Publications HAL

2024

Journal articles

titre
Individual adaptation and social attributes in a handshake robot with CPG control
auteur
Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff
article
Advanced Robotics, 2024, 0, pp.1-16. ⟨10.1080/01691864.2024.2384422⟩
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titre
Personalized Assist-As-Needed Dressing Assistance Robot without Human Modeling using Rowat-Selverston CPG Controller
auteur
Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff
article
Advanced Robotics, In press
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Conference papers

titre
Social Attributes in a Handshake Robot Adaptive to Human Shaking Motion Using a CPG Controller
auteur
Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff
article
The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, Aug 2024, Passadena, CA, United States
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titre
Exploring Engagement in Human-Robot Interaction through the Quantification of Human Spontaneous Movement
auteur
Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell
article
The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024,, Aug 2024, Passadena, CA, United States
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titre
Social Attributes Vary with Individual Differences in a CPG-Controlled Handshake Robot
auteur
Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff
article
29th Robotics Symposia, Mar 2024, Nago, Japan
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titre
Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze
auteur
Masayuki Fujiwara, Phan Hoang Huu Duc, Laurent Bougrain, Patrick Henaff, Hiroaki Wagatsuma
article
2024 International Conference on Artificial Life and Robotics ICAROB2024, Feb 2024, Oita, Japan
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Poster communications

titre
Sorry I overreacted: The role of Affect in the Modulation of Motor Resonance during Face-to-Face Interaction
auteur
Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell
article
The European Society for Cognitive and Affective Neuroscience, May 2024, Ghent (BE), Belgium
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titre
Realizing a Personal Adaptive Dressing Assistance Robot
auteur
Kakeru Yamasaki, Takumi Kajiwara, Tomohiro Shibata, Patrick Henaff
article
IEEE International Conference on Robotics and Automation ICRA2024, May 2024, Yokohama Japan, Japan
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2023

Conference papers

titre
Adaptive central pattern generators to control human/robot interactions (keynote speaker)
auteur
Patrick Henaff
article
13th International IEEE Conference Dependable Systems, Services and Technologies, DESSERT2023, IEEE Greece section, Oct 2023, Athens, Greece
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titre
Robot oscillation frequency impacts human engagement during Human-Robot Interaction
auteur
Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell
article
Rhythm Perception and Production Workshop (RPPW), Nottingham Trent University, Jun 2023, Nottingham (UK), United Kingdom
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Poster communications

titre
Effects of Robot Oscillation Frequency on Human Motor Resonance
auteur
Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell
article
3rd international conference Timing Research Forum (TRF3), Oct 2023, Lisbon, Portugal. 2023
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2022

Journal articles

titre
Simulation of spinal muscle control in human gait using OpenSim
auteur
Andrii Dmytrovych Shachykov, Julien Frère, Patrick Henaff
article
IEEE Transactions on Medical Robotics and Bionics, 2022, 4 (1), pp.254-265. ⟨10.1109/tmrb.2022.3143263⟩
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Conference papers

titre
Towards a neuromusculoskeletal platform to simulate healthy and deficient gait with assistive devices
auteur
Lauriane Le Pape, Patrick Henaff, Tomohiro Shibata, Rikuo Kawamoto, Taiki Yoshitake
article
IEEE ICRA 2022 _ 4th Workshop on Integrating Multidisciplinary Approaches to Advance Physical Human-Robot Interaction: Challenges of Interfacing Wearable Robots with the Human Neuromotor System, May 2022, Philadelphia, United States
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https://hal.science/hal-03674286/file/%5BPHRI2022%5D%20Contribution%20%E2%80%93%20Neurorhythms_Kyutech%20%282%29.pdf BibTex

2021

Conference papers

titre
Dynamic Oscillators to Compensate Master Devices Imperfections in Robots Teleoperation Tasks Requiring Dynamic Movements
auteur
Baptiste Menges, Adrien Guenard, Patrick Henaff
article
CASE 2021 - IEEE 17th International Conference on Automation Science and Engineering, Aug 2021, Lyon, France
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titre
Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry Applications
auteur
Baptiste Menges, Adrien Guenard, Patrick Henaff
article
ISR 2021 - IEEE International Conference on Intelligence and Safety for Robotics, Mar 2021, Nagoya/ Virtual, Japan. ⟨10.1109/ISR50024.2021.9419530⟩
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2019

Journal articles

titre
Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers
auteur
Melanie Jouaiti, Patrick Henaff
article
Biological Cybernetics (Modeling), 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩
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https://hal.science/hal-02291575/file/BICY2019.pdf BibTex
titre
Increasing Capacity of Association Memory by Means of Synaptic Clustering
auteur
Viacheslav Osaulenko, Bernard Girau, Oleksandr Makarenko, Patrick Henaff
article
Neural Processing Letters, 2019, 50 (3), pp.2717-2730. ⟨10.1007/s11063-019-10051-7⟩
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titre
Robot-Based Motor Rehabilitation in Autism: A Systematic Review
auteur
Melanie Jouaiti, Patrick Henaff
article
International Journal of Social Robotics, 2019, 11 (5), pp.753-764. ⟨10.1007/s12369-019-00598-9⟩
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https://hal.science/hal-02295952/file/SORO_Review-3.pdf BibTex
titre
Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context
auteur
Artem Melnyk, Patrick Henaff
article
International Journal of Social Robotics, In press, ⟨10.1007/s12369-019-00525-y⟩
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https://hal.science/hal-01988627/file/JSORO_AM-PH_InPress.pdf BibTex

Conference papers

titre
Real Time Movement Classification in Versatile CPG Control
auteur
Melanie Jouaiti, Patrick Henaff
article
Workshop on Robust Artificial Intelligence for Neurorobotics, Aug 2019, Edinburgh, United Kingdom
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https://hal.science/hal-02291647/file/RAINR-2.pdf BibTex
titre
Motor Coordination Learning for Rhythmic Movements
auteur
Melanie Jouaiti, Patrick Henaff
article
Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway
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https://hal.science/hal-02144957/file/EPIROB2019_Adaptive-2.pdf BibTex
titre
The Sound of Actuators: Disturbance in Human -Robot Interactions?
auteur
Melanie Jouaiti, Patrick Henaff
article
Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway
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https://hal.science/hal-02144955/file/EPIROB2019_Noise.pdf BibTex
titre
Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator
auteur
Andrii Dmytrovych Shachykov, Oleksandr Shuliak, Patrick Henaff
article
IJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary
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https://hal.science/hal-02309658/file/Closed-loop-Central-Shachykov.pdf BibTex

2018

Journal articles

titre
Estimation of Imaginary Movements Quality Based on Machine Learning for Brain Computer Interface Applications
auteur
Oleksii Avilov, Anton Popov, Vladimir Timofieiev, Laurent Bougrain, Patrick Henaff
article
Microsystems, Electronics and Acoustics, 2018, 23 (5), pp.25-31. ⟨10.20535/2523-4455.2018.23.5.134021⟩
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https://inria.hal.science/hal-02153795/file/134021-331070-1-PB%20%281%29.pdf BibTex
titre
Neuro-musculoskeletal simulator of rhythmic movements of human hip joint
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak
article
Bulletin of National Technical University of Ukraine "KPI". Series Instrument Making, 2018, 55(1), pp.118-125. ⟨10.20535/1970.55(1).2018.135832⟩
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https://hal.science/hal-01798576/file/pryl18_10.pdf BibTex
titre
Hebbian Plasticity in CPG Controllers Facilitates Self-Synchronization for Human-Robot Handshaking
auteur
Melanie Jouaiti, Lancelot Caron, Patrick Henaff
article
Frontiers in Neurorobotics, 2018, 12, pp.29. ⟨10.3389/fnbot.2018.00029⟩
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https://hal.science/hal-01811316/file/fnbot-12-00029.pdf BibTex

Conference papers

titre
Combined imaginary movements classification using binary classifiers in brain-computer interfaces
auteur
Oleksii Avilov, Anton Popov, Vladimir Ivanovich Timofeyev, Laurent Bougrain, Patrick Henaff
article
XVII International scientific and technical conference “Physical processes and fields of technical and biological objects”, Nov 2018, Kremenchuk, Ukraine
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https://hal.science/hal-01928217/file/_%D0%9A%D1%80%D0%B5%D0%BC%D0%B5%D0%BD%D1%87%D1%83%D0%BA_%D0%90%D0%B2%D1%96%D0%BB%D0%BE%D0%B2_%D0%9F%D0%BE%D0%BF%D0%BE%D0%B2_%D1%82%D0%B0_%D1%96%D0%BD%D1%88%D1%96.pdf BibTex
titre
Implementation, risk assessment and safety human/robot interaction of collaborative robot UR10
auteur
Baptiste Menges, Michaël Sarrey, Patrick Henaff
article
SIAS 2018 - 9th International Conference on Safety of Industrial Automated Systems, Oct 2018, Nancy, France
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titre
CPG-based Controllers can Generate Both Discrete and Rhythmic Movements
auteur
Melanie Jouaiti, Patrick Henaff
article
IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain
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https://hal.science/hal-01837189/file/iros2018.pdf BibTex
titre
CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions
auteur
Melanie Jouaiti, Patrick Henaff
article
ARSO 2018 - IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy
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https://hal.science/hal-01825464/file/arso.pdf BibTex
titre
Integration of collaborative robot in a hard steel industrial environment
auteur
Baptiste Menges, Michaël Sarrey, Patrick Henaff
article
CASE 2018 - 14th IEEE International Conference on Automation Science and Engineering, Aug 2018, munich, Germany
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titre
Expanded Algorithm for Inertial Navigation
auteur
Petro Aksonenko, Vadym Avrutov, Yu F. Lazarev, Patrick Henaff, Laurent Ciarletta
article
SAI 2018 - IEEE Computing Conference, Jul 2018, londres, United Kingdom
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titre
Guido and Am I Robot?, case study of two robotic artworks operating in public spaces
auteur
Paul Granjon, Alain Dutech, Patrick Henaff
article
ICLI 2018 - International Conference on Live Interfaces, Jun 2018, Porto, Portugal
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titre
Plastic CPG-based Robot Controllers for Human-Robot Rhythmic Interactions
auteur
Melanie Jouaiti, Patrick Henaff
article
JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France
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https://hal.science/hal-02024599/file/JNRH2018.pdf BibTex
titre
Modeling of human gait control using CPGs
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Alexander Shulyak
article
JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France
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https://hal.science/hal-02006019/file/JNRH18_Shachykov_3.pdf BibTex

Books

titre
Simulation of rhythmic movements of the human hip joint at the neuronal and muscular-skeletal level
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak
article
National Technical University of Ukraine "Kyiv Polytechnic Institute", 2018
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2017

Conference papers

titre
CPG-based circuitry for controlling musculoskeletal model of human locomotor system
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak
article
BioCAS 2017 - IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy
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https://hal.science/hal-01798605/file/Shachykov_BioCAS_PH7.pdf BibTex
titre
From the control of biological complex systems toward the control of robotic complex systems
auteur
Henaff Patrick
article
International Conference on Computer Science and Computational Intelligence (ICCSCI), Oct 2017, bali, Indonesia
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titre
NEMS Gyroscope
auteur
V.V. Avrutov, N.I. Bouraou, L. Lakoza, O.M. Pavlovskyi, Patrick Henaff, Laurent Ciarletta, Petro Aksonenko
article
ICE ITMC 2017 - 23rd ICE/IEEE International Technology Management Conference, Jun 2017, Porto, Portugal. pp.394-398, ⟨10.1109/ICE.2017.8279912⟩
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titre
Expanded Calibration of the MEMS Inertial Sensors
auteur
Vadym Avrutov, Petro Aksonenko, Nadiya Bouraou, Henaff Patrick, Laurent Ciarletta
article
UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩
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titre
Neuro-musculoskeletal Simulator of Human Rhythmic Movements
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak
article
UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine
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https://hal.science/hal-01798629/file/UKRCON-2017_Doc_or_Tex_Paper_213.pdf BibTex
titre
Biological control for humanoid robots
auteur
Henaff Patrick
article
2017 IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, kiev, Ukraine
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titre
3D-Calibration of the IMU
auteur
V V Avrutov, P M Aksonenko, P Henaff, Laurent Ciarletta
article
ELNANO 2017 - IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩
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https://hal.science/hal-01654279/file/ELNANO-2017_paper_13.pdf BibTex

Book sections

titre
Comparison of measured and modeled movements of the human lower limbs
auteur
Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak
article
АКТУАЛЬНІ ПРОБЛЕМИ АВТОМАТИКИ ТА ПРИЛАДОБУДУВАННЯ, 2017, 978-6177577-38-5
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https://hal.science/hal-01798594/file/Andrii%20Shachykov%2C%20Olexandr%20Shulyak%2C%20Patrick%20Henaff.%20Comparison%20of%20measured%20and%20modeled%20movements%20of%20the%20human%20lower%20limbs.%20Dec%202017%2C%20Kharkiv%2C%20Ukraine.%202017.pdf BibTex

2016

Conference papers

titre
Bio-inspired plastic controller for a robot arm to shake hand with human
auteur
Artem Melnyk, Patrick Henaff
article
IEEE 36th International Conference on ELECTRONICS AND NANOTECHNOLOGY ELNANO-2016, Univ KPI, Apr 2016, Kiev, Ukraine. pp.163-168
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Book sections

titre
Muscle-like Compliance in Knee Articulations Improves Biped Robot Walkings
auteur
Henaff Patrick, Hayssam Serhan
article
edited by Guanghui (Richard) Wang, Intech,. Recent Advances in Robotic Systems, 2016, 978-953-51-4767-1
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2015

Conference papers

titre
Analysis of a handshake between humans using wavelet transforms
auteur
Artem Melnyk, Patrick Henaff, Anton Popov
article
ELNANO 2015 - IEEE 35th International Conference on Electronics and Nanotechnology, Apr 2015, kiev, Ukraine. pp.397 - 401, ⟨10.1109/ELNANO.2015.7146918⟩
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2014

Journal articles

titre
Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots
auteur
John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng
article
Biological Cybernetics (Modeling), 2014, 1-13, pp.19. ⟨10.1007/s00422-014-0592-8⟩
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Conference papers

titre
Interaction rythmique homme/robot : cas du « handshaking
auteur
Patrick Henaff
article
JNRI 2014, Journées Nationales de la Robotique Interactive, Dec 2014, toulouse, France
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titre
Analysis of synchrony of a handshake between humans
auteur
Artem Melnyk, Vladimir Borysenko, Patrick Henaff
article
AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1753-1758, ⟨10.1109/AIM.2014.6878337⟩
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https://hal.science/hal-01111248/file/AIM2014Artem.pdf BibTex
titre
Sensor network architecture to measure characteristics of a handshake between humans
auteur
Artem Melnyk, Viacheslav Khomenko, Patrick Henaff, Vladimir Borysenko
article
Electronics and Nanotechnology (ELNANO), 2014 IEEE 34th International Conference on, 2014, Kiev, Ukraine. pp.264- 268, ⟨10.1109/ELNANO.2014.6873983⟩
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titre
Learning spatial Touch in an Artificial Skin with Neural Network
auteur
Ganna Pugach, Alexandre Pitti, Artem Melnyk, Patrick Henaff, Philippe Gaussier
article
Eurohaptics 2014, 2014, versailles, France. pp.458-460, ⟨10.1007/978-3-662-44196-1⟩
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2013

Conference papers

titre
Physical human-robot interaction in the handshaking case: learning of rhythmicity using oscillators neuron
auteur
Artem Melnyk, Viacheslav Khomenko, Vladimir Borysenko, Patrick Henaff
article
2013 IFAC Conference on Manufacturing Modelling, Management, and Control, IFAC MIM '2013, Jun 2013, St Petersbourg, Russia
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titre
Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions
auteur
Ganna Pugach, Viacheslav Khomenko, Artem Melnyk, Alexandre Pitti, Patrick Henaff, Philippe Gaussier
article
ELNANO 2013 - 33rd IEEE International Scientific Conference Electronics and Nanotechnology, Apr 2013, Kiev, Ukraine. pp.5, ⟨10.1109/ELNANO.2013.6552033⟩
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https://hal.science/hal-00784892/file/PUGACH_et_al_ELNANO_2012.pdf BibTex

2011

Journal articles

titre
Flexible and Stable Pattern Generation by Evolving Constrained Plastic Neurocontrollers
auteur
Thierry Hoinville, C. Tapia, Patrick Henaff
article
Adaptive Behavior, 2011, 19, pp.187-207. ⟨10.1177/1059712311403631⟩
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https://hal.science/hal-00784897/file/article_sab_T_Hoinville_publiA_-pour_HAL.pdf BibTex

Conference papers

titre
Experience-based Learning Mechanism with a Concept of Vigilance
auteur
John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng
article
Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting 2011, Nov 2011, Bernstein, Germany. ⟨10.3389/conf.fncom.2011.53.00099⟩
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titre
Non-Invasive Low Cost Method for Linear and Angular Accelerations Measurement in Biped Locomotion Mechanism
auteur
Viacheslav Khomenko, Patrick Henaff, Olivier Bruneau, Fethi Ben Ouezdou, Vladimir Borysenko, Artem Melnyk
article
IEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759
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https://hal.science/hal-00667677/file/IEEE_sensors_2011_def.pdf BibTex
titre
Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being
auteur
Artem Melnyk, Sébastien Razakarivony, Patrick Henaff, Vladimir Borysenko, Philippe Gaussier
article
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩
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https://hal.science/hal-00667693/file/AIM-2011.pdf BibTex
titre
Bipedal Locomotion Control with Rhythmic Neural Circuits
auteur
John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng
article
International Workshop on Bio-Inspired Robots, Apr 2011, nantes, France
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Habilitation à diriger des recherches

titre
Bio-inspired control and genesis of rhythmic movements in robotics
auteur
Patrick Henaff
article
Automatique / Robotique. Université de Cergy Pontoise, 2011
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https://theses.hal.science/tel-00667651/file/HDR_Henaff_DA_finitive_Complete.pdf BibTex

2010

Journal articles

titre
On the role of sensory feedbacks in Rowat-Selverston CPG to improve robot legged locomotion
auteur
Elmira Amrollah, Patrick Henaff
article
Frontiers in Neurorobotics, 2010, 4 (113), pp.1-9. ⟨10.3389/fnbot.2010.00113⟩
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titre
Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture
auteur
Patrick Henaff, Vincent Scesa, Fethi Ben Ouezdou, Olivier Bruneau
article
Control Engineering Practice, 2010, 19 (1), pp.89 - 99. ⟨10.1016/j.conengprac.2010.10.002⟩
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https://hal.science/hal-00538710/file/NNROBIAN-CEP_Revised_final-authors.pdf BibTex
titre
generalized model of articulated electromechanical systems with elasticities in transmissions
auteur
Patrick Henaff, Viacheslav Khomenko, Vladimir Borysenko
article
Journal of Technical Electrodynamics Institut d'Électrodynamique de l'Académie Nationale des Sciences d'Ukraine., 2010, 1, pp.141-146
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titre
MUSCLE EMULATION WITH DC MOTOR AND NEURAL NETWORKS FOR BIPED ROBOTS
auteur
Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff
article
International Journal of Neural Systems, 2010, 20 (4), pp.341-353. ⟨10.1142/S0129065710002450⟩
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Conference papers

titre
Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and Classification
auteur
John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng
article
International Conference on Simulation of Adaptive behavior, SAB 2010,, Aug 2010, France. pp.313-324
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https://hal.science/hal-00519947/file/paperSAB_Final.pdf BibTex

2009

Conference papers

titre
Experience-based Learning Mechanism for Neural Controller Adaptation: Application to Walking Biped Robots
auteur
John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng
article
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009 ), Sep 2009, France. pp.4955-4961
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titre
Three DOF Hybrid Mechanism for Humanoid Robotic Application:Modeling, Design and Realization
auteur
Samer Alfayad, Fethi Ben Ouezdou, Faycal Namoun, Olivier Bruneau, Patrick Henaff
article
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Sep 2009, United States. pp.4955-4961
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2008

Conference papers

titre
State Machine-Based Controller for Walk-Halt-Walk Transitions on a Biped Robot
auteur
Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou
article
IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Dec 2008, Daejeon, South Korea. pp.535-540
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https://hal.science/hal-00519960/file/IEEE_Humanoid2008_Final.pdf BibTex
titre
Dynamic Control Strategy of a Biped Inspired from Human Walking
auteur
Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou
article
IEEE-RAS/EMBS Inter.l Conference on Biomedical Robotics and Biomechatronics -BioRob 2008, Oct 2008, Scottsdale, United States. pp.342-347, ⟨10.1109/BIOROB.2008.4762797⟩
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https://hal.science/hal-00523030/file/Article_Biorob_Hal.pdf BibTex
titre
A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking
auteur
Hayssam Serhan, Patrick Henaff, Fethi Ben Ouezdou, Chaiban G. Nasr
article
IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008, Sep 2008, Nice, France. pp.2479- 2485
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2007

Journal articles

titre
Etude sur l'intérêt des modèles biologiques de réseaux de neurones pour la synthèse de rythmes locomoteurs adaptatifs
auteur
Thierry Hoinville, Patrick Henaff, Stéphane Delaplace
article
Journal Européen des Systèmes Automatisés (JESA), 2007, Vol. 41 (N°3/4), pp.413-435
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https://hal.science/hal-00519907/file/JESA_henaff_2007-CC-05-02.pdf BibTex

2006

Conference papers

titre
Time Window Width Influence On Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study
auteur
Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun
article
16th International Conference on Artificial Neural Networks, ICANN 2006, Sep 2006, athene, Greece. pp.93 -102, ⟨10.1007/11840817_10⟩
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https://hal.science/hal-00523037/file/ICANN06_HAL.pdf BibTex
titre
On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT Algorithm
auteur
Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun
article
IEEE International Joint Conference on Neural Networks, IJCNN 2006,, Jul 2006, Vancouver, Canada. pp.4498 - 4505, ⟨10.1109/IJCNN.2006.247074⟩
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https://hal.science/hal-00523039/file/IJCNN_vincent_version_HAl_2.pdf BibTex
titre
Designing a Muscle like System based on PID Controller and Tuned by Neural Network
auteur
Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff
article
IEEE International Joint Conference on Neural Networks, Jul 2006, vancouver, Canada. pp.10090-10097, ⟨10.1109/IJCNN.2006.247203⟩
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https://hal.science/hal-00523295/file/IJCNN2006-Hayssam-HAL2.pdf BibTex

Book sections

titre
Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the Plant
auteur
Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff
article
ASME books. Intelligent Engineering Systems Through Artificial Neural Networks, ASME books, pp.747-752, 2006
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2005

Journal articles

titre
Evolving Simplistic Neural Controllers toward Adaptation to Internal Perturbations
auteur
Thierry Hoinville, Patrick Henaff, Eric Monacelli
article
AMSE Journal of Advances in Modelling, advances C, 2005, 60 (6), pp.57-71
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Conference papers

titre
Dynamic recurrent neural network for biped robot equilibrium control: preliminary results
auteur
Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fethi Ben Ouezdou
article
IEEE International Conference on Robotics and Automation, ICRA 2005, Apr 2005, Barcelone, Spain. pp.4125-4130
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2004

Conference papers

titre
Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion
auteur
Thierry Hoinville, Patrick Henaff
article
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2004, Japan. pp.2624-2629
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https://hal.science/hal-00523324/file/IROS_2004.pdf BibTex
titre
Evolving Plastic Neural Controllers stabilized by Homeostatic Mechanisms for Adaptation to a Perturbation
auteur
Thierry Hoinville, Patrick Henaff
article
International Conference on the Simulation and Synthesis of Living Systems (ALIFE9, Sep 2004, boston, United States. pp.81-88
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https://hal.science/hal-00522803/file/ALIFE9_2004final.pdf BibTex

2003

Journal articles

titre
Technical aid adaptation with robotic
auteur
Patrick Henaff, Eric Monacelli, Stéphane Delaplace, Rolland Thieffry
article
AMSE Journal of Advances in Modelling, advances C, 2003, 60 (6), pp.57-71
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Conference papers

titre
Configuring sensors by user learning for a locomotion aid interface .
auteur
Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace
article
IEEE International Conference on Robotics and Automation, ICRA 2003, May 2003, Pekin, China. pp.1509-1514
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2002

Conference papers

titre
Approaches and learning phases for a robotic adaptive deambulation task
auteur
Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace
article
IEEE International Conference on Systems, Man and Cybernetics, SMC 2002, Oct 2002, Hammamet, Tunisia. pp.210-215
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titre
Adaptive Learning Control in Evolutionary Design of Mobile Robots,
auteur
Patrick Henaff, Olivier Chocron
article
IEEE International Conference on Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. pp.345-349, ⟨10.1109/ICSMC.2002.1176065⟩
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titre
Evolving mobile robots with learning abilities by neural controller
auteur
Patrick Henaff, Olivier Chocron
article
International Symposium on Measurement and Control In Robotics , Jun 2002, bourges, France
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1997

Conference papers

titre
Fuzzy and neural control for mobile robotics experimentations
auteur
G. Bourdon, Patrick Henaff
article
1st IEEE International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES '97, May 1997, Adelaide, France. ⟨10.1109/KES.1997.619450⟩
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Book sections

titre
Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot
auteur
Henaff Patrick, Stéphane Delaplace
article
Morecki, A., Bianchi, G., Rzymkowski, C ROMANSY 11. International Centre for Mechanical Sciences Springer, Vienna. Part of the International Centre for Mechanical Sciences book series, 381 (347-354), 1997
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https://hal.science/hal-01843719/file/Romansy97.pdf BibTex

1996

Conference papers

titre
Backpropagation Algorithm Without Output Desired: Implementation of Neural Control in Mobile Robotics,
auteur
Henaff Patrick, Stéphane Delaplace
article
Int. Conf. on Neural Networks and their Applications, 1996, Marseille, France
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1994

Conference papers

titre
Adaptive neural control in mobile robotics: experimentation for a wheeled cart
auteur
Patrick Henaff, M. Milgram, J. Rabit
article
IEEE International Conference on Systems, Man and Cybernetics, Oct 1994, San Antonio, France. ⟨10.1109/ICSMC.1994.399997⟩
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titre
Adaptive Neural Control with Backpropagation Algorithm
auteur
Henaff Patrick, Maurice Milgram
article
IEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France
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Theses

titre
Implementations of Neural Controls by Indirect Retropagation: Applications to Mobile Robotics
auteur
Patrick Henaff
article
Robotique [cs.RO]. Université Pierre et Marie Curie, 1994. Français. ⟨NNT : 1994PA066152⟩
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https://hal.science/tel-03832547/file/these_henaff.pdf BibTex

1993

Conference papers

titre
A Neural Network Approach of the Control of Dynamic Biped Equilibrium
auteur
Patrick Henaff, Holger Schwenk, M. Milgram
article
3rd International Symposium on Measurement and Control in Robotics (ISMCR '93), Sep 1993, Turin, Italy. pp.AS.II-19
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https://hal.science/hal-01348277/file/ISMCR1993.pdf BibTex