalouguine, Q. Luo, A. Yannick, V. de Leon Gomez. An essential model for generating walking motions for humanoid robots. In French-German Conference on Humanoid and Legged Robots 2018, décembre 2018, Munchen, Allemagne.
      https://hal.science/hal-01984211v1
    • [76] J. Mohanta, S. Mohan, P. Wenger, C. Chevallereau. A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine. In IFToMM Asian Mechanism and Machine Science 2018, décembre 2018, Bengaluru, Inde.
      https://hal.science/hal-01984427v1
    • [77] P. Lucidarme, N. Delanoue, F. Mercier, Y. Aoustin, C. Chevallereau, P. Wenger. Preliminary survey of backdrivable linear actuators for humanoid robots. In 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), juin 2018, Rennes, France.In Vigen Arakelian, Philippe Wenger (éds.), . Springer, 2018.
      https://hal.science/hal-01989982v1
    • [78] M. Furet, A. van Riesen, C. Chevallereau, P. Wenger. Optimal design of tensegrity mechanisms used in a bird neck model. In European Conference on Mechanism Science (EUCOMES'2018), septembre 2018, Aachen, Allemagne.In Burkhard Corves, Philippe Wenger, Mathias Hüsing (éds.), . Springer, 2018.
      https://hal.science/hal-01989992v1
    • [79] H. Ferreira Chame, C. Chevallereau. A Top-Down and Bottom-Up Visual Attention Model for Humanoid Object Approaching and Obstacle Avoidance. In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), octobre 2016, Recife, Brésil.
      https://hal.science/hal-01518593v1
    • [80] C. Bidard, C. Chevallereau, V. Huynh. Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), novembre 2016, Cancun, Mexique.
      https://cea.hal.science/cea-01840419v1
    • [81] O. Montaño Godinez, Y. Orlov, Y. Aoustin, C. Chevallereau. Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), novembre 2016, Cancun, Mexique.
      https://hal.science/hal-02397623v1
    • [82] C. Chevallereau, Y. Aoustin. Self-stabilization of 3D walking via vertical oscillations of the hip. In 2015 IEEE International Conference on Robotics and Automation (ICRA), mai 2015, Seattle, états-Unis.
      https://hal.science/hal-02397690v1
    • [83] H. Razavi, A. Bloch, C. Chevallereau, J. Grizzle. Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots. In American Control Conference, juillet 2015, Chicago, états-Unis.
      https://hal.science/hal-02397820v1
    • [84] C. Chevallereau, O. Montaño Godinez, Y. Orlov, Y. Aoustin. Nonlinear orbital H_inf-stabilization of underactuated mechanical systems with unilateral constraints. In 2015 European Control Conference (ECC), juillet 2015, Linz, Autriche.
      https://hal.science/hal-02397956v1
    • [85] C. Chevallereau. Stable walking of Bipedal Robots. In Thirteenth Scandinavian Conference on Artificial Intelligence: SCAI 2015, novembre 2015, Halmstad, Suède.
      https://hal.science/hal-02397945v1
    • [86] C. Chevallereau, M. Porez, F. Boyer. Computational morphology for a soft micro air vehicle in hovering flight. In 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, Chicago, états-Unis.
      https://imt-atlantique.hal.science/hal-01206883v1
    • [87] H. Ferreira Chame, C. Chevallereau. Embodied Localization in Visually-guided Walk of Humanoid Robots. In 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO), septembre 2014, Vienna, Autriche.
      https://hal.science/hal-01230640v1
    • [88] M. Benachenhou, C. Chevallereau, V. Lebastard, F. Boyer. Synthesis of an electric sensor based control for underwater multi-agents navigation in a file. In 2013 IEEE International Conference on Robotics and Automation (ICRA), mai 2013, Karlsruhe, Allemagne.
      https://hal.science/hal-00994947v1
    • [89] V. Lebastard, C. Chevallereau, A. Girin, F. Boyer, P. Gossiaux. Localization of small objects with electric sense based on kalman filter. In 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, états-Unis.
      https://hal.science/hal-01503057v1
    • [90] V. Lebastard, F. Boyer, C. Chevallereau, N. Servagent. Underwater electro-navigation in the dark. In 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, états-Unis.
      https://hal.science/hal-01503049v1
    • [91] C. Chevallereau, F. Boyer, V. Lebastard, M. Benachenhou. Electric sensor based control for underwater multi-agents navigation in formation. In 2012 IEEE International Conference on Robotics and Automation (ICRA), mai 2012, Saint Paul, MN, états-Unis.
      https://hal.science/hal-00994929v1
    • [92] C. Rengifo, B. Kaddar, Y. Aoustin, C. Chevallereau. Reactive Power Compensation in Mechanical Systems. In The 2nd Joint International Conference on Multibody System Dynamics - IMSD2012, mai 2012, Stuttgart, Allemagne.
      https://hal.science/hal-00716393v1
    • [93] B. Kaddar, Y. Aoustin, C. Chevallereau. Contribution de l'Effet du Balancement des Bras sur la Marche d'un Robot Bipède. In CIFA 2012, juillet 2012, Grenoble, France.
      https://hal.science/hal-00716350v1
    • [94] B. Kaddar, Y. Aoustin, C. Chevallereau. ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPED. In Climbing and Walking Robot- CLAWAR 2012, juillet 2012, Baltimore, états-Unis.
      https://hal.science/hal-00716364v1
    • [95] K. Munirathinam, S. Sakka, C. Chevallereau. Dynamic motion imitation of two articulated systems using nonlinear time scaling of joint trajectories. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), octobre 2012, Vilamoura-Algarve, Portugal.
      https://hal.science/hal-00770439v1
    • [96] C. Rengifo, Y. Aoustin, F. Plestan, C. Chevallereau. Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approaches. In Multibody Dynamics 2011, 2011, Bruxelles, Belgique.
      https://hal.science/hal-00626575v1
    • [97] A. Haq, Y. Aoustin, C. Chevallereau. Compliant Joints Increase the Energy Efficiency of Bipedal Robot. In The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2011), septembre 2011, Paris, France.
      https://hal.science/hal-00668813v1
    • [98] V. Lebastard, C. Chevallereau, A. Amrouche, B. Jawad, A. Girin, F. Boyer, P. Gossiaux. Underwater robot navigation around a sphere using electrolocation sense and Kalman filter. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), octobre 2010, Taipei, Taïwan.
      https://hal.science/hal-00634830v1
    • [99] C. Rengifo, Y. Aoustin, C. Chevallereau, F. Plestan. A penalty-based approach for contact forces computation in bipedal robots. In 9th IEEE-RAS International Conference on Humanoid Robots, décembre 2009, Paris, France.
      https://hal.science/hal-00520395v1
    • [100] Y. Aoustin, S. Bellavoir, G. Branchu, C. Chevallereau, A. Formal'Sky, P. Lemoine, P. Molina. A semi quadruped walking robot - first experimental results. In 6th International Conference on Climbing and Walking Robots CLAWAR'03, septembre 2003, Catania, Italie.
      https://hal.science/hal-00362673v1
    • [101] C. Chevallereau, L. Adouane. On line reference trajectory adaptation for the control of a planar biped. In 5th International Conference on CLimbing And WAlking Robots (CLAWAR), septembre 2002, Paris, France.
      https://hal.science/hal-01714883v1
    • [102] C. Chevallereau, R. Rabah. The Singular Value Decomposition and the Control of a Robot in Singular Configuration. In CESA'96, IEEE-SMC-IMACS Multiconference, Symposium on Robotics and Cybernetics, juillet 1996, Lille, France.
      https://hal.science/hal-01415991v1

Conférences nationales avec comité de lecture et actes (COMM_NAT)

    • [103] N. Testard, C. Chevallereau, P. Wenger. Control in the operational space of a redundant and under-actuated tensegrity robot. In 25ème Congrès Français de Mécanique, août 2022, Nantes, France.
      https://hal.science/hal-03797431v1
    • [104] C. Böhmer, A. Abourachid, P. Wenger, B. Fasquelle, M. Furet, C. Chevallereau, D. Chablat. Combining precision and power to maximize performance: a case study of the woodpecker's neck. In 44ème congrès de la Société de Biomécanique, octobre 2019, Poitiers, France.
      https://hal.science/hal-02265058v1
    • [105] B. Kaddar, Y. Aoustin, C. Chevallereau. ARMS SWING EFFECTS ON A WALKING PLANAR BIPED. In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - ESDA2012, juillet 2012, Nantes, France.
      https://hal.science/hal-00668760v1
    • [106] A. Haq, Y. Aoustin, C. Chevallereau. L'effets des Articulations Compliantes sur l'Efficacité Énergétique d'un Robot Bipède. In Septième Conférence Internationale Francophone d'Automatique (CIFA 2012), juillet 2012, Grenoble, France.
      https://hal.science/hal-00716302v1

Brevets (BRE)

    • [107] C. Chevallereau, A. Girin, P. Long. Method and device for controlling a robot during co-activity. N° brevet : WO 2017/089623 A1.
      https://hal.science/hal-01717183v1

Ouvrages - Chapitres d‘ouvrages et directions d‘ouvrages (OUV)

    • [108] P. Wenger, B. Fasquelle, A. Abourachid, C. Chevallereau. Un robot en tenségrité inspiré du cou de l'oiseau. In Techniques de l'Ingénieur. 01-2023
      https://hal.science/hal-03949022v1
    • [109] V. Guda, S. Mugisha, C. Chevallereau, D. Chablat. Introduction of a Cobot as intermittent haptic contact interfaces in virtual reality. In 25th International conference on human-computer interaction. 23-07-2023
      https://hal.science/hal-04055526v1
    • [110] A. Gutierrez, V. Guda, S. Mugisha, C. Chevallereau, D. Chablat. Trajectory planning in Dynamics Environment : Application for Haptic Perception in Safe HumanRobot Interaction. In Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. 01-06-2022
      https://hal.science/hal-03583589v1
    • [111] J. Mohanta, S. Mohan, P. Wenger, C. Chevallereau. A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine. In Lecture Notes in Mechanical Engineering. 2021
      https://hal.science/hal-03639735v1
    • [112] A. Kalouguine, C. Chevallereau, S. Dalibard, Y. Aoustin. Periodic walking motion of a Humanoid robot based on human data. In EuCoMeS 2020 New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science. 2020
      https://hal.science/hal-03022032v1
    • [113] V. Guda, D. Chablat, C. Chevallereau. Safety in a Human Robot Interactive: Application to Haptic Perception. In Virtual, Augmented and Mixed Reality. Design and Interaction. 10-07-2020
      https://hal.science/hal-02994640v1
    • [114] B. Fasquelle, M. Furet, C. Chevallereau, P. Wenger. Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck. In Advances in Mechanism and Machine ScienceProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science. 2019
      https://hal.science/hal-02353763v1
    • [115] P. Lucidarme, N. Delanoue, F. Mercier, Y. Aoustin, C. Chevallereau, P. Wenger. Preliminary survey of backdrivable linear actuators for humanoid robots. In ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France. 01-2019
      https://hal.science/hal-01984430v1
    • [116] O. Montano, Y. Orlov, A. Yannick, C. Chevallereau. HInfini Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint. In New Perspectives and Applications of Modern Control Theory. 02-01-2018
      https://hal.science/hal-01697136v1
    • [117] C. Bidard, C. Chevallereau, V. Huynh. Balance Control for an Active Leg Exoskeleton Based on Human Balance Strategies. In New Trends in Medical and Service Robots. MESROB 2016. Mechanisms and Machine Science. 26-07-2018
      https://hal.science/hal-02398116v1
    • [118] J. Grizzle, C. Chevallereau. Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion. In Humanoid Robotics: A Reference. 09-10-2017
      https://hal.science/hal-01702827v1
    • [119] A. Yannick, C. Chevallereau, J. Laumond. Historical Perspective of Humanoid Robot Research in Europe. In Humanoid Robotics: A Reference. Goswami A., Vadakkepat P. (eds). 06-10-2017
      https://hal.science/hal-01697135v1
    • [121] V. Arakelian, C. Chevallereau, Y. Aoustin. On the Design of the Exoskeleton Arm with Decoupled Dynamics. In In: Wenger P., Chevallereau C., Pisla D., Bleuler H., Rodić A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer. 21-04-2016
      https://insa-rennes.hal.science/hal-02883025v1
    • [122] M. Tomić, C. Vassallo, C. Chevallereau, A. Rodić, V. Potkonjak. Arm Motions of a Humanoid Inspired by Human Motion. In New Trends in Medical and Service Robots. 13-11-2016
      https://hal.science/hal-02398106v1
    • [123] V. Arakelian, Y. Aoustin, C. Chevallereau. Study and Choice of Actuation for a Walking Assist Device. In In: Bleuler H., Bouri M., Mondada F., Pisla D., Rodic A., Helmer P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer. 13-11-2016
      https://insa-rennes.hal.science/hal-02883026v1
    • [124] H. Ferreira Chame, C. Chevallereau. Sensory-motor Anticipation and Local Information Fusion for Reliable Humanoid Approach. In New Trends in Medical and Service Robots, Mechanisms and Machine Science. 30-01-2016
      https://hal.science/hal-01265030v1
    • [125] C. Chevallereau, Y. Aoustin, V. Arakalian. Study and choice of actuation for a walking assist device. In Mechanism and Machine Science, New trends in medical and service robots, Springer, 2015.. 24-06-2015
      https://hal.science/hal-01178930v1
    • [127] C. Chevallereau, G. Bessonnet, G. Abba, A. Yannick. Les robots marcheurs bipèdes : modélisation, conception, synthèse de la marche, commande. 2007
      https://hal.science/hal-01702853v1
    • [129] B. Morris, E. Westervelt, C. Chevallereau, G. Buche, J. Grizzle. Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity. In Fast Motions in Biomechanics and Robotics. 2006
      https://hal.science/hal-01300126v1

Theses et HDR (THESE)

    • [130] D. Chablat, S. Mugisha, C. Chevallereau, M. Zoppi. Motion strategies for a haptic interface with intermittent contacts to ensure safe human-robot interaction.. Thèses : Ecole Centale de Nantes, Universita Degli studi di Genova, .
      https://agroparistech.hal.science/tel-04117479v1

Autres publications (AUTRES)

    • [131] N. Testard, C. Chevallereau, P. Wenger. Static analysis of an under-actuated bio-inspired robot. Rapport technique, 2024 ; Laboratoire des sciences du numérique de Nantes (LS2N).
      https://hal.science/hal-04391834v1
    • [133] Q. Luo, A. Kalouguine, C. Chevallereau, Y. Aoustin, V. de Leon Gomez. Report on Calculation of Jacobian Matrix of Poincaré Return Map for Self-synchronized 3D Walking Gaits. Rapport technique, 2018 ; LABORATOIRE DES SCIENCES DU NUMÉRIQUE DE NANTES.
      https://hal.science/hal-01818860v1
    • [134] C. Chevallereau, M. Benachenhou, V. Lebastard, F. Boyer. ANGELS project D.3.7. Multi-agents demonstrator. Rapport technique, 2012 ; Irccyn.
      https://hal.science/hal-00995040v1
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