Institut Pascal - CNRS UMR 6602
Uni­ver­sité Clermont-Auvergne
4, avenue Blaise Pascal
63178 AUBIERE CEDEX
France

Sébastien LENGAGNE

Assistant professor
ISPR, MACCS

sebastien.lengagne@-Code to remove to avoid SPAM-uca.fr
+33 (0)4 73 40 71 08

Brief Bio

Research interests

My research interests focus on the generation of generic and safe motions for complex systems such as humanoid robots, human avatars, hexapod robots, ….

Associate Professor Position in MACCS Team from 2013

From september 2013 I am an Associate professor in the University Blaise Pascal in Clermont Ferrand (France). I give lectures in Poltech Clermont Ferrand and I do my research in the MACCS Team (Modeling, Autonomy and Control in Complex Systems), of the ISPR axis (ImageS, Perception systems and Robotics) in the Pascal Institute (UMR6602 CNRS / UBP / IFMA))

Post Doctoral position in Explore Team in France (2012-2013)

From September 2012 to August 2013, I joined the R.HEX project of the EXPLORE team of the LIRMM. This project is located in the University Institute of Technology of Beziers and aims at designing, building and controlling an open source and open hardware hexapod robot.

Post Doctoral position in Germany (2011-2012)

In October 2011, I started a position in the Institute for Anthropmatics (Humanoids and Intelligence Systems Lab, Karlsruher Institut für Technologie (KIT)), directed by Tamim Asfour and supported by grants from the German Research Foundation (DFG: Deutsche Forschungsgemeinschaft). I started to write the kinematic and dynamic model of the new ARMAR-IV robot from the Pro-Engineering datas. I continued to collaborate with the DEMAR team on the impact of the electrical stimulation during the sitting pivot transfer of paraplegian people. I also worked on the Master Motor Map (MMM) framework that is a reference model to describe and reproduce human motions. This framework consist in fitting the kinematic motion to the MMM model, retrieve the contact points and reproduce this motion on humanoid robots.

Post Doctoral position in Japan (2009-2011)

Then, I did a two-years Post-Doc supported by JSPS (Japanese Society for the Promotion of Science) in the Joint Robotics Laboratory (Tsukuba Japan) with Abderrahmane Kheddar and Eiichi Yoshida on the generation of optimal dynamic multi-contact motion. I proposed a method to deal with continuous constraints during the optimization process and also developped a method to compute analytically the contact forces in the case of multi-contact motions. This Work was presented in New scientist and by the news agency : Reuters .

Ph.D (2006-2009)

I did my Ph.D with Philippe Fraisse and Nacim Ramdani in the INRIA DEMAR team and worked on planning and fast re-planning of safe motions. Based on interval analysis, I proposed the time interval discretization that allows to satisfy the physical limits of the robot during whole the motion duration. Since the computation did not allow real time otpimization, I presented a method to re-plan motions. I successfully replanned a kicking motion within less than one second of CPU time

Journal articles

2023

ref_biblio
Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. Universal Notice Networks: Transferring Learned Skills Through a Broad Panel of Applications.. Journal of Intelligent & Robotic Systems , In press. ⟨hal-03935796⟩
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2021

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Mélodie Hani Daniel Zakaria, Sébastien Lengagne, Juan Antonio Corrales Ramón, Youcef Mezouar. General Framework for the Optimization of the Human-Robot Collaboration Decision-Making Process Through the Ability to Change Performance Metrics. Frontiers in Robotics and AI, 2021, 8, ⟨10.3389/frobt.2021.736644⟩. ⟨hal-03474401⟩
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https://hal.uca.fr/hal-03474401/file/Zakaria%201%20et%202%20FRAI%20General%20framework%20...%20EDITEUR.pdf BibTex

2020

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Sebastien Lengagne, Rawan Kalawoun, François Bouchon, Youcef Mezouar. Reducing pessimism in Interval Analysis using Bsplines Properties: Application to Robotics. Reliable Computing, 2020, 27, pp.63-87. ⟨hal-03935775⟩
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https://hal.uca.fr/hal-03935775/file/ArticleBsplinesIntervals.pdf BibTex

2014

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Ori Cohen, Sébastien Druon, Sebastien Lengagne, Avi Mendelsohn, Rafael Malach, et al.. fMRI-Based Robotic Embodiment: Controlling a Humanoid Robot by Thought Using Real-Time fMRI. Presence: Teleoperators and Virtual Environments, 2014, 23 (3), pp.229-241. ⟨10.1162/PRES_a_00191⟩. ⟨lirmm-01589230⟩
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2013

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Jovana Jovic, Sebastien Lengagne, Philippe Fraisse, Christine Azevedo Coste. Impact of Functional Electrical Stimulation of Lower Limbs during Sitting Pivot Transfer Motion for Paraplegic People. International Journal of Advanced Robotic Systems, 2013, 10 (25), ⟨10.5772/51901⟩. ⟨lirmm-01340711⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01340711/file/41927.pdf BibTex
ref_biblio
Sébastien Lengagne, Joris Vaillant, Eiichi Yoshida. Generation of Whole-body Optimal Dynamic Multi-Contact Motions. The International Journal of Robotics Research, 2013, pp.17. ⟨10.1177/0278364913478990⟩. ⟨lirmm-00819250⟩
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2011

ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Planning and Fast Replanning Safe Motions for Humanoid Robot. IEEE Transactions on Robotics, 2011, 9 (99), pp.1-12. ⟨10.1109/TRO.2011.2162998⟩. ⟨lirmm-00605551⟩
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Conference papers

2022

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Melodie Hani Daniel Zakaria, Miguel Aranda, Laurent Lequievre, Sebastien Lengagne, Juan Antonio Corrales Ramon, et al.. Robotic Control of the Deformation of Soft Linear Objects Using Deep Reinforcement Learning. 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Aug 2022, Mexico City, Mexico. pp.1516-1522, ⟨10.1109/CASE49997.2022.9926667⟩. ⟨hal-03935291⟩
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2021

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Samuel Beaussant, Sebastien Lengagne, Benoit Thuilot, Olivier Stasse. Delay Aware Universal Notice Network: Real world multi-robot transfer learning. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Sep 2021, Prague, Czech Republic. ⟨10.1109/IROS51168.2021.9635917⟩. ⟨hal-03383498⟩
Accès au texte intégral et bibtex
https://hal.science/hal-03383498/file/Beaussant_IROS_2021.pdf BibTex

2020

ref_biblio
Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. BAM! Base Abstracted Modeling with Universal Notice Network: Fast Skill Transfer Between Mobile Manipulators. 7th International Conference on Control, Decision and Information Technologies (CoDIT 2020), Jun 2020, Prague, Czech Republic. pp.926-932, ⟨10.1109/CoDIT49905.2020.9263931⟩. ⟨hal-02947365⟩
Accès au texte intégral et bibtex
https://hal.science/hal-02947365/file/codit_vfinale.pdf BibTex
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Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. CoachGAN: Fast Adversarial Transfer Learning between differently shaped entities. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris, France. pp.89-96, ⟨10.5220/0009972200890096⟩. ⟨hal-02947364⟩
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https://hal.science/hal-02947364/file/2020_04avril29_icinco_vf.pdf BibTex

2019

ref_biblio
Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. Universal Notice Network: Transferable Knowledge Among Agents. 6th International Conference on Control, Decision and Information Technologies (CoDIT 2019), Apr 2019, Paris, France. pp.563-568, ⟨10.1109/CoDIT.2019.8820403⟩. ⟨hal-03042500⟩
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https://hal.uca.fr/hal-03042500/file/CoDiT19.pdf BibTex

2018

ref_biblio
Rawan Kalawoun, Sebastien Lengagne, Youcef Mezouar. Optimal robot base placements for coverage tasks.. 14th IEEE International Conference on Automation Science and Engineering (CASE 2018), Aug 2018, Munich, Germany. ⟨hal-01913861⟩
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ref_biblio
Rawan Kalawoun, Sebastien Lengagne, François Bouchon, Youcef Mezouar. BSplines properties with Interval Analysis for Constraint Satisfaction Problem: Application in robotics.. 15th International Conference on Intelligent Autonomous Systems IAS-15, Jun 2018, Baden-Baden, Germany. pp.490-453, ⟨10.1007/978-3-030-01370-7_39⟩. ⟨hal-01913931⟩
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https://hal.uca.fr/hal-01913931/file/Kalawoun_IAS2018.pdf BibTex

2012

ref_biblio
Ori Cohen, Sébastien Druon, Sébastien Lengagne, Avi Mendelsohn, Rafael Malach, et al.. fMRI Robotic Embodiment: A Pilot Study. BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Rome, Italy. pp.314-319, ⟨10.1109/BioRob.2012.6290866⟩. ⟨lirmm-00778521⟩
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Sebastien Lengagne, Jovana Jovic, Camilla Pierella, Philippe Fraisse, Christine Azevedo Coste. Generation of Multicontact Motions with Passive Joints: Improvement of Sitting Pivot Transfer Strategy for Paraplegics. BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1440-1445, ⟨10.1109/BioRob.2012.6290307⟩. ⟨lirmm-00725200⟩
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Lee Youngeun, Sébastien Lengagne, Abderrahmane Kheddar, Young J. Kim. Accurate Evaluation of a Distance Function for Optimization-based Motion Planning. IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.1513-1518, ⟨10.1109/IROS.2012.6385741⟩. ⟨lirmm-00778524⟩
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2011

ref_biblio
Sébastien Lengagne, Abderrahmane Kheddar, Eiichi Yoshida. Considering Floatting Contact and Un-Modeled Effects for Multi-Contact Motion Generation. Humanoids, Oct 2011, Bled, Slovenia. ⟨lirmm-00781546⟩
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781546/file/2011_humanoids_lengagne.pdf BibTex
ref_biblio
Sébastien Lengagne, Abderrahmane Kheddar, Sébastien Druon, Eiichi Yoshida. Emulating human leg impairments and disabilities in walking with humanoid robots. ROBIO'11: IEEE International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. pp.2372-2377, ⟨10.1109/ROBIO.2011.6181653⟩. ⟨lirmm-00781531⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781531/file/2011_robio_lengagne.pdf BibTex

2010

ref_biblio
Sébastien Lengagne, Paul Mathieu, Abderrahmane Kheddar, Eiichi Yoshida. Generation of Dynamic Multi-Contact Motions: 2D case studies. Humanoids, Dec 2010, Nashville, TN, United States. pp.014-020, ⟨10.1109/ICHR.2010.5686836⟩. ⟨lirmm-00781554⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554/file/2010_humanoids_lengagne.pdf BibTex

2009

ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Planning and Fast Re-Planning of Safe Motions for Humanoid Robots: Application to a Kicking Motion. IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.441-446, ⟨10.1109/IROS.2009.5354002⟩. ⟨lirmm-00433040⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00433040/file/IROS2009.pdf BibTex
ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Safe Motion Planning Computation for Databasing Balanced Movement of Humanoid Robots. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.1669-1674, ⟨10.1109/ROBOT.2009.5152637⟩. ⟨lirmm-00385625⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00385625/file/1133.pdf BibTex
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Sylvain Miossec, Sebastien Lengagne, Abderrahmane Kheddar, Kazuhito Yokoi. Motion Optimization of Robots, Application to HRP-2. BFG'09 - 14th Belgian-French-German Conference on Optimization, Sep 2009, Leuven, Belgium. ⟨hal-00836312⟩
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https://hal.science/hal-00836312/file/BFG09_miossec_hal.pdf BibTex

2008

ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. A New Method for Generating Safe Motions for Humanoid Robots. Humanoids, Dec 2008, Daejeon, South Korea. ⟨lirmm-00431299⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00431299/file/Humanoids2008.pdf BibTex
ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Méthode pour la planification de trajectoires garanties. Journées Francophones de Planification, Décision et Apprentissage pour la conduite de systèmes, Jun 2008, Metz, France. ⟨lirmm-00326045⟩
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00326045/file/JFPDA08.pdf BibTex

2007

ref_biblio
Sebastien Lengagne, Nacim Ramdani, Philippe Fraisse. Guaranteed Computation of Constraints for Safe path Planning. Humanoids, Nov 2007, Pittsburgh, PA, United States. ⟨lirmm-00193965v3⟩
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00193965/file/main.pdf BibTex

Book sections

2022

ref_biblio
Mehdi Mounsif, Sebastien Lengagne, Benoit Thuilot, Lounis Adouane. Task-Specific Loss: A Teacher-Centered Approach to Transfer Learning Between Distinctly Structured Robotic Agents. Informatics in Control, Automation and Robotics, Springer Lecture Notes in Electrical Engineering (LNEE), 2022. ⟨hal-03527921⟩
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Poster communications

2015

ref_biblio
Sebastien Lengagne, Jean-Charles Quinton. Abstract planning over control primitives for robotic manipulation. International Conference on Spatial Cognition (ICSC), Sep 2015, Rome, Italy. ⟨hal-03935691⟩
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2010

ref_biblio
Sébastien Lengagne, Paul Mathieu, Abderrahmane Kheddar, Eiichi Yoshida. Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials. IROS'10: International Conference on Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. IEEE/RSJ, pp.698-703, 2010, ⟨10.1109/IROS.2010.5649233⟩. ⟨lirmm-00781557⟩
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781557/file/2010_iros_lengagne.pdf BibTex

Theses

2009

ref_biblio
Sebastien Lengagne. Planification et re-planification de mouvements sûrs pour les robots humanoïdes.. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2009. Français. ⟨NNT : ⟩. ⟨tel-00431302⟩
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https://theses.hal.science/tel-00431302/file/rapport.pdf BibTex