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

Sébastien LENGAGNE

Maître de conférences
ISPR, MACCS

sebastien.lengagne@-Code a retirer pour éviter le 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

Article dans une revue

2014

ref_biblio
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, Massachusetts Institute of Technology Press (MIT Press), 2014, 23 (3), pp.229-241. ⟨10.1162/PRES_a_00191⟩. ⟨lirmm-01589230⟩
Accès au bibtex
BibTex

2013

ref_biblio
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, InTech, 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

2011

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

Communication dans un congrès

2012

ref_biblio
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⟩
Accès au bibtex
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
ref_biblio
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⟩
Accès au texte intégral et bibtex
https://hal.archives-ouvertes.fr/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⟩
Accès au texte intégral et bibtex
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⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00193965/file/main.pdf BibTex

Poster

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⟩
Accès au texte intégral et bibtex
https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781557/file/2010_iros_lengagne.pdf BibTex

Thèse

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. ⟨tel-00431302⟩
Accès au texte intégral et bibtex
https://tel.archives-ouvertes.fr/tel-00431302/file/rapport.pdf BibTex