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Wael Suleiman

Professeur, Faculté de génie
FAC. GÉNIE Électrique et informatique

Présentation

Sujet de recherche

Computer Systems, Control System, Expert Systems

Disciplines de recherche

Electrical Engineering and Electronic Engineering, Applied Mathematics

Mots-clés

Advanced control, Motion planning, Industrial robots, Human-Robot interaction

Langues parlées et écrites

Anglais, Français

Diplômes

(2011). (Post-doctorate, Post-doctoral researcher). University of Heidelberg.

(2010). (Post-doctorate, Post-doctoral researcher at National Institute of Advanced Industrial Science and Technology, Japan).

(2008). (Doctorate, PhD). Université de Toulouse III (Paul Sabatier).

(2004). (Master's Thesis, Master of Science). Université de Toulouse III (Paul Sabatier).

Expérience académique

Full Professor. (2023-). Université de Sherbrooke. Canada.

Publications

Articles de revue

  • Wong, C-Y*; Suleiman, W. (2024). Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated. IEEE Transactions on Robotics 40 4102 - 4116. DOI. (Published).
  • Jimenez, J-O*; Suleiman, W. (2024). Visualizing High-Dimensional Configuration Spaces: A Comprehensive Analytical Approach. IEEE Robotics and Automation Letters 9 (6), 5799 - 5806. (Published).
  • Wong, C-Y*; Vergez, L*; Suleiman, W. (2023). Vision- and tactile-based continuous multimodal intention and attention recognition for safer physical human-robot interaction. IEEE Transactions on Automation Science and Engineering 1 - 11. (Published).
  • Wong, C.Y*; Samadi, S; Suleiman, W; Kheddar, A. (2022). Touch Semantics for Intuitive Physical Manipulation of Humanoids. IEEE Transactions on Human-Machine Systems 52 (6), 1111 - 1121. (Published).
  • Dufour K*, Suleiman W. (2020). On Maximizing Manipulability Index while Solving a Kinematics Task. Journal of Intelligent & Robotic Systems 100 3–13. (Published).
  • Dufour, K*; Ocampo-Jimenez, J*; Suleiman, W. (2020). Visual–spatial attention as a comfort measure in human–robot collaborative tasks. Robotics and Autonomous Systems 133 (Published).
  • Tarbouriech S*, Suleiman W. (2019). Bi-objective Motion Planning Approach for Safe Motions: Application to a Collaborative Robot. Journal of Intelligent & Robotic Systems 99 45–63. (Published).
  • Hawley L*, Suleiman W. (2019). Control Framework for Cooperative Object Transportation by Two Humanoid Robots. Robotics and Autonomous Systems 115 1-16. (Published).
  • Hawley L*, Rahem R*, Suleiman W. (2019). External Force Observer for Small and Medium-sized Humanoid Robots. International Journal of Humanoid Robotics 16 (6), 27 pages. (Published).
  • Rioux A*, Suleiman W. (2018). Autonomous SLAM Based Humanoid Navigation in a Cluttered Environment while Transporting a Heavy Load. Robotics and Autonomous Systems 99 50-62. (Published).
  • Rioux A*, Esteves C, Hayet J-B, Suleiman W. (2017). Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment. International Journal of Humanoid Robotics 14 (3), 1-30. (Published).
  • Suleiman W. (2016). On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation. Advanced Robotics 30 (17-18), 1164-1172. (Published).
  • Suleiman W, Kanehiro F, Miura K, Yoshida E. (2011). Enhancing ZMP-based Control Model: System Identification Approach. Advanced Robotics, Special Issue on Cutting Edge of Robotics in Japan 2011 25 (3), 427-446. (Published).
  • Kanehiro F, Morisawa M, Suleiman W, Kaneko K, Yoshida E. (2010). Reactive Leg Motion Generation Method under Consideration of Physical Constraints. Journal of the Robotics Society of Japan (in Japanese), Special issue on Molecular Robotics 28 (10), 103-113. (Published).
  • Suleiman W, Kanehiro F, Yoshida E, Laumond J-P, Monin A. (2010). Time Parameterization of Humanoid Robot Paths. IEEE Transaction On Robotics 26 (3), 458-468. (Published).
  • Suleiman W, Monin A. (2008). New method for identifying finite degree Volterra series. Automatica 44 (2), 488-497. (Published).

Chapitres de livre

  • Suleiman W, Kanehiro F, Yoshida E, Lamond J-P, Monin A. (2013). On Humanoid Motion Optimization and Human Motion Imitation. Mombaur K, Berns K. Modeling, Simulation and Optimization of Bipedal Walking (Cognitive Systems Monographs) (18, 233-247). Springer. (Published).

Rapports

  • Barthes N*, Wong C-Y*, Suleiman W. (2019). Automated bin picking of complex parts in an industrial environment, Final Report to GE Aviation, Bromont, Canada. Université de Sherbrooke. 40 p.

Articles de conférence

  • Jimenez; Suleiman, W. (2023). Homology-Rank-Informed Geometry Score for Configuration Space Reconstruction. 5th International Conference on Control and Robotics (ICCR). (Published).
  • Rahem, R*; Wong, C.Y; Suleiman, W. (2022). Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Published).
  • Wong, C.Y*; Suleiman, W. (2022). Sensor Observability and Manipulability Indexes: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Published).
  • Ayusawa K, Suleiman W, Yoshida E. (2019). Predictive Inverse Kinematics: Optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Accepted).
  • Hawley L*, Rahem R*, Suleiman W. (2018). Kalman Filter Based Observer for an External Force Applied to Medium-sized Humanoid Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 1204-1211. (Published).
  • Tarbouriech S*, Suleiman W. (2018). On Bisection Continuous Collision Checking Method: Spherical Joints and Minimum Distance to Obstacles. 2018 IEEE International Conference on Robotics and Automation (ICRA). 7603 - 7609. (Published).
  • Dufour K*, Suleiman W. (2018). On Inverse Kinematics with Nonlinear Criteria: Trajectory Relaxation. IEEE 15th International Workshop on Advanced Motion Control (AMC). 102-107. (Published).
  • Suleiman W, Ayusawa K, Kanehiro F, Yoshida E. (2018). On Prioritized Inverse Kinematics Tasks: Time-Space Decoupling. IEEE 15th International Workshop on Advanced Motion Control (AMC). 108-113. (Published).
  • Hawley L*, Suleiman W. (2017). Control Strategy and Implementation for a Humanoid Robot Pushing a Heavy Load on a Rolling Cart. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 4997-5002. (Published).
  • Flores-Rodríguez K, Trujillo-Romero F, Suleiman W. (2017). Object recognition modular system implementation in a service robotics context. International Conference on Electronics, Communications and Computers (CONIELECOMP). 1-6. (Published).
  • Dufour K*, Suleiman W. (2017). On Integrating Manipulability Index into Inverse Kinematics Solver. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 6967-6972. (Published).
  • Hawley L*, Suleiman W. (2016). External Force Observer for Medium-sized Humanoid Robots. 2016 IEEE-RAS International Conference on Humanoid Robots. 366-371. (Published).
  • Durandau G*, Suleiman W. (2016). User-Safe Orthosis Based on Compliant Actuators: Mechanical Design and Control Framework. 55th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE). 1508-1513. (Published).
  • Rioux A*, Esteves C,Hayet J-B, Suleiman W. (2015). Cooperative SLAM-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment. IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). 331-337. (Published).
  • Rioux A*, Suleiman W. (2015). Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2180-2186. (Published).
  • Suleiman W, Kanehiro F, Yoshida E. (2015). Infeasibility-free Inverse Kinematics Method. IEEE/SICE International Symposium on System Integration. 307-312. (Published).
  • Suleiman W. (2015). On Time Parameterization of a Robot Path. IFAC Symposium on Information Control in Manufacturing. 52-57. (Published).
  • Suleiman W. (2014). Inverse Kinematics: New Method for Minimum Jerk Trajectory Generation. Workshop on Whole-Body Control for Robots in the Real World, (Published).
  • Durandau G, Suleiman W. (2014). Preparatory Study for an Upper-limb Exoskeleton Using EMG Signals and Compliant Magnetorheological Actuator. Workshop on Neuro-Robotics for Patient-Specific Re- habilitation, (Published).
  • Durandau G*, Suleiman W. (2014). Toward a Unified Framework for EMG Signals Processing and Controlling an Exoskeleton. The Canadian Conference on Computer and Robot Vision. 291-298. (Published).
  • Suleiman W, Kanehiro F, Miura K, Yoshida E. (2010). Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 10). (Published).
  • Kanehiro F, Morisawa M, Suleiman W, Kaneko K, Yoshida E. (2010). Integrating Physical Constraints into Reactive Leg Motion Generation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 10). (Published).
  • Kanehiro F, Suleiman W, Miura K, Morisawa M, Yoshida E. (2009). Feasible Pattern Generation Method for Humanoid Robots. IEEE-RAS 9th International Conference on Humanoid Robots (Humanoids 09). (Published).
  • Suleiman W, Kanehiro F, Miura K, Yoshida E. (2009). Improving ZMP-based Control Model Using System Identification Techniques. IEEE-RAS 9th International Conference on Humanoid Robots (Humanoids 09).
  • Kanehiro F, Suleiman W, Lamiraux F, Yoshida E, Laumond J.P. (2008). Integrating Dynamics into Motion Planning for Humanoid Robots. IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 08).
  • Suleiman W, Yoshida E, Kanehiro F, Laumond J.P, Monin A. (2008). On Human Motion Imitation by Humanoid Robot. IEEE International Conference on Robotics and Automation (ICRA 08).
  • Suleiman W, Monin A. (2007). Identification of Quadratic in-the-State System using Nonlinear Programming. The 15th Mediterranean Conference on Control and Automation (MED 07).
  • Suleiman W, Monin A. (2007). Linear Multivariable SystemIdentification: Multi-experiments Case. Conference on Systems and Control (CSC2007).
  • Suleiman W, Yoshida E, Laumond J.P, Monin A. (2007). On Humanoid Motion Optimization. IEEE-RAS 7th International Conference on Humanoid Robots (Humanoids 07).
  • Suleiman W, Monin A. (2006). Identification of Quadratic System by Local Gradient Search. International Conference on Control Applications (CCA 06).
  • Etcheverry G, Suleiman W, Monin A. (2006). Quadratic system identification by hereditary approach. IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 06). 129-132.
  • Suleiman W, Monin A, Laumond J.P. (2006). Synthesizing and Modeling Human Locomotion using System Identification. IEEE International Conference on Intelligent Robots and Systems (IROS 06).

Autres contributions

Présentations

  • (2024). Towards Autonomous Collaborative Tasks in Robotics. Tokyo university of science. Tokyo, Japan
  • (2024). Towards Autonomous Collaborative Tasks in Robotics. Seminar at the Institute of Systems and Robotics, University of Coimbra. Coimbra, Portugal
  • (2022). Towards Autonomous and Safe Human-Robot/Robot-Robot Cooperative Tasks. Seminar at National Institute of Advanced Industrial Science and Technology (AIST). Tsukuba, Japan
  • (2022). Towards Intuitive Physical Human-Robot Tasks. Seminar at Laboratory for Analysis and Architecture of Systems (LAAS-CNRS). Toulouse, France
  • (2022). Towards Intuitive Physical Human-Robot Tasks. Seminar at Laboratoire d'informatique, de robotique et de microélectronique de Montpellier (LIRMM). Montpellier, France
  • (2019). Suleiman W. Towards Autonomous Robot-Robot Tasks. Humanoids 2019 Workshop – "Challenges and Solutions for Humanoid Robot Interaction and Collaboration". Toronto, Canada
  • (2019). Suleiman W. Towards Autonomous and Safe Cooperative Tasks. Seminar at University of Tsukuba. Tsukuba, Japan
  • (2018). Suleiman W, Ayusawa K, Kanehiro F, Yoshida E. On Prioritized Inverse Kinematics Tasks: Time-Space Decoupling. 15th International Workshop on Advanced Motion Control (AMC). Tokyo, Japan
  • (2018). Suleiman W. Towards Autonomous and Safe Human-Robot/Robot-Robot Cooperative Tasks. Lecture at 24th Symposium on Theory of Machines and Mechanisms. Tokyo, Japan
  • (2018). Suleiman W. Towards Autonomous and Safe Human-Robot/Robot-Robot Cooperative Tasks. Seminar at Laboratory for Analysis and Architecture of Systems (LAAS-CNRS). Toulouse, France
  • (2016). Suleiman W. Collaborative Tasks in Humanoid Robotics. Seminar at the National Institute of Advanced Industrial Science and Technology (AIST). Tsukuba, Japan
  • (2015). Suleiman W, Kanehiro F, Yoshida E. Infeasibility-free Inverse Kinematics Method. IEEE/SICE International Symposium on System Integration. Nagoya, Japan
  • (2015). Suleiman W. On Time Parameterization of a Robot Path. IFAC Symposium on Information Control in Manufacturing. Ottawa, Canada
  • (2011). GOP Project (Generating Optimal Paths for industrial and humanoid robots in complex environments). ECHORD workshop: First results and concepts in view of knowledge transfer, European Robotics Forum. Vasteras, Sweden
  • (2011). Optimization and Imitation Problems for Humanoid Robots: New trends and results. Seminar at Italian Institute of Technology (IIT). Genoa, Italy
  • (2009). Optimization and Imitation Problems for Humanoid Robots”, Workshop on Modeling, Simulation and Optimization of Bipedal Walking. IEEE Humanoids Conference 2009. Paris, France