Abderrahmane Kheddar
Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier, Centre National de la Recherche Scientifique, Université de Montpellier, COMUE Languedoc-Roussillon Universités, National Institute of Advanced Industrial Science and Technology, Informatique, Biologie Intégrative et Systèmes Complexes, University of Tsukuba, Université d'Évry Val-d'Essonne, Sorbonne Université, Robotics Research (United States), Wichita State University, Tsukuba University of Technology
Papers
197
Total Citations
5,362
H-Index
40
About
Abderrahmane Kheddar is a prominent robotics researcher whose work sits at the intersection of humanoid robot control, human-robot interaction, and whole-body motion planning. Best known for pioneering the **Stack of Tasks** framework — a hierarchical, priority-based approach to robot control that has become foundational in the field — Kheddar has shaped how modern humanoid robots manage complex, simultaneous objectives. His 2009 papers on unified constraint integration and generalized inverted kinematics (collectively amassing over 360 citations) established elegant mathematical tools still widely used today. Kheddar has made equally significant contributions to physical human-robot collaboration, developing methods that combine learning from demonstration with adaptive impedance control, enabling robots to anticipate human intentions during shared tasks. His work on whole-body dynamic motion planning and multi-contact transitions (137+ citations) addresses one of robotics' hardest challenges, demonstrated vividly through real-world stair-climbing experiments with the HRP-4 humanoid robot. His 2018 extension of quadratic programming to multi-robot force control further broadens the applicability of his frameworks. With over a thousand citations across these contributions, Kheddar's research has profoundly advanced the theoretical and practical foundations of intelligent, collaborative humanoid robotics.
Research Focus
Key Achievements
Top Papers
- 1A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks244 citations · 2009
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- 4Generation of whole-body optimal dynamic multi-contact motions137 citations · 2013
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- 6Quadratic Programming for Multirobot and Task-Space Force Control115 citations · 2018
- 7Teaching physical collaborative tasks: object-lifting case study with a humanoid110 citations · 2009
- 8Planning contact points for humanoid robots106 citations · 2013
- 9Humanoid Robot Locomotion and Manipulation Step Planning102 citations · 2012
- 10Collaborative human-humanoid carrying using vision and haptic sensing100 citations · 2014