Wael Suleiman

Financement

• Subvention. Towards Autonomous Collaborative Tasks in Robotics. Natural Sciences and Engineering Research Council (Ottawa, Canada). 28 000 $. (2023-2024).
  Numéro de subvention : grant.14453686. Voir plus
• Subvention. Towards Intrinsically Stable Motions in Humanoid Robotics. Natural Sciences and Engineering Research Council (Ottawa, Canada). 25 000 $. (2023-2024).
  Numéro de subvention : grant.14453770. Voir plus
• Subvention. Placer l'humain dans la boucle: Vers une nouvelle approche des systèmes de fabrication de pointe. Fonds de Recherche du Québec – Nature et Technologies (Montreal, Canada). 150 000 $. (2023-2026).
  Numéro de subvention : 328238. Voir plus
• Subvention. Enabling Technologies for Collaborative Robotics in Manufacturing (CoRoM). Natural Sciences and Engineering Research Council (Ottawa, Canada). 300 000 $. (2022-2023).
  Numéro de subvention : grant.13599631. Voir plus
• Subvention. Towards Autonomous Collaborative Tasks in Robotics. Natural Sciences and Engineering Research Council (Ottawa, Canada). 28 000 $. (2022-2023).
  Numéro de subvention : grant.13599676. Voir plus
• Subvention. Enabling Technologies for Collaborative Robotics in Manufacturing (CoRoM). Natural Sciences and Engineering Research Council (Ottawa, Canada). 300 000 $. (2021-2022).
  Numéro de subvention : grant.12992594. Voir plus
• Subvention. Towards Autonomous Collaborative Tasks in Robotics. Natural Sciences and Engineering Research Council (Ottawa, Canada). 28 000 $. (2021-2022).
  Numéro de subvention : grant.13007722. Voir plus
• Subvention. Towards Autonomous Collaborative Tasks in Robotics. Natural Sciences and Engineering Research Council (Ottawa, Canada). 28 000 $. (2020-2021).
  Numéro de subvention : grant.9874231. Voir plus
• Subvention. Enabling Technologies for Collaborative Robotics in Manufacturing (CoRoM). Natural Sciences and Engineering Research Council (Ottawa, Canada). 300 000 $. (2020-2021).
  Numéro de subvention : grant.9863157. Voir plus
• Subvention. Enabling Technologies for Collaborative Robotics in Manufacturing (CoRoM). Natural Sciences and Engineering Research Council (Ottawa, Canada). 225 000 $. (2019-2020).
  Numéro de subvention : grant.9449563. Voir plus
• Subvention. Automated bin picking of complex parts in an industrial environment. Natural Sciences and Engineering Research Council (Ottawa, Canada). 25 000 $. (2018-2019).
  Numéro de subvention : grant.8650778. Voir plus
• Subvention. Toward a New Approach for Human-Robot Interaction. Natural Sciences and Engineering Research Council (Ottawa, Canada). 44 000 $. (2017-2019).
  Numéro de subvention : grant.7713715. Voir plus
• Subvention. Enabling technologies for COllaborative Robotics in Manufacturing (CoRoM). Natural Sciences and Engineering Research Council (Ottawa, Canada). 450 000 $. (2017-2019).
  Numéro de subvention : grant.7712126. Voir plus
• Subvention. New Approach for Cooperative Human-Robot Tasks and Cooperative Multi-robots Tasks. Canada Foundation for Innovation (Ottawa, Canada). 32 271 $. (2014).
  Numéro de subvention : 32776. Voir plus
• Subvention. Toward a New Approach for Human-Robot Interaction. Natural Sciences and Engineering Research Council (Ottawa, Canada). 88 000 $. (2012-2016).
  Numéro de subvention : grant.2976103. Voir plus
• Subvention. 人間型ロボット動作の最適化に関する研究. Japan Society for the Promotion of Science (Tokyo, Japon). 2 000 000 JPY. (2008-2010).
  Numéro de subvention : 08F08816. Voir plus
• Subvention. Placer l'humain dans la boucle: Vers une nouvelle approche des systèmes de fabrication de pointe. Fonds de recherche du Québec (Québec, Canada). Voir plus

Publications

Articles

• Christopher Yee Wong, Lucas Vergez, Wael Suleiman. (2024). Vision- and Tactile-Based Continuous Multimodal Intention and Attention Recognition for Safer Physical Human–Robot Interaction. IEEE Transactions on Automation Science and Engineering. DOI
• Jorge Ocampo Jimenez, Wael Suleiman. (2024). Visualizing High-Dimensional Configuration Spaces: A Comprehensive Analytical Approach. IEEE Robotics and Automation Letters. DOI
• Christopher Yee Wong, Wael Suleiman. (2024). Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots. IEEE Transactions on Robotics. DOI
• Kanehiro, F., Suleiman, W., Griffin, R. (2022). Editorial: Humanoid Robots for Real-World Applications. Frontiers in Robotics and AI. DOI
• Wong, C.Y., Samadi, S., Suleiman, W., Kheddar, A. (2022). Touch Semantics for Intuitive Physical Manipulation of Humanoids. IEEE Transactions on Human-Machine Systems. DOI
• Kévin Dufour, Wael Suleiman. (2020). On Maximizing Manipulability Index while Solving a Kinematics Task. Journal of Intelligent & Robotic Systems. DOI
• Sonny Tarbouriech, Wael Suleiman. (2020). Bi-objective Motion Planning Approach for Safe Motions: Application to a Collaborative Robot. Journal of Intelligent & Robotic Systems. DOI
• Dufour, K., Ocampo-Jimenez, J., Suleiman, W. (2020). Visual–spatial attention as a comfort measure in human–robot collaborative tasks. Robotics and Autonomous Systems. DOI
• Hawley, L., Suleiman, W. (2019). Control framework for cooperative object transportation by two humanoid robots. Robotics and Autonomous Systems. DOI
• Hawley, L., Rahem, R., Suleiman, W. (2019). External force observer for small- and medium-sized humanoid robots. International Journal of Humanoid Robotics. DOI
• Rioux, A., Suleiman, W. (2018). Autonomous SLAM based humanoid navigation in a cluttered environment while transporting a heavy load. Robotics and Autonomous Systems. DOI
• Antoine Rioux, Claudia Esteves, Jean-Bernard Hayet, Wael Suleiman. (2017). Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment. International Journal of Humanoid Robotics. DOI
• Suleiman, W. (2016). On inverse kinematics with inequality constraints: new insights into minimum jerk trajectory generation. Advanced Robotics. DOI
• Suleiman, W., Kanehiro, F., Miura, K., Yoshida, E. (2011). Enhancing zero moment point-based control model: System identification approach. Advanced Robotics. DOI
• Suleiman, W., Kanehiro, F., Yoshida, E., Laumond, J.-P., Monin, A. (2010). Time parameterization of humanoid-robot paths. IEEE Transactions on Robotics. DOI
• Suleiman, W., Monin, A. (2008). New method for identifying finite degree Volterra series. Automatica. DOI

Chapitres de livre

• Suleiman, W., Yoshida, E., Kanehiro, F., Laumond, J.-P., Monin, A. (2013). Optimization and imitation problems for humanoid robots. Cognitive Systems Monographs. DOI

Articles de conférence

• Jérémy Ferrara, Wael Suleiman. (2025). Deep Reinforcement Learning for Robotic Grasping: Insights into Learning from Raw Visual Data. 2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO). DOI
• Rahem, R., Wong, C.Y., Suleiman, W. (2022). Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach. IEEE International Conference on Intelligent Robots and Systems. DOI
• Wong, C.Y., Suleiman, W. (2022). Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators. IEEE International Conference on Intelligent Robots and Systems. DOI
• Ayusawa, K., Suleiman, W., Yoshida, E. (2019). Predictive Inverse Kinematics: Optimizing Future Trajectory through Implicit Time Integration and Future Jacobian Estimation. IEEE International Conference on Intelligent Robots and Systems. DOI
• Hawley, L., Rahem, R., Suleiman, W. (2018). Kalman Filter Based Observer for an External Force Applied to Medium-sized Humanoid Robots. IEEE International Conference on Intelligent Robots and Systems. DOI
• Tarbouriech, S., Suleiman, W. (2018). On Bisection Continuous Collision Checking Method: Spherical Joints and Minimum Distance to Obstacles. Proceedings - IEEE International Conference on Robotics and Automation. DOI
• Dufour, K., Suleiman, W. (2018). On inverse kinematics with nonlinear criteria: Trajectory relaxation. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. DOI
• Suleiman, W., Ayusawa, K., Kanehiro, F., Yoshida, E. (2018). On prioritized inverse kinematics tasks: Time-space decoupling. Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018. DOI
• Hawley, L., Suleiman, W. (2017). Control strategy and implementation for a humanoid robot pushing a heavy load on a rolling cart. IEEE International Conference on Intelligent Robots and Systems. DOI
• Flores-Rodríguez, K.L., Trujillo-Romero, F., Suleiman, W. (2017). Object recognition modular system implementation in a service robotics context. 2017 International Conference on Electronics, Communications and Computers, CONIELECOMP 2017. DOI
• Dufour, K., Suleiman, W. (2017). On integrating manipulability index into inverse kinematics solver. IEEE International Conference on Intelligent Robots and Systems. DOI
• Hawley, L., Suleiman, W. (2016). External force observer for medium-sized humanoid robots. IEEE-RAS International Conference on Humanoid Robots. DOI
• Suleiman, W., Kanehiro, F., Yoshida, E. (2016). Infeasibility-free inverse kinematics method. 2015 IEEE/SICE International Symposium on System Integration, SII 2015. DOI
• Durandau, G., Suleiman, W. (2016). User-safe orthosis based on compliant actuators: Mechanical design and control framework. 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. DOI
• 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 International Conference on Humanoid Robots. DOI
• Rioux, A., Suleiman, W. (2015). Humanoid navigation and heavy load transportation in a cluttered environment. IEEE International Conference on Intelligent Robots and Systems. DOI
• Suleiman, W. (2015). On time parameterization of a robot path. IFAC-PapersOnLine. DOI
• Durandau, G., Suleiman, W. (2014). Toward a unified framework for EMG signals processing and controlling an exoskeleton. Proceedings - Conference on Computer and Robot Vision, CRV 2014. DOI
• 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. DOI
• Kanehiro, F., Morisawa, M., Suleiman, W., Kaneko, K., Yoshida, E. (2010). Integrating geometric constraints into reactive leg motion generation. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. DOI
• Kanehiro, F., Suleiman, W., Miura, K., Morisawa, M., Yoshida, E. (2009). Feasible pattern generation method for humanoid robots. 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. DOI
• Suleiman, W., Kanehiro, F., Miura, K., Yoshida, E. (2009). Improving ZMP-based control model using system identification techniques. 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. DOI
• Kanehiro, F., Suleiman, W., Lamiraux, F., Yoshida, E., Laumond, J.-P. (2008). Integrating dynamics into motion planning for humanoid robots. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. DOI
• Suleiman, W., Yoshida, E., Kanehiro, F., Laumond, J.-P., Monin, A. (2008). On human motion imitation by humanoid robot. Proceedings - IEEE International Conference on Robotics and Automation. DOI
• Suleiman, W., Yoshida, E., Laumond, J.-P., Monin, A. (2008). Optimizing humanoid motions using recursive dynamics and lie groups. 2008 3rd International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA. DOI
• Suleiman, W., Monin, A. (2007). Identification of Quadratic System by local gradient search. Proceedings of the IEEE International Conference on Control Applications. DOI
• Suleiman, W., Monin, A. (2007). Identification of Quadratic in-the-State system using nonlinear programming. 2007 Mediterranean Conference on Control and Automation, MED. DOI
• Suleiman, W., Yoshida, E., Laumond, J.-P., Monin, A. (2007). On humanoid motion optimization. Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007. DOI
• Suleiman, W., Monin, A. (2006). Identification of quadratic system by local gradient search. Proceedings of the IEEE International Conference on Control Applications. DOI
• Etcheverry, G., Suleiman, W., Monin, A. (2006). Quadratic system identification by hereditary approach. ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings.
• Suleiman, W., Monin, A., Laumond, J.-P. (2006). Synthesizing and modeling human locomotion using system identification. IEEE International Conference on Intelligent Robots and Systems. DOI

Autres contributions

Cours enseignés à l'UdeS

• GEI744 - Commande de robots redondants. (2024, 2026). (3CR).
• GEI745 - Modélisation de robots manipulateurs. (2024, 2026). (3CR).
• GEI736 - Logique floue. (2023-2025). (3CR).
• GEI805 - Projet de développement en génie électrique II. (2025). (6CR).
• GEI806 - Projet de développement en génie informatique II. (2024-2025). (6CR).
• GEI845 - Introduction à la robotique humanoïde. (2023-2025). (3CR).
• GEL521 - Identification et modélisation. (2023, 2025). (2CR).

Divers

• Jimenez, J.O., Suleiman, W. (2023). Improving Path Planning Performance through Multimodal Generative Models with Local Critics. arXiv.
• Wong, C.Y., Suleiman, W. (2023). Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots. arXiv.
• Wong, C.Y., Suleiman, W. (2022). Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators. arXiv.
• Wong, C.Y., Vergez, L., Suleiman, W. (2022). Vision- and tactile-based continuous multimodal intention and attention recognition for safer physical human-robot interaction. arXiv.