Home » Teams » Syroco » Faïz Ben Amar

  • Faïz Ben Amar

  • Professeur des Universités
  • Team: Syroco
  • Office: H15
  • Addresse: : ISIR, Campus Pierre et Marie Curie, 4 place Jussieu, BC173, 75005 Paris

Publications

  • Wenqian Du, Mohamed Fnadi, Faïz Benamar. Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots. Multibody System Dynamics, 2022, 54 (3), pp.235-262. ⟨10.1007/s11044-021-09809-6⟩. ⟨hal-03990024⟩
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  • Bach Quoc Hoa, Vincent Padois, Faïz Benamar, Eric Desailly. A Two-Step Optimization-Based Synthesis of Squat Movements. International Conference on Human-Computer Interaction, Jul 2021, Washington DC, United States. pp.122-138, ⟨10.1007/978-3-030-77817-0_11⟩. ⟨hal-03990088⟩
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  • Wenqian Du, Ze Wang, Etienne Moullet, Faïz Benamar. Meaningful Centroidal Frame Orientation of Multi-body Floating Locomotion Systems. 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. pp.3061-3067, ⟨10.1109/ICRA48506.2021.9560918⟩. ⟨hal-03990102⟩
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  • Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faïz Benamar. Constrained Model Predictive Control for Dynamic Path Tracking of a Bi-steerable Rover on Slippery Grounds. Control Engineering Practice, 2020, 107, pp.104693. ⟨10.1016/j.conengprac.2020.104693⟩. ⟨hal-03151883⟩
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  • Mohamed Fnadi, Wenqian Du, Frédéric Plumet, Faiz Ben Amar. Local obstacle-skirting path planning for a fast bi-steerable rover using béziers curves. 2020 International Conference on Robotics and Automation (ICRA), 2020, Paris, France. pp.1-9. ⟨hal-03135862⟩
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  • Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Whole-body motion tracking for a quadruped-on-wheel robot via a compact-form controller with improved prioritized optimization. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.516-523. ⟨10.1109/LRA.2019.2963822⟩. ⟨hal-03177954⟩
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  • Wenqian Du, Faïz Ben Amar. 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, 2020, 49 (4), pp.447-463. ⟨10.1007/s11044-020-09728-y⟩. ⟨hal-03177955⟩
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  • Wenqian Du, Mohamed Fnadi, Faïz Ben Amar. Rolling based locomotion on rough terrain for a wheeled quadruped using centroidal dynamics. Mechanism and Machine Theory, 2020, 153, pp.103984. ⟨10.1016/j.mechmachtheory.2020.103984⟩. ⟨hal-03177960⟩
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  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Design and Control of a Compliant Wheel-on-Leg Rover that Conforms to Uneven Terrain. IEEE/ASME Transactions on Mechatronics, 2020, 25 (5), pp.2354 - 2363. ⟨10.1109/TMECH.2020.2973752⟩. ⟨hal-03019412⟩
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  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Road bank and road grade angles estimation for a double steering off- road mobile robot. IFToMM World Congress on Mechanism and Machine Science, 2019, Krakow, Poland. pp.1771-1780. ⟨hal-03135864⟩
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  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. 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), 2019, Macao, Unknown Region. pp.1-9. ⟨hal-03135865⟩
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  • Mohamed Fnadi, Frédéric Plumet, Faiz Ben Amar. Nonlinear tire cornering stiffness observer for a double steering off-road mobile robot. 2019 International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada. pp.7529-7534. ⟨hal-03135863⟩
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  • Mohamed Fnadi, Bachir Menkouz, Frédéric Plumet, Faiz Ben Amar. Path tracking control for a double steering off-road mobile robot. ROMANSY 22−Robot Design, Dynamics and Control, 2018, Rennes, France. pp.441-449. ⟨hal-03135866⟩
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  • A.P. Santos, Faïz Ben Amar, Philippe Bidaud, Vincent Padois, E. Desailly. Articulated foot improves human likeliness of walking when compared to a flat foot. Computer Methods in Biomechanics and Biomedical Engineering, 2017, 20, pp.189-190. ⟨10.1080/10255842.2017.1382926⟩. ⟨hal-01850521⟩
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  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Obstacle negotiation learning for a compliant wheel-on-leg robot. IEEE International Conference on Robotics and Automation (ICRA 2017), May 2017, Singapour, Singapore. ⟨10.1109/ICRA.2017.7989281⟩. ⟨hal-03177942⟩
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  • Ziad Zamzami, Faïz Ben Amar. Dynamic coupling map: acceleration space analysis for underactuated robots. International Conference on Informatics in Control, Automation and Robotics (ICINCO)-, 2016, Lisbon, Portugal. 10-p. ⟨hal-03177945⟩
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  • Arthur Bouton, Christophe Grand, Faïz Ben Amar. Motion control of a compliant wheel-leg robot for rough terrains crossing. IEEE International Conference on Robotics and Automation (ICRA2016), May 2016, Stockholm, Sweden. p. 2846-2851, ⟨10.1109/ICRA.2016.7487448⟩. ⟨hal-03177943⟩
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  • Adrien Debord, Eric Lucet, Faïz Ben Amar. Mobile robot behavior adaptation in navigation space shared with human. MCG 2016 –5th International Conference on Machine Control & Guidance, 2016, Clermont-Ferrand, France. ⟨hal-03177944⟩
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  • Christophe Grand, Pierre Jarrault, Faïz Ben Amar, Philippe Bidaud. Experimental evaluation of obstacle clearance by a hybrid wheel- legged robot. 14th International Symposium on Experimental Robotics, 2014, Marrakech, Morocco. ⟨hal-03177935⟩
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  • Bachir Menkouz, Ahmed Bouzar Essaidi, Moussa Haddad, Taha Chettibi, Faïz Ben Amar. Trajectory planning of unmanned ground vehicles evolving on an uneven terrain with vertical dynamic consideration. Conference: 2015 4th International Conference on Electrical Engineering (ICEE), 2015, Alger, Algeria. 6-p., ⟨10.1109/INTEE.2015.7416800⟩. ⟨hal-03178036⟩
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  • Alexandra Pimenta Santos, Faïz Ben Amar, Philippe Bidaud, Eric Desailly. Gait synthesis assessment fo the effect of crouch gait and hip internal rotation on \char8216stiff-knee\char8217 gait. Annual Meeting of the European Society for Movement Analysis in Adults and Children, 2015, Heidelberg, Germany. ⟨hal-03177934⟩
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  • Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar. Optimal sail angle computation for an autonomous sailboat robot. IEEE Conference on Decision and Control (CDC), 2015, Osaka, Japan. pp.807-813, ⟨10.1109/CDC.2015.7402329⟩. ⟨hal-03135868⟩
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  • Alexandra Pimenta Santos, Faïz Ben Amar, Philippe Bidaud, Eric Desailly. Gait synthesis for an anthropomorphic human model with articulated feet. Computer Methods in Biomechanics and Biomedical Engineering, 2015, 18 (1), ⟨10.1080/10255842.2015.1069620⟩. ⟨hal-03178048⟩
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  • Mohamed Krid, Faïz Ben Amar, Ziad Zamzami. Design of an active device for controlling lateral stability of fast mobile robot. Robotica, 2015, 34 (11), pp.2629-2651. ⟨10.1017/S0263574715000260⟩. ⟨hal-03177961⟩
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  • Jianting Ma, Haissam Kharboutly, Abderraouf Benali, Faïz Ben Amar, Mourad Bouzit. Joint angle estimation with accelerometers for dynamic postural analysis. Journal of Biomechanics, 2015, 48 (13), pp.3616-3624. ⟨10.1016/j.jbiomech.2015.08.008⟩. ⟨hal-03178040⟩
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  • Jae-Yun Jun, Vincent Padois, Faïz Ben Amar. Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains. IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015, Lyon, France. ⟨hal-01160230⟩
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  • Jae-Yun Jun, Jean-Philippe Saut, Faïz Ben Amar. Pose estimation-based path planning for a tracked mobile robot traversing uneven terrains. Robotics and Autonomous Systems, 2015, 75 (Part B), pp.325-339. ⟨10.1016/j.robot.2015.09.014⟩. ⟨hal-01212090⟩
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  • Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar. Routing and course control of an autonomous sailboat. European Conference on Mobile Robots (ECMR'15), 2015, Lincoln, United Kingdom. ⟨10.1109/ECMR.2015.7324218⟩. ⟨hal-03135867⟩
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  • Jae-Yun Jun, Minh Duc Hua, Faïz Ben Amar. A trajectory tracking control design for a skid-steering mobile robot by adapting its desired instantaneous center of rotation. IEEE Conference on Decision and Control, 2014, Los Angeles, United States. pp.4554-4559, ⟨10.1109/CDC.2014.7040100⟩. ⟨hal-03177946⟩
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  • Faïz Ben Amar, Christophe Grand. Quasi-static motion simulation and slip prediction of articulated planetary rovers using a kinematic approach. Journal of Mechanisms and Robotics, 2013, 5 (2), pp.021002. ⟨10.1115/1.4023873⟩. ⟨hal-03177962⟩
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  • Hadi Saoud, Minh Duc Hua, Frédéric Plumet, Faiz Ben Amar. Modeling and control design of a robotic sailboat. 6th International Robotic Sailing Conference, 2013, Brest, France. pp.95-110. ⟨hal-03135870⟩
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  • Mohamed Krid, Faïz Ben Amar. Design and control of an active anti-roll system for a fast rover. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, San Francisco, United States. pp.274-279. ⟨hal-03177947⟩
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  • Mohamed Krid, Faïz Ben Amar. A dynamic based path tracking controller for a fast rover with independent steering and drive. 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Sep 2011, Paris, France. pp.78-85, ⟨10.1142/9789814374286_0009⟩. ⟨hal-03177948⟩
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  • Christophe Grand, Faïz Ben Amar, Frédéric Plumet. Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation. Mechanism and Machine Theory, 2010, 45 (3), pp.477-495. ⟨10.1016/j.mechmachtheory.2009.10.007⟩. ⟨hal-00732803⟩
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  • Nicolas Brener, Faïz Ben Amar, Philippe Bidaud. Characterization of lattice modular robots by discrete displacement groups. IEEE/IROS Int. Conf. on Robots and Intelligents Systems, 2010, Taipei, Taiwan. pp.1133-1139. ⟨hal-03177936⟩
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  • R. Lenain, Eric Lucet, Christophe Grand, Benoît Thuilot, Faïz Ben Amar. Accurate and stable mobile robot path tracking algorithm: an integrated solution for off-road and high speed context. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan. pp.196-201. ⟨hal-03177950⟩
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  • Damien Lhomme-Desages, Christophe Grand, Faïz Ben Amar, Jean-Claude Guinot. Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover. IEEE/ASME Transactions on Mechatronics, 2009, 14 (4), pp.484-492. ⟨10.1109/TMECH.2009.2013713⟩. ⟨hal-00733597⟩
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  • Damien Lhomme-Desages, Christophe Grand, Faïz Ben Amar, Jean-Claude Guinot. Doppler-based ground speeed sensor fusion and slip-control for a wheeled rover. IEEE/ASME Transactions on Mechatronics, 2009, 14 (4), pp.484-492. ⟨10.1109/tmech.2009.2013713⟩. ⟨hal-03177963⟩
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  • Faïz Ben Amar, Philippe Bidaud, Christophe Grand. Analysis and optimization of obstacle clearance of articulated rovers. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, United States. pp.4128-4133, ⟨10.1109/IROS.2009.5354379⟩. ⟨hal-03177937⟩
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  • Faïz Ben Amar, Pierre Jarrault, Philippe Bidaud, Christophe Grand. Optimal actuator torques distribution of articulated rovers on rough terrain. Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines ,, 2009, Istanbul, Turkey. pp.791-799, ⟨10.1142/9789814291279_0097⟩. ⟨hal-03177938⟩
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  • Faïz Ben Amar, Christophe Grand, Damien Lhomme-Desages, Philippe Bidaud. 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, 2008, Nice, France. pp.5-11. ⟨hal-03177951⟩
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  • Nicolas Brener, Faïz Ben Amar, Philippe Bidaud. Designing modular lattice systems with chiral space groups. The International Journal of Robotics Research, 2008, 27 (3-4), pp.279-297. ⟨10.1177/0278364908089349⟩. ⟨hal-03177953⟩
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  • Guillaume Besseron, Christophe Grand, Faïz Ben Amar, Philippe Bidaud. Stability control of a hybrid wheel-legged robot using potential field approach. Clawar'08: 11th International Conerence. on Climbing and Walking Robots, 2008, Coimbra, Portugal. pp.776-783. ⟨hal-03177939⟩
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  • Guillaume Besseron, Christophe Grand, Faïz Ben Amar, Philippe Bidaud. Decoupled control of the high mobility robot hylos based on a dynamic stability margin. IROS'08 : the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2008, Nice, France. pp.2435-2440, ⟨10.1109/IROS.2008.4651092⟩. ⟨hal-03177941⟩
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  • Faïz Ben Amar, Guillermo Andrade, Christophe Grand, Frédéric Plumet. Towards an advanced mobility of wheeled robots on difficult terrain. International Journal of Factory Automation, Robotics and Soft Computing, 2007, 3, pp.40-45. ⟨hal-03177952⟩
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  • Faiz Ben Amar, Guillermo Andrade, Christophe Grand, Frédéric Plumet. Towards an advanced mobility of wheeled robots on difficult terrain. International Journal of Factory Automation, Robotics and Soft Computing, 2007, 3, pp.40-45. ⟨hal-03135894⟩
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  • Frédéric Le Menn, Philippe Bidaud, Faiz Ben Amar. Generic differential kinematic modeling of articulated multi- monocycle mobile robots. IEEE International Conference on Robotics and Automation (ICRA 2006), May 2006, Orlando, FL, United States. pp.1505-1510, ⟨10.1109/ROBOT.2006.1641921⟩. ⟨hal-03178083⟩
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  • Guillaume Besseron, Christophe Grand, Faiz Ben Amar, Frédéric Plumet, Philippe Bidaud. Dynamic control of an hybrid wheellegged robot under stability constraint by using artificial potential field. 8th Int. Conf. on Climbing and Walking Robots, 2005, Londres, United Kingdom. ⟨hal-03135877⟩
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  • Guillaume Besseron, Christophe Grand, Faiz Ben Amar, Frédéric Plumet, Philippe Bidaud. Stability Control of an Hybrid Wheel-Legged Robot. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), 2005, Londres, United Kingdom. ⟨10.1007/3-540-26415-9_64⟩. ⟨hal-03178082⟩
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  • Faiz Ben Amar, Christophe Grand, Guillaume Besseron, Frédéric Plumet. Multi-modes locomotion on natural terrain. HUDEM'05 the Int. Conf. on Humanitarian Demining, 2005, Tokyo, Japan. ⟨hal-03135879⟩
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