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Wisama Khalil - IEEE Xplore Author Profile
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Wisama Khalil

Also published under: W. Khalil

Publications
53
Citations
2,027
Publications by Year
19862015
Co-Authors:
Show All Co-Authors (40)
Image of author Wisama Khalil

Wisama Khalil

Also published under: W. Khalil

Affiliation

École Centrale de Nantes and IRCCyN, Nantes, France

Publication Topics

Biography

Wisama Khalil (SM'88) received the Ph.D. and “Doctorat d'Etat” degrees in robotics and control engineering from the University of Montpellier, Montpellier, France, in 1976 and 1978, respectively.,Since 1983, he has been a Professor with the Department of Automatic Control and Robotics, Ecole Centrale de Nantes, Nantes, France. He is carrying out his research with the Robotics Team, “Institut de Recherche en Communication et Cybernétique de Nantes” (IRCCyN). His research topics include modeling, control, and identification of robots.(Based on document published on 6 September 2006).
Publications
53
Citations
2,027
Publications by Year
19862015
Co-Authors:
Show All Co-Authors (40)
Author's Published Works

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Dynamic modeling of cooperative robots holding flexible objects

Philip Long;Wisama Khalil;Philippe Martinet

2015 International Conference on Advanced Robotics (ICAR)
Year: 2015 | Conference Paper |
Cited by: Papers (7)
In this paper a method of calculating the inverse and direct dynamic model of cooperative manipulators handling flexible objects is presented. In order to solve the dynamics of this system, the closed chain is divided into two subsystems, one is flexible, representing the object and the other is rigid, representing the tree structure of the two manipulators. The two subsystems are connected by cal...Show More

Dynamic modeling of cooperative robots holding flexible objects

Philip Long;Wisama Khalil;Philippe Martinet

Year: 2015 | Conference Paper |

Robotic cutting of soft materials using force control & image moments

Philip Long;Wisama Khalil;Philippe Martinet

2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)
Year: 2014 | Conference Paper |
Cited by: Papers (7)
In this paper, a force/vision control strategy is proposed for the robotic cutting of soft materials. The separation is performed by repeating a series of cuts, called passages, along a deformable three dimensional curve. An image based visual servoing system is proposed to control all six degrees of freedom of the cutting tool. This allows the system to change the cutting depth and angle in respo...Show More

Robotic cutting of soft materials using force control & image moments

Philip Long;Wisama Khalil;Philippe Martinet

Year: 2014 | Conference Paper |

Force/vision control for robotic cutting of soft materials

Philip Long;Wisama Khalil;Philippe Martinet

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2014 | Conference Paper |
Cited by: Papers (26)
In this paper, a force/vision control strategy is proposed in order to separate soft deformable materials using cooperative robots. The separation is performed by repeating a series of cuts, called passages, along a curved trajectory. The vision control is used to locally update the robot trajectory in response to both on-line deformations and off-line modeling errors. The force controller is used...Show More

Force/vision control for robotic cutting of soft materials

Philip Long;Wisama Khalil;Philippe Martinet

Year: 2014 | Conference Paper |

OpenSYMORO: An open-source software package for symbolic modelling of robots

Wisama Khalil;Aravindkumar Vijayalingam;Bogdan Khomutenko;Izzatbek Mukhanov;Philippe Lemoine;Gaël Ecorchard

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Year: 2014 | Conference Paper |
Cited by: Papers (35)
This paper presents OpenSYMORO, an open-source software package for symbolic modelling of robots. This software package is based on previous work detailed in [1]. However, the package in [1] was developed using Wolfram Mathematica and hence required Mathematica license for use. OpenSYMORO is mainly developed using the Python programming language and the source code will be publicly available. The ...Show More

OpenSYMORO: An open-source software package for symbolic modelling of robots

Wisama Khalil;Aravindkumar Vijayalingam;Bogdan Khomutenko;Izzatbek Mukhanov;Philippe Lemoine;Gaël Ecorchard

Year: 2014 | Conference Paper |

Dynamic modeling of floating systems: Application to eel-like robot and rowing system

Wisama Khalil;FranÇois Rongère

2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)
Year: 2014 | Conference Paper |
Cited by: Papers (3)
This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient ...Show More

Dynamic modeling of floating systems: Application to eel-like robot and rowing system

Wisama Khalil;FranÇois Rongère

Year: 2014 | Conference Paper |

Modeling and Simulating a Narrow Tilting Car Using Robotics Formalism

Salim Maakaroun;Wisama Khalil;Maxime Gautier;Philippe Chevrel

IEEE Transactions on Intelligent Transportation Systems
Year: 2014 | Volume: 15, Issue: 3 | Journal Article |
Cited by: Papers (16)
Modeling and simulation are fundamental tools to develop new urban vehicles. The aim of this work is to model and simulate a narrow urban tilting car, which should significantly decrease traffic congestion, pollution, and parking problems. The structure of the vehicle contains closed kinematic chains. The modeling approach is based on the modified Denavit and Hartenberg description, which is commo...Show More

Modeling and Simulating a Narrow Tilting Car Using Robotics Formalism

Salim Maakaroun;Wisama Khalil;Maxime Gautier;Philippe Chevrel

Year: 2014 | Volume: 15, Issue: 3 | Journal Article |

Modelling and Dynamic Identification of 3 DOF Quanser Helicopter

Sujit Rajappa;Abdelhamid Chriette;Rohit Chandra;Wisama Khalil

2013 16th International Conference on Advanced Robotics (ICAR)
Year: 2013 | Conference Paper |
Cited by: Papers (5)
The purpose of this paper is to develop the non-linear model of Quanser 3-DOF Helicopter [2]. The Dynamic Model is obtained using robotics notations [7] by considering the Helicopter as a tree structure robot composed of rigid links. Dynamic Identification Model is used to estimate the dynamic parameters of the Helicopter. This identification model is based on an Inverse dynamic model linear in th...Show More

Modelling and Dynamic Identification of 3 DOF Quanser Helicopter

Sujit Rajappa;Abdelhamid Chriette;Rohit Chandra;Wisama Khalil

Year: 2013 | Conference Paper |

Modeling & control of a meat-cutting robotic cell

Philip Long;Wisama Khalil;Philippe Martinet

2013 16th International Conference on Advanced Robotics (ICAR)
Year: 2013 | Conference Paper |
Cited by: Papers (16)
In this paper, the modeling, simulation and control of a robotic meat cutting cell is described. A dual-arm system is used in the separation task, one arm cuts the meat along a deformable guide line while the second arm graps and pulls the meat to further increase the opening of the valley. The steps taken to model the cell in order to ensure a realistic interaction between the robots and the flex...Show More

Modeling & control of a meat-cutting robotic cell

Philip Long;Wisama Khalil;Philippe Martinet

Year: 2013 | Conference Paper |

Recursive symbolic calculation of the dynamic model of flexible parallel robots

Sébastien Briot;Wisama Khalil

2013 IEEE International Conference on Robotics and Automation
Year: 2013 | Conference Paper |
Cited by: Papers (3)
This paper presents a symbolic and recursive calculation of the dynamic model of flexible parallel robots. In order to reduce the computational time, it is necessary to minimize the number of operators in the symbolic expression of the model. Some algorithms have been proposed for the rigid case, for parallel robots with lumped springs or for serial robots with distributed flexibilities, but to th...Show More

Recursive symbolic calculation of the dynamic model of flexible parallel robots

Sébastien Briot;Wisama Khalil

Year: 2013 | Conference Paper |

Dynamic modeling and simulation of rowing with a robotics formalism

François Rongère;Wisama Khalil;Jean-Michel Kobus

2011 16th International Conference on Methods & Models in Automation & Robotics
Year: 2011 | Conference Paper |
Cited by: Papers (5)
This paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. The inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given al...Show More

Dynamic modeling and simulation of rowing with a robotics formalism

François Rongère;Wisama Khalil;Jean-Michel Kobus

Year: 2011 | Conference Paper |

Geometric model of a narrow tilting CAR using robotics formalism

Salim Maakaroun;Wisama Khalil;Maxime Gautier;Philippe Chevrel

2010 15th International Conference on Methods and Models in Automation and Robotics
Year: 2010 | Conference Paper |
Cited by: Papers (1)
The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we des...Show More

Geometric model of a narrow tilting CAR using robotics formalism

Salim Maakaroun;Wisama Khalil;Maxime Gautier;Philippe Chevrel

Year: 2010 | Conference Paper |

Trajectory Planning of Unicycle Mobile Robots With a Trapezoidal-Velocity Constraint

M. Haddad;W. Khalil;H. E. Lehtihet

IEEE Transactions on Robotics
Year: 2010 | Volume: 26, Issue: 5 | Journal Article |
Cited by: Papers (47)
We propose an efficient stochastic scheme for minimum-time trajectory planning of a nonholonomic unicycle mobile robot under constraints on path curvature, velocities, and torques. This problem, which is known to be complex, often requires important runtimes, particularly if obstacles are present and if full dynamics is considered. The proposed technique is a fast variant of the random-profile app...Show More

Trajectory Planning of Unicycle Mobile Robots With a Trapezoidal-Velocity Constraint

M. Haddad;W. Khalil;H. E. Lehtihet

Year: 2010 | Volume: 26, Issue: 5 | Journal Article |

Dynamic Modeling and Simulation of a 3-D Serial Eel-Like Robot

Wisama Khalil;Guillaume Gallot;FrÉdÉric Boyer

IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)
Year: 2007 | Volume: 37, Issue: 6 | Journal Article |
Cited by: Papers (68)
This paper presents the dynamic modeling of a 3-D-serial underwater eel-like robot using recursive algorithms based on the Newton--Euler equations. Both direct and inverse models are treated in the paper. The inverse dynamic model algorithm gives the head acceleration and the joint torques as a function of the joint positions, velocities, and accelerations. The direct dynamic model gives the head ...Show More

Dynamic Modeling and Simulation of a 3-D Serial Eel-Like Robot

Wisama Khalil;Guillaume Gallot;FrÉdÉric Boyer

Year: 2007 | Volume: 37, Issue: 6 | Journal Article |

Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot

Guillaume Gallot;Ouarda Ibrahim;Wisama Khalil

Proceedings 2007 IEEE International Conference on Robotics and Automation
Year: 2007 | Conference Paper |
Cited by: Papers (12)
In this paper, we present the dynamic modeling of a 3D-hybrid underwater eel-like robot using recursive algorithms based on the Newton-Euler equations. The robot is composed of a sequence of parallel modules connected in series. The algorithm gives the head accelerations and the joint torques as a function of the Cartesian positions, velocities and accelerations of the platform of the modules. The...Show More

Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot

Guillaume Gallot;Ouarda Ibrahim;Wisama Khalil

Year: 2007 | Conference Paper |

Identification of the payload inertial parameters of industrial manipulators

Wisama Khalil;Maxime Gautier;Philippe Lemoine

Proceedings 2007 IEEE International Conference on Robotics and Automation
Year: 2007 | Conference Paper |
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control law parameters in order to improve the dynamic accuracy of the robot. They can also be exploited to verify the load transported by the robot. The methods presented have been validated using Staubli RX 9...Show More

Identification of the payload inertial parameters of industrial manipulators

Wisama Khalil;Maxime Gautier;Philippe Lemoine

Year: 2007 | Conference Paper |

Vision-based Computed Torque Control for Parallel Robots

Flavien Paccot;Nicolas Andreff;Philippe Martinet;Wisama Khalil

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Year: 2006 | Conference Paper |
Cited by: Papers (6)
This paper presents a novel approach to dynamic control of parallel robots based on the end-effector pose and velocity visual measurement. We show that computed torque control in joint space is unsuitable for parallel robots and that computed torque control in Cartesian space requires the end-effector pose and velocity estimation. Relying on a recent work showing ability of camera to measure both ...Show More

Vision-based Computed Torque Control for Parallel Robots

Flavien Paccot;Nicolas Andreff;Philippe Martinet;Wisama Khalil

Year: 2006 | Conference Paper |

Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots

Ouarda Ibrahim;Wisama Khalil

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
Year: 2006 | Conference Paper |
Cited by: Papers (4)
This paper presents a recursive solution for the inverse dynamic modeling of hybrid robots that are constructed by serially connected parallel modules. The proposed solution generalizes the recursive Newton-Euler algorithm developed for serial robots, and uses the compact form of the inverse dynamic model of parallel robots that was proposed recently by the authorsShow More

Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots

Ouarda Ibrahim;Wisama Khalil

Year: 2006 | Conference Paper |

Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

G. Venture;P.-J. Ripert;W. Khalil;M. Gautier;P. Bodson

IEEE Transactions on Intelligent Transportation Systems
Year: 2006 | Volume: 7, Issue: 3 | Journal Article |
Cited by: Papers (30)
This paper deals with the problem of dynamic modeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of tree-structured multibody systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carri...Show More

Modeling and Identification of Passenger Car Dynamics Using Robotics Formalism

G. Venture;P.-J. Ripert;W. Khalil;M. Gautier;P. Bodson

Year: 2006 | Volume: 7, Issue: 3 | Journal Article |

Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

F. Boyer;M. Porez;W. Khalil

IEEE Transactions on Robotics
Year: 2006 | Volume: 22, Issue: 4 | Journal Article |
Cited by: Papers (138)
This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation...Show More

Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

F. Boyer;M. Porez;W. Khalil

Year: 2006 | Volume: 22, Issue: 4 | Journal Article |

Dynamic Modeling of a 3-D Serial Eel-Like Robot

W. Khalil;G. Gallot;O. Ibrahim;F. Boyer

Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Year: 2005 | Conference Paper |
Cited by: Papers (14)
In this paper, we present the dynamic modeling of a 3D-serial underwater eel-like robot using recursive algorithm based on the Newton-Euler equations. The algorithm gives the head accelerations and the joint torques as a function of the joint positions, velocities and accelerations. The proposed algorithm can be considered as a generalization of the recursive Newton-Euler inverse dynamic algorithm...Show More

Dynamic Modeling of a 3-D Serial Eel-Like Robot

W. Khalil;G. Gallot;O. Ibrahim;F. Boyer

Year: 2005 | Conference Paper |

Inverse and direct dynamic modeling of Gough-Stewart robots

W. Khalil;S. Guegan

IEEE Transactions on Robotics
Year: 2004 | Volume: 20, Issue: 4 | Journal Article |
Cited by: Papers (117)
This paper presents closed-form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum...Show More

Inverse and direct dynamic modeling of Gough-Stewart robots

W. Khalil;S. Guegan

Year: 2004 | Volume: 20, Issue: 4 | Journal Article |

General solution for the dynamic modeling of parallel robots

W. Khalil;O. Ibrahim

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Year: 2004 | Conference Paper |
Cited by: Papers (20)
In this paper, we present a general method to calculate the inverse dynamic models of parallel robots. The model is expressed in terms of one equation, which is a function of the dynamic models of the legs, the dynamics of the platform and three Jacobian matrices. The method is applied on four robots with different degrees of freedom and different structures. Consequently, the computational comple...Show More

General solution for the dynamic modeling of parallel robots

W. Khalil;O. Ibrahim

Year: 2004 | Volume: 4 | Conference Paper |

Identification of the dynamic parameters of the Orthoglide

S. Guegan;W. Khalil;P. Lemoine

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
Year: 2003 | Conference Paper |
Cited by: Papers (10)
This paper presents the experimental identification of the dynamic parameters of the Orthoglide, a 3-DOF parallel mechanism. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial ...Show More

Identification of the dynamic parameters of the Orthoglide

S. Guegan;W. Khalil;P. Lemoine

Year: 2003 | Volume: 3 | Conference Paper |

A novel solution for the dynamic modeling of Gough-Stewart manipulators

W. Khalil;S. Guegan

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Year: 2002 | Conference Paper |
Cited by: Papers (9)
Presents a closed form solution for the inverse and direct dynamic models of a Gough-Stewart platform. The models are calculated in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting physical interpretation, which can be used to derive the dynamic models of other parallel structures.Show More

A novel solution for the dynamic modeling of Gough-Stewart manipulators

W. Khalil;S. Guegan

Year: 2002 | Volume: 1 | Conference Paper |

Identifiable parameters for parallel robots kinematic calibration

S. Besnard;W. Khalil

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Year: 2001 | Conference Paper |
Cited by: Papers (43)
Presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical rela...Show More

Identifiable parameters for parallel robots kinematic calibration

S. Besnard;W. Khalil

Year: 2001 | Volume: 3 | Conference Paper |

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