Présentation

Sujets de recherche

Computer Systems, Control System, Expert Systems.

Disciplines de recherche

Applied Mathematics, Electrical Engineering and Electronic Engineering.

Mots-clés

Human-Robot interaction, Industrial robots, Motion planning.

Langues parlées et écrites

Anglais, Français, Japonais

Publications

Articles de revue

• Tarbouriech S, Suleiman W. (2016). Multi-objective Motion Planning Approach for Safe Human-Robot Interaction. IEEE Transactions on Robotics, (Submitted).
• Suleiman W. (2016). On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation. Advanced Robotics, 30(17-18), 1164-1172. (Published).
• Rioux A, Suleiman W. (2015). Autonomous SLAM Based Humanoid Navigation in a Cluttered Environment while Transporting a Heavy Load. Robotics and Autonomous Systems, (Submitted).
• 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. Modeling, Simulation and Optimization of Bipedal Walking (Cognitive Systems Monographs) (18, 233-247). Springer. (Published).

Articles de conférence

• Hawley L, Suleiman W. (2016). External Force Observer for Medium-sized Humanoid Robots. 2016 IEEE-RAS International Conference on Humanoid Robots. (Submitted).
• Durandau, G, Suleiman, W. (2016). User-Safe Orthosis Based on Compliant Actuators: Mechanical Design and Control Framework. The SICE Annual Conference 2016. (Accepted).
• Rioux A, Esteves C,Hayet J-B, Suleiman W. (2015). Cooperative SLAM-Based Object Transportation by Two Humanoid Robots in aCluttered Environment. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). (Published).
• Rioux A, Suleiman W. (2015). Humanoid Navigation and Heavy Load Transportation in a Cluttered Environment. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Published).
• Suleiman W. (2015). Infeasibility-free Inverse Kinematics Method. 2015 IEEE/SICE International Symposium on System Integration. (Published).
• Suleiman W. (2015). On Time Parameterization of a Robot Path. The 2015 IFAC Symposium on Information Control in Manufacturing, (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 Conference on Computer and Robot Vision. (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

• (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.