Mohamed Taha
Chikhaoui

Chercheur
Team GMCAO
[info]
Phone: 04 56 52 00 10
Address: Bâtiment Taillefer, Domaine de la Merci
Office: 14

Research Scientist - CNRS (The French National Center for Scientific Research)

 

Short bio:

I received my Ph. D. in Automatic Control from the University of Franche-Comté in November 2016. My research was performed at FEMTO-ST Institute in Besançon, France, where I was affiliated with the Automatic Control and Micro-Mechatronic Systems (AS2M) Department. I am recipient of the Prix de Thèse 2016*. I received an Electromechanical Engineering Diploma in 2013 from the High Private School of Engineering and Technologies (ESPRIT) in Tunis, Tunisia, where I have ranked first of my specialty.

I was postdoctoral researcher at the Laboratory for Continuum Robotics, Leibniz Universität Hannover in Hanover, Germany, between 2017 and 2018.

Since January 2019, I am Research Scientist at CNRS (The National Center for Scientific Research), appointed to TIMC-IMAG Laboratory in Grenoble, France with the Computer-Assisted Medical Interventions (GMCAO) team.

 

 

* This prize is awarded annually by the GdR Robotique (the French Research Group in Robotics) of the CNRS and acknowledges the best doctoral theses in robotics in France.

Research themes

The main focus of my research is continuum robotics for (bio-)medical applications. My interests are based on an interdisciplinary approach including robotic design, modeling, innovative mechatronics, and control strategies based on perception, among others.

 

 

Keywords

- Continuum Robotics

- Micro-mechatronics

- Robot control

Publications

Find a list of my updated publications here:
 

Google Site https://sites.google.com/view/ctaha/publications
Google Scholar Logo https://scholar.google.com/citations?user=njaBL2kAAAAJ

 

 

 

 

 

 

Peer-Reviewed International Journals:

- M. T. Chikhaoui, S. Lilge, S. Kleinschmidt, and J. Burgner-Kahrs (2019): "Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments". IEEE Robotics and Automation Letters, 4(2): 989-996 (bibtex, online) with IEEE ICRA 2019 Presentation, Montréal, Canada. with IEEE ICRA 2019 Presentation, Montréal, Canada.

- M. T. Chikhaoui, A. Benouhiba, P. Rougeot, K. Rabenorosoa, M. Ouisse, and N. Andreff (2018): "Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots". Annals of Biomedical Engineering, 46(10): 1511-1521. (view-only, bibtex, online)

- M. T. Chikhaoui, J. Granna, J. Starke, and J. Burgner-Kahrs (2018): "Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots". IEEE Robotics and Automation Letters, 3(3): 1793-1800. (bibtex, online) with IEEE ICRA 2018 Presentation, Brisbane, Australia.

- A. V. Kudryavtsev, M. T. Chikhaoui, A. Liadov, P. Rougeot, F. Spindler, K. Rabenorosoa, J. Burgner-Kahrs, B. Tamadazte, and N. Andreff (2018): "Eye-in-Hand Visual Servoing of Concentric Tube Robots". IEEE Robotics and Automation Letters, 3(3): 2315-2321. (pdf, bibtex, online) with IEEE ICRA 2018 Presentation, Brisbane, Australia.

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2016): "Kinematics and Performance Analysis of a Novel Concentric Tube Robotic Structure with Embedded Soft Micro-Actuation". Mechanism and Machine Theory, 104, pp 234-254. (pdf, bibtex, online)

Peer-Reviewed International Conferences:

- M. T. Chikhaoui and J. Burgner-Kahrs (2018): "Control of Continuum Robots for Medical Applications: State of the Art". International Conference on New Actuators, Bremen, Germany, pp. 154-164. (ISBN 978-3-8007-4675-0, bibtex, online)

- J. Starke, E. Amanov, M. T. Chikhaoui, and J. Burgner-Kahrs (2017): "On the Merits of Helical Tendon Routing in Continuum Robots". IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6470-6476, Vancouver, Canada. (bibtex, online)

- M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, and N. Andreff (2016): "Design and Closed-loop Control of a Tri-layer Polypyrrole based Telescopic Soft Robot". IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 1145-1150, Daejeon, Korea. (pdf, bibtex, online).

- A. Cot, M. T. Chikhaoui, K. Rabenorosoa, P. Rougeot, and N. Andreff (2016): "Synthesis, Encapsulation, and Performance Analysis of Large Deformation Tri-layer Polypyrrole Actuator". IEEE International Conference on Advanced Intelligent Mechatronics, pp 436-441, Banff, Canada. (pdf, bibtex, online)

Book Chapters:

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2017): "Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-Actuation for 3T-1R Tasks". Advances in Robot Kinematics. J. Lenarčič and J.-P. Merlet Edition, pp 51-59, Grasse, France. (pdf - ARK book, bibtex, online).

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014): "Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy". Advances in Robot Kinematics. Springer International Publishing, J. Lenarčič and O. Khatib Edition, pp 457-465, Ljubljana, Slovenia. (pdf, bibtex, online)

Peer-Reviewed International Symposium and Workshop:

- M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, and N. Andreff (2017): "Towards Biocompatible Conducting Polymer Actuated Tubes for Intracorporeal Laser Steering". The Hamlyn Symposium on Medical Robotics, pp 79-80, London, United Kingdom. Best Poster Award. (pdf - proceedings, bibtex)

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2015): "Electro-Active Polymer based Micro-Actuation in a Concentric Tube Robot for Medical Applications". IEEE/RSJ IROS Workshop Navigation and Actuation of Flexible Instruments in Medical Applications, Hamburg, Germany. (bibtex)

Peer-Reviewed French Journal:

- M. N. Boushaki, M. T. Chikhaoui, K. Rabenorosoa, C. Liu, N. Andreff, and Ph. Poignet (2016): "Design, Modeling, and Control of Concentric Tube Robots: Towards Medical Applications". Techniques de l'Ingénieur, Article S7767. (pdf - in French, bibtex, web - in French).

Peer-Reviewed French Conferences:

- M. T. Chikhaoui, M. Ourak, Q. Tanguy, P. Struck, K. Rabenorosoa, S. Bargiel, B. Tamadazte, N. Passily, O. Gaiffe, L. Froehly, Ch. Gorecki, Ph. Lutz, and N. Andreff (2017): "Endomicroscope for Gastrointestinal Cancer Detection: Concept and Preliminary Results". Surgetica, pp. 9-11. Strasbourg, France. (bibtex)

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014): "Towards Clinical Application of Continuum Active Micro-endoscope Robot based on EAP Actuation". Surgetica, pp. 159-162, Chambéry, France. (pdf, bibtex)

European and French Symposium:

- L. Barrand, M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, B. Lakard, S. Lakard, and N. Andreff (2015): "Towards Polypyrrole Actuated Flexible Endomicroscope: Synthesis". French Symposium on Emerging Technologies for Micro-Nanofabrication, Lyon, France.

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014). Symposium of the French Research Group in Robotics (GdR Robotique), Paris, France.

- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014). Smart Systems for a Better Life Workshop. Neuchâtel, Switzerland.

Dissertation:

- M. T. Chikhaoui (2016): "Novel Concept of Concentric Tube Robots with Micro-Actuators based on Electro-Active Polymers". Ph. D. Thesis, Université de Franche-Comté, France. Best Thesis Award (pdf - in French, bibtex)

Edition:

- J. Burgner-Kahrs, L. A. Kahrs, V. Modes, M. T. Chikhaoui, A. Nabavi (2017): Tagungsband 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, PZH Verlag. ISBN: 978-3-95900-158-8. (online)