A voir également
Publications
Title : Professor
Address : 4 place Jussieu, CC 173, 75252 Paris cedex 05
Phone : +33 (0) 1 44 27 63 42
Email : amar(at)isir.upmc.fr
Group : SYROCO (SYROCO)
Publications sorted by category - Publications sorted by date
Download all publications : format Bibtex - format CSV
Publication list (77).
[2020ACLI4792] - Du, W. and Fnadi, M. and Ben Amar, F. (2020). Whole-body Motion Tracking for a Quadruped-on-wheel Robot via a Compact-form Controller with Improved Prioritized Optimization.
IEEE Robotics and Automation Letters. Vol 5 No 2 Pages 516 - 523.
[ BIB ]
[2020ACLI4793] - Du, W. and Ben Amar, F. (2020). A Compact Form Dynamics Controller for a High-DOF Tetrapod-on-wheel Robot with one Manipulator via Null Space based Convex Optimization and Compatible Impedance Controllers.
Multibody System Dynamics. Vol in press Pages ....
[ BIB ]
[2020ACLI4794] - Bouton, A. and Grand, Ch. and Ben Amar, F. (2020). Design and Control of a Compliant Wheel-on-Leg Rover which Conforms to Uneven Terrain.
Transaction on Mechatronics. Vol in press Pages ....
[ BIB ]
[2020ACLI4832] - Du, W. and Fnadi, M. and Ben Amar, F. (2020). Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics.
Mechanism and Machine Theory (MAMT). Vol 153 Pages 103984.
[ DOI | BIB ]
[2020ACTI4795] - Fnadi, M. and Du, W. and Plumet, F. and Ben Amar, F. (2020). Local Obstacle-skirting Path Planning for a Fast Bi-steerable Rover using Béziers Curves.
2020 International Conference on Robotics and Automation (ICRA) Paris. Pages 1--9.
[ BIB ]
[2019ACTI4739] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Nonlinear Tire Cornering Stiffness Observer for a Double Steering Off-Road Mobile Robot.
2019 International Conference on Robotics and Automation (ICRA) IEEE. Pages 7529--7534. Montreal, Canada.
[ BIB ]
[2019ACTI4738] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Road Bank and Road Grade Angles Estimation for a Double Steering Off-Road Mobile Robot.
IFToMM World Congress on Mechanism and Machine Science Springer. Pages 1771--1780. Krakow, Poland.
[ BIB ]
[2019ACTI4740] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Model Predictive Control based Dynamic Path Tracking of a Four-Wheel Steering Mobile Robot.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) IEEE. Pages 1--9. Macao.
[ BIB ]
[2018COS4062] - Saoud, H. and Plumet, F. and Ben Amar, F. (2018). Adaptive sampling with a fleet of autonomous sailing boats using artificial potential fields.
Marine Robotics and Applications, Springer, publisher. No 10 Pages 15-27.
[ BIB ]
[2018ACTI4587] - Fnadi, M and Menkouz, B. and Plumet, F. and Ben Amar, F. (2018). Path Tracking Control for a Double Steering Off-Road Mobile Robot.
ROMANSY 22--Robot Design, Dynamics and Control. Pages 441--449.
[ BIB ]
[2017ACLI3631] - Krid, M. and Lenain, R. and Ben Amar, F. (2017). A new explicit dynamic path tracking controller using Generalized Predictive Control.
Int. Journal of Control, Automation and Systems. Vol 15 No 1 Pages 13.
[ PDF | DOI | BIB ]
[2017ACTI3871] - Bouton, A. and Grand, A. and Ben Amar, F. (2017). Obstacle Negotiation Learning for a Compliant Wheel-on-Leg Robot.
Int. Conf. on Robotics and Automation, IEEE/ICRA. Pages 6 pages, to appear.
[ BIB ]
[2016ACLI3557] - Jun, Jae Yun, and Saut, Jean-Philippe, and Ben Amar, Faiz (2016). Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains.
Robotics and Autonomous Systems. Vol 75 - Part B No January Pages 325–339 (15).
[ PDF | BIB ]
[2016OS3873] - Ben Amar, F. and Grand, Ch. (2016). La robotique mobile : modélisation, conception et commande.
, Techniques de l'Ingénieur, publisher.
[ BIB ]
[2016COS3613] - Krid, M, and Zamzami, Z. and Ben Amar, F. (2016). Path tracking controllers for fast skidding rover.
Lecture Notes in Electrical Engineering. No 383 Pages 19 pages.
[ BIB ]
[2016ACTI3612] - Bouton, A. and Grand, A. and Ben Amar, F. (2016). Motion control of a compliant wheel-leg robot for rough terrains crossing.
Proceedings of IEEE Int. Conference on Robotics and Automation ICRA42016. Pages -.
[ BIB ]
[2016ACTI3847] - Debord, A. and Lucet, E. and Ben Amar, F. (2016). Mobile Robot Behavior Adaptation in Navigation Space Shared with Human.
Proc. of MCG 2016 – 5th International Conference on Machine Control and Guidance. Pages pp.
[ PS | BIB ]
[2016ACTI3887] - Zamzami, Z. and Ben Amar, F. (2016). Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots.
International Conference on Informatics in Control, Automation and Robotics (ICINCO)- . Pages 10 pages.
[ PDF | BIB ]
[2016COM3998] - Zamzami, Z. and Ben Amar, F. (2016). Dynamic Coupling Map: Trajectory Analysis Technique for Dynamic Motions of Underactuated Systems.
Workshop on Dynamic Locomotion and Manipulation ETH Zürich. ETH Zürich.
[ PDF | HTTP | BIB ]
[2016BR3874] - Bouton, A. and Grand, Ch. and Ben Amar, F. (2016). Véhicule autonome compliant et procédé de commande associé.
. No 1658067
[ BIB ]
[2015ACLI3396] - Krid, M. and Ben Amar, F. and Zamzami, Z. (2015). Design of an active device for controlling lateral stability of fast mobile robot.
Robotica. Vol 34 No 11 Pages 2629–2651.
[ PDF | HTTP | BIB ]
[2015ACLI3546] - Ma, J and Kharboutly, H. and Benali, A. and Ben Amar, F. and Bouzit, M. (2015). Joint Angle Estimation with Accelerometers for Dynamic Postural Analysis.
Journal of Biomechanics. Vol 48 No 13 Pages 3616–3624.
[ DOI | BIB ]
[2015ACLI3547] - Santos, A. and Ben Amar, F. and Bidaud, P. and Desailly, E. (2015). Gait synthesis for an anthropomorphic human model with articulated feet.
COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING . Vol 18 No 1 Pages -.
[ DOI | BIB ]
[2015INVI3614] - Ben Amar, F. (2015). Rough Terrain Mobile Robotics - From Design to Motion Control and Planning.
International Conference on Informatics in Control, Automation and Robotics (ICINCO). Colmar, France. invited conference.
[ BIB ]
[2015ACTI3463] - Jun, J.-Y. and Padois, V. and Ben Amar, F. (2015). Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains.
Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts. Pages --. Lyon, France.
[ PDF | HTTP | DOI | BIB ]
[2015ACTI3518] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2015). Routing and course control of an autonomous sailboat.
European Conference on Mobile Robots (ECMR'15). Pages 1-6.
[ PDF | BIB ]
[2015ACTI3519] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2015). Optimal sail angle computation for an autonomous sailboat robot.
IEEE Conference on Decision and Control (CDC). Pages 807 - 813.
[ PDF | DOI | BIB ]
[2015ACTI3615] - Santos, A.P. and Ben Amar, F. and Bidaud, P. and Desailly, E. (2015). Gait synthesis assessment fo the effect of crouch gait and hip internal rotation on ‘stiff-knee’ gait .
Annual Meeting of the European Society for Movement Analysis in Adults and Children. Pages -.
[ BIB ]
[2015ACTI3870] - Menkouz, B and Bouzar Essaidi, A. and Haddad M. and Chettibi, T. and Ben Amar, F. (2015). Trajectory planning of unmanned ground vehicles evolving on an uneven terrain with vertical dynamic consideration.
Conference: 2015 4th International Conference on Electrical Engineering (ICEE). Pages 6 pages.
[ PDF | DOI | BIB ]
[2014ACLI3012] - Ma, J and Kharboutly, H and Benali, A. and Ben amar, F. and Bouzit, M. (2014). Design of Omnidirectional Mobile Platform for Balance Analysis.
IEEE Trans. on Mechatronics. Vol 19 No 6 Pages 1872 - 1881.
[ DOI | BIB ]
[2014COS3191] - Jun, J.-Y. and Ben Amar, F. (2014). Tip-over stability-based path planning for a tracked mobile robot over rough terrains.
Mobile Service Robotics (Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines), World Scientific, publisher. Pages 609-616.
[ PDF | HTTP | DOI | BIB ]
[2014ACTI3192] - Jun, J.-Y. and Hua, M.-D. and Ben Amar, F. (2014). A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation.
Proceedings of IEEE Conference on Decision and Control. Pages 4554-4559. Los Angeles, CA, USA.
[ PDF | BIB ]
[2013ACLI2430] - Ben Amar, F. and Grand, C. (2013). Quasi-Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach.
ASME Journal of Mechanism and Robotics. Vol 5 No 2 Pages 13.
[ HTTP | DOI | BIB ]
[2013ACTI2910] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2013). Modeling and control design of a robotic sailboat.
6th International Robotic Sailing Conference. Pages 95-110.
[ BIB ]
[2011ACTI2143] - Krid, M. and Ben Amar, F. (2011). Design and Control of an Active Anti-Roll System for a Fast Rover.
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Pages 274-279. San Francisco.
[ PDF | BIB ]
[2011ACTI2144] - Krid, M and Ben Amar, F. (2011). A dynamic based path tracking controller for a fast rover with independent steering and drive.
Proc. of the Int. Conf. on Climbing and Walking Robots (CLAWAR). Pages 78-85. Paris.
[ BIB ]
[2010ACLI1420] - Grand, C. and Ben amar, F. and Plumet, F. (2010). Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation .
Mechanism and Machine Theory . Vol 45 No 3 Pages 477-495.
[ HTTP | DOI | BIB ]
[2010ACLI1553] - Ben amar, F. and Bidaud, Ph. and Lemenn, F. (2010). Generic differential kinematic modeling of articulated mobile robots.
Journal of Mechanism and Machine Theory, Elsevier, publisher. Vol 45 (7) Pages 997-1012.
[ BIB ]
[2010ACTI1577] - Lenain, R. and Lucet, E. and Grand, C. and Benoit Thuilot, B. and Ben Amar, F. (2010). Accurate and stable mobile robot path tracking algorithm: An integrated solution for off-road and high speed context.
Proceedings of IEEE/RSJ IROS Int. Conf. on Robots and Intelligents Systems. Pages 196 - 201.
[ PDF | BIB ]
[2010ACTI1643] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2010). Characterization of Lattice Modular Robots by Discrete Displacement Groups.
Actes de IEEE/IROS Int. Conf. on Robots and Intelligents Systems Tapei. Pages 1133-1139.
[ BIB ]
[2010THDR2653] - Ben Amar, F. (2010). Conception et commande des robots reconfigurables et Applications tout-terrains.
. 4 place Jussieu, 75005 Paris. HDR. Université Pierre et Marie Curie Paris 6.
[ BIB ]
[2009ACLI1315] - Lhomme-Desages, D. and Grand, C. and Ben Amar, F. and Guinot, J.C. (2009). Doppler-based ground speeed sensor fusion and slip-control for a wheeled rover.
IEEE/ASME Transactions on mechatronics, Vol 14 (4). Vol 14 No 4 Pages 484-492.
[ BIB ]
[2009ACTI1316] - Ben Amar, F. and Jarrault, P. and Bidaud, Ph. and Grand, C. (2009). Analysis and optimization of obstacle clearance of articulated rovers.
Actes de IEEE/IROS Int. Conf. on Robots and Intelligents Systems Saint-Louis, USA. Pages 4128-4133.
[ PDF | BIB ]
[2009ACTI1380] - Ben Amar, F. and Jarrault, P. and Bidaud, P. and Grand, C. (2009). Optimal actuator torques distribution of articulated rovers on rough terrain.
Proceedings of Clawar'09: 11th Int. Conf. on Climbing and Walking Robots. Pages 791-799. Istanbul, Turkey.
[ BIB ]
[2008ACLI691] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2008). Designing modular lattice systems with chiral space groups.
The International Journal of Robotic Research. Vol 27 No 3-4 Pages 279-297 .
[ PDF | BIB ]
[2008ACTI938] - Besseron, G. and Grand, C. and Ben Amar, F. and Bidaud, P. (2008). Stability control of a hybrid wheel-legged robot using potential field approach.
Proceedings of Clawar'08: 11th Int. Conf. on Climbing and Walking Robots. Pages 776-783. Coimbra, Portugal.
[ BIB ]
[2008ACTI939] - Ben Amar, F. and Grand, C. and Lhomme-Desages, D. and Bidaud P. (2008). Mobility and stability of robots on rough terrain: modeling and control.
Proceedings of IROS'08 Workshop on Modeling, Estimation, Path Planning and Control of All Terrain Mobile Robots. Pages 5-11. Nice, France.
[ BIB ]
[2008ACTI940] - Besseron, G. and Grand, C. and Ben Amar, F. and Bidaud, P. (2008). Decoupled Control of the High Mobility Robot Hylos Based on a Dynamic Stability Margin.
Proceedings of IROS'08 : the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Pages 2435 - 2440. Nice, France.
[ BIB ]
[2007ACLI666] - Ben Amar, F. and Andrade, G. and Grand, C. and Plumet, F. (2007). Towards an advanced mobility of wheeled robots on difficult Terrain.
Int. Journal of Factory Automation, Robotics and Soft Computing . Vol No 3 Pages 40-45.
[ PDF | BIB ]
[2007COS667] - Ben Amar, F. and Andrade, G. and Grand, C. and Plumet, F. (2007). Towards an advanced mobility oof wheeled robots on difficult Terrain.
Book Chapter, Emerging Technologies, Robotics and Control Systems. Pages 42-47. ISBN: 978-88-901928-1-4.
[ PDF | BIB ]
[2007ACTI608] - Grand, C. and Ben Amar, F. and Plumet, F. (2007). Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation.
Proc. of The 12th IFToMM World Congress in Mechanism and Machine Science. Pages .
[ PDF | BIB ]
[2007ACTN670] - Ben Amar, F. and Bidaud, Ph. and Barthélemy, S. and Grand, C. (2007). Mobilité et stabilité des systèmes à roues et/ou pattes.
Actes des Journées Nationales de Recherche en Robotique JNRR'07. Pages . Strasbourg, France.
[ PDF | BIB ]
[2006ACTI669] - Le Menn, F. and Bidaud, Ph. and Ben Amar, F. (2006). Generic differential kinematic modeling of articulated multi-monocycle mobile robots.
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Pages 1505 - 1510 . Orlando, Florida.
[ PDF | BIB ]
[2006COM671] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2006). Modeling lattice modular systems with space groups.
Robotics Sciences and Systems Workshop on Self-reconfigurable Modular Robots. Philadeplphie, USA.
[ BIB ]
[2005ACLN613] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2005). Évaluation des modes de déplacement d'un robot à locomotion hybride roue-patte évoluant en milieux naturels.
EDP Sciences - Mécanique & industries. Vol 6 No 3 Pages 353-364.
[ PDF | BIB ]
[2005ACTI132] - Bidaud, Ph. and Ben Amar, F. and Poulain, T. (2005). Kineto-static analysis of an articulated six-wheel rover.
Actes de Clawar'05 : 8th Int. Conf. on Climbing and Walking Robots. Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI133] - Besseron, G. and Grand, C. and Plumet, F. and Ben Amar, F. and Bidaud, Ph. (2005). Dynamic control of an Hybrid Wheellegged robot under stability constraint by using artificial potential field.
Actes de Clawar'05 : 8th Int. Conf. on Climbing and Walking Robots. Pages . Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI134] - Bidaud, Ph. and Ben Amar, F. and Poirier, S. (2005). An expandable mechanism for deployment and contact surface adaptation of rover wheels.
Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). Pages 1053-1060. Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI668] - Ben Amar, F. and Grand, C. and Besseron, G. and Plumet, F. (2005). Multi-modes locomotion on natural terrain.
In Proceedings of HUDEM'05 the Int. Conf. on Humanitarian Demining. Pages . Tokyo, June.
[ PDF | BIB ]
[2005ACTN216] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2005). Optimisation des modes de déplacement d'un robot à locomotion hybride roue-patte évoluant en milieux naturels.
17ème Congrès Français de Mécanique. Pages . Troyes, France.
[ PDF | BIB ]
[2004ACLI24] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Stability and traction optimization of a wheel-legged robot.
International Journal of Robotics Research. Vol 23 No 10-1 Pages 1041--1058.
[ PDF | BIB ]
[2004ACTI86] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos.
Proc. of IEEE/ICRA'04: the Int. conf. on Robotics and Automation. Pages 5111-5116. La Nouvelle Orléans, Etats-Unis.
[ PDF | BIB ]
[2004ACTI87] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2004). Analysis of Self-Reconfigurable Modular Systems, a design proposal for multi-modes locomotion.
Actes de ICRA�04 : IEEE International conference on Robotics and Automation. Pages 996-1001. La Nouvelle Orléans, Etats-Unis.
[ PDF | BIB ]
[2004ACTI109] - Besseron, G. and Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Locomotion modes of a hybrid wheellegged robot.
Proc. of CLAWAR'04 : 7th Int. Conf. on Climbing and Walking Robots. Pages . Madrid,Espagne.
[ PDF | BIB ]
[2004ACTI111] - Chocron, O. and Brener, N. and Bidaud, Ph. and Ben Amar, F. (2004). Evolutionary Synthesis of Structure and Control of Locomotion Systems.
CLAWAR�04 : 7th International Conference on Climbing and Walking Robots. Madrid,Espagne.
[ PDF | BIB ]
[2004ACTI118] - Ben Amar, F. and Grand, C. and Besseron, G. and Plumet, F. (2004). Performance Evaluation of Locomotion Modes of an Hybrid Wheel-Legged Robot for Self-Adaptation to Ground Conditions.
Proc. of ASTRA'04, 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation. Pages . Noordwijk, Pays-Bas.
[ PDF | BIB ]
[2003ACTI69] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2003). Motion Analysis and Optimization of Actively Articulated Rovers on Rough Terrain.
Proc. of RAAD’03: 12th International Workshop on Robotics in Alpe-Adria-Danube Region. Pages . Cassino, Italie.
[ BIB ]
[2003ACTI71] - Ben Salem, M. and Monacelli, E. and Ben Amar, F. (2003). Performance Study of Aided Locomotion For An Outdoor Mobile Robot With Arms.
Actes de AIM2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Kobe, Japon.
[ BIB ]
[2003ACTI73] - Le Menn, F. and Ben Amar, F. and Bidaud, Ph. (2003). Wheeled actively articulated modular vehicle for locomotion on difficult terrain.
Actes de CLAWAR�03 : International Conference on Climbing And Walking Robots. Pages 283-289. Catane, Italie.
[ PDF | BIB ]
[2003ACTN196] - Ben Amar, F. and Grand, Ch. and Plumet, F. and Bidaud, Ph. (2003). Optimisation et contrôle de la configuration d'un rover articulé.
Actes de JNRR'03 : Quatrièmes Journées Nationales de la Recherche en Robotique. Pages . Clermont-Ferrand, France.
[ PDF | BIB ]
[2002DO2] - Bidaud, Ph. and Ben Amar, F., editor(s) (2002). CLAWAR 02.
CLAWAR 02 : 5th Int. Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Professional Machine Publishing. ISBN: 1-86058-380-6.
[ BIB ]
[2002ACTI38] - Grand, C. and Ben Amar, F. and Bidaud, Ph. (2002). Kinematic analysis and stability optimisation of a reconfigurable leggedwheeled mini-rover.
Proc. of SPIE, Unmanned Ground Vehicle Technology IV. Pages 295--302. Orlando, Etats-Unis.
[ PDF | BIB ]
[2002ACTI43] - Konno, A. and Sellaouti, R. and Ben Amar, F. and Ben Ouezdou, F. (2002). Design and Development of the Biped Prototype ROBIAN.
Actes de ICRA’02: IEEE International Conference on Robotics and Automation. Washington DC, Etats-Unis.
[ BIB ]
[2002ACTI57] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2002). Stability control of a wheel-legged mini-rover.
Proc. of CLAWAR'02 : 5th Int. Conf. on Climbing and Walking Robots. Pages 323-330. Paris, France.
[ PDF | BIB ]
[2002ACTI64] - Grand, Ch. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2002). Simulation and control of high mobility rovers for rough terrains exploration.
Proc. of IARP/HUDEM'02 : International Workshop on Robots for Humanitarian Demining. Pages 51-56. Vienne, Autriche.
[ PDF | BIB ]
[2002COM185] - Le Menn, F. and Ben Amar, F. and Bidaud, Ph. (2002). Conception et organisation de systèmes robotiques modulaires reconfigurables.
Actes de JJCR’16 : 16 èmes journées des Jeunes Chercheurs en Robotique. Lyon, France.
[ BIB ]
[2001ACTI614] - Grand, C. and Ben Amar, F. and Bidaud, Ph. and Andrade G. (2001). A simulation system for behaviour evaluation of off-road mobile robots.
Proceedings of Clawar'01: 4th International Conference on Climbing and Walking Robots. Pages 207-314. Karlsruhe, Germany.
[ PDF | BIB ]
2020
[2020ACLI4792] - Du, W. and Fnadi, M. and Ben Amar, F. (2020). Whole-body Motion Tracking for a Quadruped-on-wheel Robot via a Compact-form Controller with Improved Prioritized Optimization.
IEEE Robotics and Automation Letters. Vol 5 No 2 Pages 516 - 523.
[ BIB ]
[2020ACLI4793] - Du, W. and Ben Amar, F. (2020). A Compact Form Dynamics Controller for a High-DOF Tetrapod-on-wheel Robot with one Manipulator via Null Space based Convex Optimization and Compatible Impedance Controllers.
Multibody System Dynamics. Vol in press Pages ....
[ BIB ]
[2020ACLI4794] - Bouton, A. and Grand, Ch. and Ben Amar, F. (2020). Design and Control of a Compliant Wheel-on-Leg Rover which Conforms to Uneven Terrain.
Transaction on Mechatronics. Vol in press Pages ....
[ BIB ]
[2020ACLI4832] - Du, W. and Fnadi, M. and Ben Amar, F. (2020). Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics.
Mechanism and Machine Theory (MAMT). Vol 153 Pages 103984.
[ DOI | BIB ]
[2020ACTI4795] - Fnadi, M. and Du, W. and Plumet, F. and Ben Amar, F. (2020). Local Obstacle-skirting Path Planning for a Fast Bi-steerable Rover using Béziers Curves.
2020 International Conference on Robotics and Automation (ICRA) Paris. Pages 1--9.
[ BIB ]
2019
[2019ACTI4739] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Nonlinear Tire Cornering Stiffness Observer for a Double Steering Off-Road Mobile Robot.
2019 International Conference on Robotics and Automation (ICRA) IEEE. Pages 7529--7534. Montreal, Canada.
[ BIB ]
[2019ACTI4738] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Road Bank and Road Grade Angles Estimation for a Double Steering Off-Road Mobile Robot.
IFToMM World Congress on Mechanism and Machine Science Springer. Pages 1771--1780. Krakow, Poland.
[ BIB ]
[2019ACTI4740] - Fnadi, M and Plumet, F. and Ben Amar, F. (2019). Model Predictive Control based Dynamic Path Tracking of a Four-Wheel Steering Mobile Robot.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) IEEE. Pages 1--9. Macao.
[ BIB ]
2018
[2018COS4062] - Saoud, H. and Plumet, F. and Ben Amar, F. (2018). Adaptive sampling with a fleet of autonomous sailing boats using artificial potential fields.
Marine Robotics and Applications, Springer, publisher. No 10 Pages 15-27.
[ BIB ]
[2018ACTI4587] - Fnadi, M and Menkouz, B. and Plumet, F. and Ben Amar, F. (2018). Path Tracking Control for a Double Steering Off-Road Mobile Robot.
ROMANSY 22--Robot Design, Dynamics and Control. Pages 441--449.
[ BIB ]
2017
[2017ACLI3631] - Krid, M. and Lenain, R. and Ben Amar, F. (2017). A new explicit dynamic path tracking controller using Generalized Predictive Control.
Int. Journal of Control, Automation and Systems. Vol 15 No 1 Pages 13.
[ PDF | DOI | BIB ]
[2017ACTI3871] - Bouton, A. and Grand, A. and Ben Amar, F. (2017). Obstacle Negotiation Learning for a Compliant Wheel-on-Leg Robot.
Int. Conf. on Robotics and Automation, IEEE/ICRA. Pages 6 pages, to appear.
[ BIB ]
2016
[2016ACLI3557] - Jun, Jae Yun, and Saut, Jean-Philippe, and Ben Amar, Faiz (2016). Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains.
Robotics and Autonomous Systems. Vol 75 - Part B No January Pages 325–339 (15).
[ PDF | BIB ]
[2016OS3873] - Ben Amar, F. and Grand, Ch. (2016). La robotique mobile : modélisation, conception et commande.
, Techniques de l'Ingénieur, publisher.
[ BIB ]
[2016COS3613] - Krid, M, and Zamzami, Z. and Ben Amar, F. (2016). Path tracking controllers for fast skidding rover.
Lecture Notes in Electrical Engineering. No 383 Pages 19 pages.
[ BIB ]
[2016ACTI3612] - Bouton, A. and Grand, A. and Ben Amar, F. (2016). Motion control of a compliant wheel-leg robot for rough terrains crossing.
Proceedings of IEEE Int. Conference on Robotics and Automation ICRA42016. Pages -.
[ BIB ]
[2016ACTI3847] - Debord, A. and Lucet, E. and Ben Amar, F. (2016). Mobile Robot Behavior Adaptation in Navigation Space Shared with Human.
Proc. of MCG 2016 – 5th International Conference on Machine Control and Guidance. Pages pp.
[ PS | BIB ]
[2016ACTI3887] - Zamzami, Z. and Ben Amar, F. (2016). Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots.
International Conference on Informatics in Control, Automation and Robotics (ICINCO)- . Pages 10 pages.
[ PDF | BIB ]
[2016COM3998] - Zamzami, Z. and Ben Amar, F. (2016). Dynamic Coupling Map: Trajectory Analysis Technique for Dynamic Motions of Underactuated Systems.
Workshop on Dynamic Locomotion and Manipulation ETH Zürich. ETH Zürich.
[ PDF | HTTP | BIB ]
[2016BR3874] - Bouton, A. and Grand, Ch. and Ben Amar, F. (2016). Véhicule autonome compliant et procédé de commande associé.
. No 1658067
[ BIB ]
2015
[2015ACLI3396] - Krid, M. and Ben Amar, F. and Zamzami, Z. (2015). Design of an active device for controlling lateral stability of fast mobile robot.
Robotica. Vol 34 No 11 Pages 2629–2651.
[ PDF | HTTP | BIB ]
[2015ACLI3546] - Ma, J and Kharboutly, H. and Benali, A. and Ben Amar, F. and Bouzit, M. (2015). Joint Angle Estimation with Accelerometers for Dynamic Postural Analysis.
Journal of Biomechanics. Vol 48 No 13 Pages 3616–3624.
[ DOI | BIB ]
[2015ACLI3547] - Santos, A. and Ben Amar, F. and Bidaud, P. and Desailly, E. (2015). Gait synthesis for an anthropomorphic human model with articulated feet.
COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING . Vol 18 No 1 Pages -.
[ DOI | BIB ]
[2015INVI3614] - Ben Amar, F. (2015). Rough Terrain Mobile Robotics - From Design to Motion Control and Planning.
International Conference on Informatics in Control, Automation and Robotics (ICINCO). Colmar, France. invited conference.
[ BIB ]
[2015ACTI3463] - Jun, J.-Y. and Padois, V. and Ben Amar, F. (2015). Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains.
Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts. Pages --. Lyon, France.
[ PDF | HTTP | DOI | BIB ]
[2015ACTI3518] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2015). Routing and course control of an autonomous sailboat.
European Conference on Mobile Robots (ECMR'15). Pages 1-6.
[ PDF | BIB ]
[2015ACTI3519] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2015). Optimal sail angle computation for an autonomous sailboat robot.
IEEE Conference on Decision and Control (CDC). Pages 807 - 813.
[ PDF | DOI | BIB ]
[2015ACTI3615] - Santos, A.P. and Ben Amar, F. and Bidaud, P. and Desailly, E. (2015). Gait synthesis assessment fo the effect of crouch gait and hip internal rotation on ‘stiff-knee’ gait .
Annual Meeting of the European Society for Movement Analysis in Adults and Children. Pages -.
[ BIB ]
[2015ACTI3870] - Menkouz, B and Bouzar Essaidi, A. and Haddad M. and Chettibi, T. and Ben Amar, F. (2015). Trajectory planning of unmanned ground vehicles evolving on an uneven terrain with vertical dynamic consideration.
Conference: 2015 4th International Conference on Electrical Engineering (ICEE). Pages 6 pages.
[ PDF | DOI | BIB ]
2014
[2014ACLI3012] - Ma, J and Kharboutly, H and Benali, A. and Ben amar, F. and Bouzit, M. (2014). Design of Omnidirectional Mobile Platform for Balance Analysis.
IEEE Trans. on Mechatronics. Vol 19 No 6 Pages 1872 - 1881.
[ DOI | BIB ]
[2014COS3191] - Jun, J.-Y. and Ben Amar, F. (2014). Tip-over stability-based path planning for a tracked mobile robot over rough terrains.
Mobile Service Robotics (Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines), World Scientific, publisher. Pages 609-616.
[ PDF | HTTP | DOI | BIB ]
[2014ACTI3192] - Jun, J.-Y. and Hua, M.-D. and Ben Amar, F. (2014). A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation.
Proceedings of IEEE Conference on Decision and Control. Pages 4554-4559. Los Angeles, CA, USA.
[ PDF | BIB ]
2013
[2013ACLI2430] - Ben Amar, F. and Grand, C. (2013). Quasi-Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach.
ASME Journal of Mechanism and Robotics. Vol 5 No 2 Pages 13.
[ HTTP | DOI | BIB ]
[2013ACTI2910] - Saoud, H. and Hua, M.-D. and Plumet, F. and Ben Amar, F. (2013). Modeling and control design of a robotic sailboat.
6th International Robotic Sailing Conference. Pages 95-110.
[ BIB ]
2011
[2011ACTI2143] - Krid, M. and Ben Amar, F. (2011). Design and Control of an Active Anti-Roll System for a Fast Rover.
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Pages 274-279. San Francisco.
[ PDF | BIB ]
[2011ACTI2144] - Krid, M and Ben Amar, F. (2011). A dynamic based path tracking controller for a fast rover with independent steering and drive.
Proc. of the Int. Conf. on Climbing and Walking Robots (CLAWAR). Pages 78-85. Paris.
[ BIB ]
2010
[2010ACLI1420] - Grand, C. and Ben amar, F. and Plumet, F. (2010). Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation .
Mechanism and Machine Theory . Vol 45 No 3 Pages 477-495.
[ HTTP | DOI | BIB ]
[2010ACLI1553] - Ben amar, F. and Bidaud, Ph. and Lemenn, F. (2010). Generic differential kinematic modeling of articulated mobile robots.
Journal of Mechanism and Machine Theory, Elsevier, publisher. Vol 45 (7) Pages 997-1012.
[ BIB ]
[2010ACTI1577] - Lenain, R. and Lucet, E. and Grand, C. and Benoit Thuilot, B. and Ben Amar, F. (2010). Accurate and stable mobile robot path tracking algorithm: An integrated solution for off-road and high speed context.
Proceedings of IEEE/RSJ IROS Int. Conf. on Robots and Intelligents Systems. Pages 196 - 201.
[ PDF | BIB ]
[2010ACTI1643] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2010). Characterization of Lattice Modular Robots by Discrete Displacement Groups.
Actes de IEEE/IROS Int. Conf. on Robots and Intelligents Systems Tapei. Pages 1133-1139.
[ BIB ]
[2010THDR2653] - Ben Amar, F. (2010). Conception et commande des robots reconfigurables et Applications tout-terrains.
. 4 place Jussieu, 75005 Paris. HDR. Université Pierre et Marie Curie Paris 6.
[ BIB ]
2009
[2009ACLI1315] - Lhomme-Desages, D. and Grand, C. and Ben Amar, F. and Guinot, J.C. (2009). Doppler-based ground speeed sensor fusion and slip-control for a wheeled rover.
IEEE/ASME Transactions on mechatronics, Vol 14 (4). Vol 14 No 4 Pages 484-492.
[ BIB ]
[2009ACTI1316] - Ben Amar, F. and Jarrault, P. and Bidaud, Ph. and Grand, C. (2009). Analysis and optimization of obstacle clearance of articulated rovers.
Actes de IEEE/IROS Int. Conf. on Robots and Intelligents Systems Saint-Louis, USA. Pages 4128-4133.
[ PDF | BIB ]
[2009ACTI1380] - Ben Amar, F. and Jarrault, P. and Bidaud, P. and Grand, C. (2009). Optimal actuator torques distribution of articulated rovers on rough terrain.
Proceedings of Clawar'09: 11th Int. Conf. on Climbing and Walking Robots. Pages 791-799. Istanbul, Turkey.
[ BIB ]
2008
[2008ACLI691] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2008). Designing modular lattice systems with chiral space groups.
The International Journal of Robotic Research. Vol 27 No 3-4 Pages 279-297 .
[ PDF | BIB ]
[2008ACTI938] - Besseron, G. and Grand, C. and Ben Amar, F. and Bidaud, P. (2008). Stability control of a hybrid wheel-legged robot using potential field approach.
Proceedings of Clawar'08: 11th Int. Conf. on Climbing and Walking Robots. Pages 776-783. Coimbra, Portugal.
[ BIB ]
[2008ACTI939] - Ben Amar, F. and Grand, C. and Lhomme-Desages, D. and Bidaud P. (2008). Mobility and stability of robots on rough terrain: modeling and control.
Proceedings of IROS'08 Workshop on Modeling, Estimation, Path Planning and Control of All Terrain Mobile Robots. Pages 5-11. Nice, France.
[ BIB ]
[2008ACTI940] - Besseron, G. and Grand, C. and Ben Amar, F. and Bidaud, P. (2008). Decoupled Control of the High Mobility Robot Hylos Based on a Dynamic Stability Margin.
Proceedings of IROS'08 : the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Pages 2435 - 2440. Nice, France.
[ BIB ]
2007
[2007ACLI666] - Ben Amar, F. and Andrade, G. and Grand, C. and Plumet, F. (2007). Towards an advanced mobility of wheeled robots on difficult Terrain.
Int. Journal of Factory Automation, Robotics and Soft Computing . Vol No 3 Pages 40-45.
[ PDF | BIB ]
[2007COS667] - Ben Amar, F. and Andrade, G. and Grand, C. and Plumet, F. (2007). Towards an advanced mobility oof wheeled robots on difficult Terrain.
Book Chapter, Emerging Technologies, Robotics and Control Systems. Pages 42-47. ISBN: 978-88-901928-1-4.
[ PDF | BIB ]
[2007ACTI608] - Grand, C. and Ben Amar, F. and Plumet, F. (2007). Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation.
Proc. of The 12th IFToMM World Congress in Mechanism and Machine Science. Pages .
[ PDF | BIB ]
[2007ACTN670] - Ben Amar, F. and Bidaud, Ph. and Barthélemy, S. and Grand, C. (2007). Mobilité et stabilité des systèmes à roues et/ou pattes.
Actes des Journées Nationales de Recherche en Robotique JNRR'07. Pages . Strasbourg, France.
[ PDF | BIB ]
2006
[2006ACTI669] - Le Menn, F. and Bidaud, Ph. and Ben Amar, F. (2006). Generic differential kinematic modeling of articulated multi-monocycle mobile robots.
In Proceedings of the 2006 IEEE International Conference on Robotics and Automation. Pages 1505 - 1510 . Orlando, Florida.
[ PDF | BIB ]
[2006COM671] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2006). Modeling lattice modular systems with space groups.
Robotics Sciences and Systems Workshop on Self-reconfigurable Modular Robots. Philadeplphie, USA.
[ BIB ]
2005
[2005ACLN613] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2005). Évaluation des modes de déplacement d'un robot à locomotion hybride roue-patte évoluant en milieux naturels.
EDP Sciences - Mécanique & industries. Vol 6 No 3 Pages 353-364.
[ PDF | BIB ]
[2005ACTI132] - Bidaud, Ph. and Ben Amar, F. and Poulain, T. (2005). Kineto-static analysis of an articulated six-wheel rover.
Actes de Clawar'05 : 8th Int. Conf. on Climbing and Walking Robots. Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI133] - Besseron, G. and Grand, C. and Plumet, F. and Ben Amar, F. and Bidaud, Ph. (2005). Dynamic control of an Hybrid Wheellegged robot under stability constraint by using artificial potential field.
Actes de Clawar'05 : 8th Int. Conf. on Climbing and Walking Robots. Pages . Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI134] - Bidaud, Ph. and Ben Amar, F. and Poirier, S. (2005). An expandable mechanism for deployment and contact surface adaptation of rover wheels.
Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). Pages 1053-1060. Londres,Royaume-Uni.
[ PDF | BIB ]
[2005ACTI668] - Ben Amar, F. and Grand, C. and Besseron, G. and Plumet, F. (2005). Multi-modes locomotion on natural terrain.
In Proceedings of HUDEM'05 the Int. Conf. on Humanitarian Demining. Pages . Tokyo, June.
[ PDF | BIB ]
[2005ACTN216] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2005). Optimisation des modes de déplacement d'un robot à locomotion hybride roue-patte évoluant en milieux naturels.
17ème Congrès Français de Mécanique. Pages . Troyes, France.
[ PDF | BIB ]
2004
[2004ACLI24] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Stability and traction optimization of a wheel-legged robot.
International Journal of Robotics Research. Vol 23 No 10-1 Pages 1041--1058.
[ PDF | BIB ]
[2004ACTI86] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos.
Proc. of IEEE/ICRA'04: the Int. conf. on Robotics and Automation. Pages 5111-5116. La Nouvelle Orléans, Etats-Unis.
[ PDF | BIB ]
[2004ACTI87] - Brener, N. and Ben Amar, F. and Bidaud, Ph. (2004). Analysis of Self-Reconfigurable Modular Systems, a design proposal for multi-modes locomotion.
Actes de ICRA�04 : IEEE International conference on Robotics and Automation. Pages 996-1001. La Nouvelle Orléans, Etats-Unis.
[ PDF | BIB ]
[2004ACTI109] - Besseron, G. and Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2004). Locomotion modes of a hybrid wheellegged robot.
Proc. of CLAWAR'04 : 7th Int. Conf. on Climbing and Walking Robots. Pages . Madrid,Espagne.
[ PDF | BIB ]
[2004ACTI111] - Chocron, O. and Brener, N. and Bidaud, Ph. and Ben Amar, F. (2004). Evolutionary Synthesis of Structure and Control of Locomotion Systems.
CLAWAR�04 : 7th International Conference on Climbing and Walking Robots. Madrid,Espagne.
[ PDF | BIB ]
[2004ACTI118] - Ben Amar, F. and Grand, C. and Besseron, G. and Plumet, F. (2004). Performance Evaluation of Locomotion Modes of an Hybrid Wheel-Legged Robot for Self-Adaptation to Ground Conditions.
Proc. of ASTRA'04, 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation. Pages . Noordwijk, Pays-Bas.
[ PDF | BIB ]
2003
[2003ACTI69] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2003). Motion Analysis and Optimization of Actively Articulated Rovers on Rough Terrain.
Proc. of RAAD’03: 12th International Workshop on Robotics in Alpe-Adria-Danube Region. Pages . Cassino, Italie.
[ BIB ]
[2003ACTI71] - Ben Salem, M. and Monacelli, E. and Ben Amar, F. (2003). Performance Study of Aided Locomotion For An Outdoor Mobile Robot With Arms.
Actes de AIM2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Kobe, Japon.
[ BIB ]
[2003ACTI73] - Le Menn, F. and Ben Amar, F. and Bidaud, Ph. (2003). Wheeled actively articulated modular vehicle for locomotion on difficult terrain.
Actes de CLAWAR�03 : International Conference on Climbing And Walking Robots. Pages 283-289. Catane, Italie.
[ PDF | BIB ]
[2003ACTN196] - Ben Amar, F. and Grand, Ch. and Plumet, F. and Bidaud, Ph. (2003). Optimisation et contrôle de la configuration d'un rover articulé.
Actes de JNRR'03 : Quatrièmes Journées Nationales de la Recherche en Robotique. Pages . Clermont-Ferrand, France.
[ PDF | BIB ]
2002
[2002DO2] - Bidaud, Ph. and Ben Amar, F., editor(s) (2002). CLAWAR 02.
CLAWAR 02 : 5th Int. Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Professional Machine Publishing. ISBN: 1-86058-380-6.
[ BIB ]
[2002ACTI38] - Grand, C. and Ben Amar, F. and Bidaud, Ph. (2002). Kinematic analysis and stability optimisation of a reconfigurable leggedwheeled mini-rover.
Proc. of SPIE, Unmanned Ground Vehicle Technology IV. Pages 295--302. Orlando, Etats-Unis.
[ PDF | BIB ]
[2002ACTI43] - Konno, A. and Sellaouti, R. and Ben Amar, F. and Ben Ouezdou, F. (2002). Design and Development of the Biped Prototype ROBIAN.
Actes de ICRA’02: IEEE International Conference on Robotics and Automation. Washington DC, Etats-Unis.
[ BIB ]
[2002ACTI57] - Grand, C. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2002). Stability control of a wheel-legged mini-rover.
Proc. of CLAWAR'02 : 5th Int. Conf. on Climbing and Walking Robots. Pages 323-330. Paris, France.
[ PDF | BIB ]
[2002ACTI64] - Grand, Ch. and Ben Amar, F. and Plumet, F. and Bidaud, Ph. (2002). Simulation and control of high mobility rovers for rough terrains exploration.
Proc. of IARP/HUDEM'02 : International Workshop on Robots for Humanitarian Demining. Pages 51-56. Vienne, Autriche.
[ PDF | BIB ]
[2002COM185] - Le Menn, F. and Ben Amar, F. and Bidaud, Ph. (2002). Conception et organisation de systèmes robotiques modulaires reconfigurables.
Actes de JJCR’16 : 16 èmes journées des Jeunes Chercheurs en Robotique. Lyon, France.
[ BIB ]
2001
[2001ACTI614] - Grand, C. and Ben Amar, F. and Bidaud, Ph. and Andrade G. (2001). A simulation system for behaviour evaluation of off-road mobile robots.
Proceedings of Clawar'01: 4th International Conference on Climbing and Walking Robots. Pages 207-314. Karlsruhe, Germany.
[ PDF | BIB ]