Publications de Walid Amanhoud

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Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning per ...

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

Walid Amanhoud

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Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach

Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Four-Arm Manipulation via Feet Interfaces

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Force Adaptation in Contact Tasks with Dynamical Systems

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces