Mohamed Taha
Chikhaoui

Chercheur
Equipe GMCAO
[info]
Tél : 04 56 52 00 10
Adresse : Bâtiment Taillefer, Domaine de la Merci
Bureau : 14

Chargé de Recherche - CNRS

Thèmes de recherche

Les robots continus pour des applications (bio-)médicales constituent mon thème de recherche principal. Mes recherches sont fondées sur une approche interdisciplinaire incluant notamment la conception, la modélisation, la mécatronique innovante et les stratégies de commande basées sur la perception.

Mots-clés

- Robots continus

- Micro-mécatronique

- Commande robotique

Publications

La liste de mes publications peut-être consultées en suivant ces liens :

 

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 (in print, doi: 10.1109/LRA.2019.2893610)

- 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, web)

- 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, web) with IEEE ICRA 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, web) with IEEE ICRA 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, web)

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, web)

- 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, web)

- 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, web).

- 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, web)

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, web).

- 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, web)

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. (web)