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Ouarda Ibrahim

dblp:34/4022 · DBLP profile ↗
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4ranked-venue papers
1as first author
0since 2021 · last 2007
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 4 · 1 first-authorSystems, architecture and hardware · 4 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
2 papers
Motion planning and robot control · 78% Legged, aerial and field robots · 22%

Topics — the 5 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › robot dynamics
recursive newton-euler algorithm		 0.112007
Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot · ICRA 2007
Robotics › Motion planning and robot control
robot dynamics		 0.112007
Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot · ICRA 2007
Robotics › Legged, aerial and field robots
underwater robotics		 0.112007
Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot · ICRA 2007
Robotics › Motion planning and robot control
dynamic modeling		 0.112005
Dynamic Modeling of a 3-D Serial Eel-Like Robot · ICRA 2005
Robotics › Motion planning and robot control
robot control		 0.112005
Dynamic Modeling of a 3-D Serial Eel-Like Robot · ICRA 2005

Methods — techniques the papers use, named apart from their topics

recursive algorithm · 0.1newton-euler equations · 0.1recursive newton-euler algorithm · 0.1
YearPublicationVenuePosition
2007 Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot
abstract
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 proposed algorithm can be considered as a generalization of the recursive Newton-Euler inverse dynamic algorithm of serial manipulators with fixed base. The proposed algorithm is easy to implement and to simulate whatever the number of degrees of freedom of the robot. An example with 12 parallel modules is presented.
Guillaume Gallot, Ouarda Ibrahim, Wisama Khalil
 ICRA2
2006 Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots
abstract
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 authors
Ouarda Ibrahim, Wisama Khalil
 IROS1
2005 Dynamic Modeling of a 3-D Serial Eel-Like Robot
abstract
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 of serial manipulators with fixed base. The proposed algorithm is easy to implement and to simulate whatever the number of degrees of freedom of the robot. Simulation results with a 12-spherical joint structure are presented.
Wisama Khalil, Guillaume Gallot, Ouarda Ibrahim, Frédéric Boyer
 ICRA3
2004 General Solution for the Dynamic Modeling of Parallel Robots
abstract
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 complexity of the obtained models can be reduced by making use of the techniques.
Wisama Khalil, Ouarda Ibrahim
 ICRA2