3 citations · 3 across the 3 of their papers we have counts for
5 papers
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
Yang Chen, Leyuan Sun, Mehdi Benallegue +8
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's an…
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers
Mehdi Benallegue, Jean-Paul Laumond, Alain Berthoz
During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on th…
Lyapunov-Stable Orientation Estimator for Humanoid Robots
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…
Velocity-aided IMU-based Attitude Estimation
Mehdi Benallegue, Abdelaziz Benallegue, Rafael Cisneros +1
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors pr…
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer
Mehdi Benallegue, Abdelaziz Benallegue, Yacine Chitour
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There…