Vincent HUGEL

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Vincent HugelDirecteur du Laboratoire COSMER

Professeur des Universités, section n°60

tél : 04 83 16 66 30

courriel : vincent.hugel at univ-tln.fr

 

 

Bio

Après un diplôme d’Ingénieur Civil de l’Ecole Nationale Supérieure des Mines de Nancy et un post-diplôme en Génie Robotique et Productique de l’Institut des Sciences et Techniques Nucléaires de Saclay, j’ai effectué une thèse à Paris 6 au sein du Laboratoire de Robotique de Paris sur la commande de robots hexapode et quadrupède sous la direction de P. Coiffet et l’encadrement de P. Blazevic. Après avoir soutenu en 1999, j’ai continué mes activités de recherche sur la locomotion quadrupède embarquée grâce à un Post-Doc financé par la société SONY. Mon recrutement en 2000 en tant que Maître de Conférences à l’Université de Versailles/IUT de Vélizy au département GEII m’a permis de continuer mes activités de recherche dans le domaine de la robotique mobile terrestre, et particulièrement en robotique bipède, humanoïde et avienne. En 2007, j’ai soutenu mon habilitation à diriger les recherches intitulée « De la locomotion à l’autonomie des robots à pattes » au laboratoire d’Ingénierie des Systèmes de Versailles.

Recherche

J’ai été recruté en 2014 sur un poste de professeur à l’Université de Toulon au département GMP de l’IUT, avec pour mission la création d’un laboratoire de robotique.
Ce laboratoire a vu le jour en décembre 2014 et a obtenu une reconnaissance en tant qu’équipe d’accueil en juin 2015. Dans le cadre de cette nouvelle unité, j’ai oeuvré pour le démarrage d’une activité de recherche en robotique sous-marine, en partenariat avec plusieurs acteurs du domaine de la région.
La thématique principale que j’ai proposée concerne la mobilité et l’autonomie de robots marins, sous-marins mais aussi terrestres, avec un objectif à moyen terme de concevoir et développer des plateformes amphibies innovantes.
Mes activités de recherche couvrent la conception de systèmes mécatroniques innovants en terme de mobilité, et le développement de comportements autonomes pour la robotique.

Publications


118 documents

Articles dans une revue27 documents

  • Juliette Drupt, Andrew Comport, Claire Dune, Vincent Hugel. MAM3SLAM: Towards underwater robust multi-agent visual SLAM. Ocean Engineering, 2024, 302, pp.117643. ⟨10.1016/j.oceaneng.2024.117643⟩. ⟨hal-04392461v4⟩
  • Vincent Creuze, Vincent Hugel, Sabine Seillier. Travaux Pratiques de modélisation et commande de robots sous-marins. Journal sur l'enseignement des sciences et technologies de l'information et des systèmes, 2024, 23 (0001), ⟨10.1051/j3ea/20240001⟩. ⟨lirmm-04473543⟩
  • Nicolas Gartner, Niels Montanari, Mathieu Richier, Vincent Hugel, Ramprasad Sampath. Can smoothed particle hydrodynamics simulate physically realistic movements of underwater vehicles?. Advanced Robotics, 2023, pp.1-18. ⟨10.1080/01691864.2023.2263046⟩. ⟨hal-04232152⟩
  • Clémentin Boittiaux, Claire Dune, Maxime Ferrera, Aurélien Arnaubec, Ricard Marxer, et al.. Eiffel Tower: A Deep-Sea Underwater Dataset for Long-Term Visual Localization. The International Journal of Robotics Research, 2023, ⟨10.1177/02783649231177322⟩. ⟨hal-04089339⟩
  • Sébastien Campocasso, Maxime Chalvin, Ugo Bourgon, Vincent Hugel, Matthieu Museau. Manufacturing of a Schwarz-P pattern by multi-axis WAAM. CIRP Annals - Manufacturing Technology, 2023, 72 (1), pp.377-380. ⟨10.1016/j.cirp.2023.04.058⟩. ⟨hal-04156463⟩
  • Christophe Viel, Juliette Drupt, Claire Dune, Vincent Hugel. ROV localization based on umbilical angle measurement. Ocean Engineering, 2023, 269, pp.113570. ⟨10.1016/j.oceaneng.2022.113570⟩. ⟨hal-04116694⟩
  • Nicolas Gartner, Mathieu Richier, Claire Dune, Vincent Hugel. Hydrodynamic Parameters Estimation Using Varying Forces and Numerical Integration Fitting Method. IEEE Robotics and Automation Letters, 2022, 7 (4), pp.11713-11719. ⟨10.1109/LRA.2022.3205126⟩. ⟨hal-03875312⟩
  • Mohamed Ben Khelifa, Hachem Lamti, Vincent Hugel. A Muscular and Cerebral Physiological Indices Assessment for Stress Measuring during Virtual Wheelchair Guidance. Brain Sciences, 2021, 11 (2), pp.274. ⟨10.3390/brainsci11020274⟩. ⟨hal-03424548⟩
  • Maxime Chalvin, Sébastien Campocasso, Vincent Hugel, Thomas Baizeau. Layer-by-layer generation of optimized joint trajectory for multi-axis robotized additive manufacturing of parts of revolution. Robotics and Computer-Integrated Manufacturing, 2020, 65 (101960), pp.1-11. ⟨10.1016/j.rcim.2020.101960⟩. ⟨hal-02509891⟩
  • Aïda Feddaoui, Nicolas Boizot, Eric Busvelle, Vincent Hugel. High-gain extended Kalman filter for continuous-discrete systems with asynchronous measurements. International Journal of Control, 2020, 93 (8), pp.2001-2014. ⟨10.1080/00207179.2018.1539525⟩. ⟨hal-01785473v3⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Catenary-based visual servoing for tether shape control between underwater vehicles. Ocean Engineering, 2020, 200, pp.107018. ⟨10.1016/j.oceaneng.2020.107018⟩. ⟨hal-02477150⟩
  • Ornella Tortorici, Cédric Anthierens, Vincent Hugel, Herve Barthelemy. Towards active self-management of umbilical linking ROV and USV for safer submarine missions. IFAC-PapersOnLine, 2019, 52 (21), pp.265 - 270. ⟨10.1016/j.ifacol.2019.12.318⟩. ⟨hal-02428777⟩
  • Hachem Lamti, Mohamed Moncef Ben Khelifa, Vincent Hugel. Mental fatigue level detection based on event related and visual evoked potentials features fusion in virtual indoor environment. Cognitive Neurodynamics, 2019, 13 (3), pp.271-285. ⟨10.1007/s11571-019-09523-2⟩. ⟨hal-02363157⟩
  • Hachem Lamti, Mohamed Moncef Ben Khelifa, Vincent Hugel. Cerebral and gaze data fusion for wheelchair navigation enhancement: case of distracted users. Robotica, 2019, 37 (02), pp.246-263. ⟨10.1017/S0263574718000991⟩. ⟨hal-01967599⟩
  • Cédric Anthierens, Didier Groux, Vincent Hugel. Guide sensoriel de navigation pour kayakistes non voyants. Science & Sports, 2018, 5953 (1001), pp.S1-S48. ⟨10.1016/j.scispo.2018.03.058⟩. ⟨hal-01856518⟩
  • Cédric Anthierens, Didier Groux, Vincent Hugel. Sensory navigation guide for visually impaired sea kayakers. Journal of Field Robotics, 2018, 35 (5), pp.732--747. ⟨10.1002/rob.21775⟩. ⟨hal-01701795⟩
  • M. Zorjan, Vincent Hugel, P. Blazevic, B. Borovac. Influence of rotation of humanoid hip joint axes on joint power during locomotion. Advanced Robotics, 2015, 29 (11), pp.707 - 719. ⟨10.1080/01691864.2015.1013057⟩. ⟨hal-01701855⟩
  • Nicolas Jouandeau, Vincent Hugel. Enhancing Humanoïds‚ Walking Skills through Morphogenesis Evolution Method. Springer LNCS ISBN 978-3-319-11899- 4, 2014, International Conference on Simulation, Modeling, and Programming for Autonomous Robots, pp.412-423. ⟨hal-03243024⟩
  • Christian Cibert, Vincent Hugel. Compliant intervertebral mechanism for humanoid backbone: Kinematic modeling and optimization. Mechanism and Machine Theory, 2013, 66, pp.32--55. ⟨hal-01723812⟩
  • John Nassour, Vincent Hugel, Fethi Ben Ouezdou, Gordon Cheng. Qualitative Adaptive Reward Learning With Success Failure Maps: Applied to Humanoid Robot Walking. IEEE Transactions on Neural Networks and Learning Systems, 2013, 24 (1), pp.81-93. ⟨10.1109/TNNLS.2012.2224370⟩. ⟨hal-01723809⟩
  • Pauline Provini, Pierre Goupil, Vincent Hugel, Anick Abourachid. Walking, Paddling, Waddling: 3D Kinematics Anatidae Locomotion (Callonetta leucophrys). Journal of Experimental Zoology Part A: Ecological Genetics and Physiology, 2012, 317 (5), pp.275-282. ⟨10.1002/jez.1721⟩. ⟨hal-02341352⟩
  • Anick Abourachid, Rémi Hackert, Marc Herbin, Paul A Libourel, François Lambert, et al.. Bird terrestrial locomotion as revealed by 3D kinematics. Zoology, 2011, 114 (6), pp.360-368. ⟨10.1016/j.zool.2011.07.002⟩. ⟨hal-02341355⟩
  • Vincent Hugel, Remi Hackert, Anick Abourachid. Kinematic modeling of bird locomotion from experimental data. IEEE Transactions on Robotics, 2011, 27 (2), pp.185--200. ⟨hal-01723840⟩
  • Rémi Hackert, Vincent Hugel, Paul-Antoine Libourel, Anick Abourachid. ICVM-8 abstracts. Journal of Morphology, 2007, 268 (12), pp.1042-1154. ⟨10.1002/jmor.10589⟩. ⟨hal-03559186⟩
  • E. Yoshida, P. Blazevic, Vincent Hugel, K. Yokoi, K. Harada. Pivoting a large object: whole-body manipulation by a humanoid robot. Applied Bionics and Biomechanics, 2006, 3 (3), pp.227-235. ⟨10.1533/abbi.2006.0031⟩. ⟨hal-03559191⟩
  • Masahiro Fujita, Manuela Veloso, W. Uther, M. Asada, Hiroaki Kitano, et al.. Vision, Strategy, and Localization Using the Sony Robots at RoboCup-98. AI magazine, 2000, 21 (1), pp.47. ⟨hal-03559263⟩
  • Vincent Hugel, Patrick Bonnin, Pierre Blazevic. Using Reactive and Adaptive Behaviors to Play Soccer. AI magazine, 2000, 21 (3), pp.53--60. ⟨hal-03559259⟩

Communications dans un congrès74 documents

  • Charly Peraud, Martin Filliung, Cédric Anthierens, Claire Dune, Nicolas Boizot, et al.. IMU-based Monitoring of Buoy-Ballast System through Cable Dynamics Simulation. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04756297⟩
  • Charly Peraud, Cédric Anthierens, Vincent Hugel. Cable Lobe Detection in a ROV/USV Tethered System Using IMUs and Compliant Buoy-Ballast Equipment. 4th workshop on RObotic MAnipulation of Deformable Objects : beyond traditional approaches (ROMADO), Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04768235⟩
  • Martin Filliung, Juliette Drupt, Charly Peraud, Claire Dune, Nicolas Boizot, et al.. An Augmented Catenary Model for Underwater Tethered Robots. IEEE International Conference on Robotics and Automation (ICRA 2024), May 2024, Yokohama, Japan. ⟨hal-04459364⟩
  • Alexis Claude, Sébastien Campocasso, Maxime Chalvin, Vincent Hugel. Optimisation de formes de substrats pour la fabrication additive de corsets médicaux adaptés à des morphologies variées de patients. Journées Manufacturing'21, Oct 2023, Cluny, France. ⟨hal-04251936⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel. Qualitative evaluation of state-of-the-art DSO and ORB-SLAM-based monocular visual SLAM algorithms for underwater applications. OCEANS 2023, University of Limerick, Jun 2023, Limerick, France. ⟨hal-04116537⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Skeleton-based Visual Recognition of Diver's Gesture. OCEANS 2023, University of Limerick, Jun 2023, Limerick, France. ⟨hal-04116540⟩
  • Juliette Drupt, Claire Dune, Andrew I Comport, Vincent Hugel. Estimation de forme de câble pesant pour la localisation de robots sous-marins encordés : comparaison d'une approche visuelle à une nouvelle approche inertielle. ORASIS, Thanh Phuong Nguyen; Laboratoire LIS, May 2023, Carqueiranne, France. ⟨hal-04108624⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Divers gesture recognition from upper limb tracking. 19éme colloque ORASIS (journées francophones des jeunes chercheurs en vision par ordinateur ), Thanh Phuong Nguyen; Yassine Zniyed; Nadège Thirion-Moreau; Sandra Senisar; Eric Moreau; Thanh Tuan Nguyen, May 2023, Carqueiranne, France. ⟨hal-04108621⟩
  • Clémentin Boittiaux, Claire Dune, Aurélien Arnaubec, Ricard Marxer, Maxime Ferrera, et al.. Long-term visual localization in deep-sea underwater environment. ORASIS, Thanh Phuong Nguyen, May 2023, Carqueiranne, France. ⟨hal-04108737⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel. Validity of the catenary model for moving submarine cables with negative buoyancy. 3rd workshop on RObotic MAnipulation of Deformable Objects: challenges in perception, planning and control for Soft Interaction (ROMADO-SI),, Oct 2022, Kyoto, Japan. ⟨hal-03841238⟩
  • Juliette Drupt, Claire Dune, Andrew I. Comport, Sabine Sellier, Vincent Hugel. Inertial-Measurement-Based Catenary Shape Estimation of Underwater Cables for Tethered Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2022, Kyoto, Japan. ⟨hal-03841236⟩
  • Maxime Chalvin, Frederik Wulle, Sébastien Campocasso, Anja Elser, Vincent Hugel, et al.. Orientation smoothing in multi-axis additive manufacturing. 55th CIRP Conference on Manufacturing Systems (CIRP CMS), Jun 2022, Lugano, Switzerland. pp.357-362, ⟨10.1016/j.procir.2022.04.058⟩. ⟨hal-03687621⟩
  • Ugo Bourgon, Sébastien Campocasso, Maxime Chalvin, Vincent Hugel, Matthieu Museau. Fabrication d’un motif de Schwarz-P par procédé WAAM multi-axes. Journées Manufacturing'21, May 2022, Besançon, France. ⟨hal-03687632⟩
  • Alexis Claude, Maxime Chalvin, Ugo Bourgon, Sébastien Campocasso, Florence Russo, et al.. Stratégies de fabrication multiaxes d’orthèses médicales personnalisées obtenues par fabrication additive multi-matériaux. Journées Manufacturing'21, May 2022, Besançon, France. ⟨hal-03687648⟩
  • Bilal Ghader, Claire Dune, Eric Watelain, Vincent Hugel. Deep Learning for Underwater Gesture Identification From Airbone Training. ACAPS, Oct 2021, Montpellier, France. ⟨hal-03274321⟩
  • Maxime Chalvin, Alexis Claude, Sébastien Campocasso, Vincent Hugel. Gestion de la température couche-par-couche pour la fabrication additive WAAM. Conférence Manufacturing'21, Jun 2021, Angers (Online), France. pp.10. ⟨hal-03267645⟩
  • Samir Garbaya, Vincent Hugel. Modelling Movement Time for Haptic-enabled Virtual Assembly. VISIGRAPP 2020 : 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Feb 2020, Valletta, Malta. ⟨10.5220/0009038400530063⟩. ⟨hal-03424585⟩
  • Aïda Feddaoui-Papin, Nicolas Boizot, Eric Busvelle, Vincent Hugel. Continuous-Discrete High-Gain Extended Kalman Filter for Mobile Robots with Asynchronous Outputs. 2019 8th International Conference on Systems and Control (ICSC), Oct 2019, Marrakech, Morocco. ⟨hal-02150425v2⟩
  • Sébastien Campocasso, Benjamin Ostré, Dominique Millet, Vincent Hugel. A design optimisation method for direct metal deposition. CIRP General Assembly Part II (STC Dn), Aug 2019, Birmingham, United Kingdom. ⟨hal-02276428⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Embedded Visual Detection and Shape Identification of Underwater Umbilical for Vehicle Positioning. OCEANS 2019 - Marseille, Jun 2019, Marseille, France. pp.1-9, ⟨10.1109/OCEANSE.2019.8867548⟩. ⟨hal-02350067⟩
  • Maxime Chalvin, Sébastien Campocasso, Vincent Hugel, Thomas Baizeau. Génération de trajectoire pour l'ajout d'entités par fabrication additive robotisée multi-axes. 16ème Colloque national S-mart, Apr 2019, Les Karellis, France. pp.1-6. ⟨hal-02112213v2⟩
  • Maxime Chalvin, Sébastien Campocasso, Vincent Hugel, Thomas Baizeau. Stratégies d'optimisation de trajectoires dans l'espace articulaire pour la fabrication additive robotisée multi-axes. Journées Manufacturing'21, Jan 2019, Toulon, France. ⟨hal-02067891⟩
  • Sébastien Campocasso, Maxime Chalvin, A.-K. Reichler, R. Gerbers, K. Dröder, et al.. A framework for future CAM software dedicated to additive manufacturing by multi-axis deposition. 6th CIRP Global Web Conference (CIRPe), Oct 2018, Web Conference, China. pp.79-84, ⟨10.1016/j.procir.2018.08.314⟩. ⟨hal-02112130⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Local Vision-Based Tether Control for a Line of Underwater Robots. IEEE IROS 2018, Oct 2018, Madrid, Spain. ⟨hal-04123118⟩
  • Maxime Chalvin, Sébastien Campocasso, Thomas Baizeau, Vincent Hugel. Automatic multi-axis path planning for thinwall tubing through robotized wire deposition. 12th CIRP Conference on Intelligent Computation in Manufacturing Engineering (CIRP ICME), Jul 2018, Gulf of Naples, Italy. pp.89-94, ⟨10.1016/j.procir.2019.02.017⟩. ⟨hal-02112187⟩
  • John Nassour, Vishal Ghadiya, Vincent Hugel, Fred Hamker. Design of new Sensory Soft Hand: Combining air-pump actuation with superimposed curvature and pressure sensors. 2018 IEEE International Conference on Soft Robotics (RoboSoft), Apr 2018, Livorno, France. ⟨10.1109/ROBOSOFT.2018.8404914⟩. ⟨hal-01856519⟩
  • Maxime Chalvin, Sébastien Campocasso, Vincent Hugel, T. Baizeau. Fabrication additive par dépôt de fil robotisé multiaxes : optimisation des trajectoires de dépôt et du pilotage du robot. Journées Manufacturing'21, Jan 2018, Metz, France. ⟨hal-01723862⟩
  • Aïda Feddaoui, Nicolas Boizot, Eric Busvelle, Vincent Hugel. A Kalman filter for linear continuous-discrete systems with asynchronous measurements. 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, Melbourne, Australia. pp.2813-2818, ⟨10.1109/CDC.2017.8264068⟩. ⟨hal-01701832⟩
  • Matheus Laranjeira, Claire Dune, Vincent Hugel. Catenary-based visual servoing for tethered robots. IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapour, France. ⟨hal-01657118⟩
  • Sébastien Campocasso, Vincent Hugel, Benjamin Vayre. Génération de trajectoires pour la fabrication additive par dépôt de fil robotisé multi-axes - Application à une tubulure torique. 15ème Colloque national AIP-Primeca, Apr 2017, La Plagne, France. pp.1-5. ⟨hal-01517799⟩
  • Mouna Souissi, Vincent Hugel, Samir Garbaya, John Nassour. Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist. Proc. of the Advances in Robot Kinematics, Jun 2016, Grasse, France. ⟨hal-01723622⟩
  • Nicolas Jouandeau, Vincent Hugel. Enhancing Humanoids' Walking Skills through Morphogenesis Evolution Method. International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Oct 2014, Bergamo, Italy. ⟨10.1007/978-3-319-11900-7_35⟩. ⟨hal-02317153⟩
  • Vincent Hugel, Nicolas Jouandeau. Analytical Solution for Joint Coupling in NAO Humanoid Hips. 18th annual RoboCup International Symposium, Jul 2014, Joaõ Pessoa, Brazil. ⟨10.1007/978-3-319-18615-3_35⟩. ⟨hal-02317150⟩
  • Nicolas Jouandeau, Vincent Hugel. L3M-SIM Team Description. The 18th annual RoboCup International Symposium, Jul 2014, João Pessoa, Brazil. ⟨hal-02317149⟩
  • Nicolas Jouandeau, Vincent Hugel. Optimization of Parametrised Kicking Motion for Humanoid Soccer Player. IEEE International Conference on Autonomous Robot Systems and Competitions, May 2014, Espinho, Portugal. ⟨10.1109/ICARSC.2014.6849793⟩. ⟨hal-02317147⟩
  • Vincent Hugel, Nicolas Jouandeau. Analytical Solution for Joint Coupling in NAO Humanoid Hips. RoboCup 2014: Robot World Cup XVIII, 2014, Unknown, Unknown Region. pp.431-442. ⟨hal-01723806⟩
  • Mohsen Kaboli, Philipp Mittendorfer, Vincent Hugel, Gordon Cheng. Humanoids learn object properties from robust tactile feature descriptors via multi-modal artificial skin. Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, 2014, Unknown, Unknown Region. pp.187--192. ⟨hal-01723805⟩
  • Lambert Trenoras, Uréné Gregory, Eric Monacelli, Vincent Hugel. Mechatronic design of the Gyrolift verticalization wheelchair. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), 2014, Besançon, France. pp.1308--1313, ⟨10.1109/AIM.2014.6878263⟩. ⟨hal-01723804⟩
  • Nicolas Jouandeau, Vincent Hugel. Optimization of parametrised kicking motion for humanoid soccer player. Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on, 2014, Unknown, Unknown Region. pp.241--246. ⟨hal-01723808⟩
  • Nicolas Jouandeau, Vincent Hugel. Simultaneous evolution of leg morphology and walking skills to build the best humanoid walker. IEEE-RAS International Conference on Humanoïd Robots 2013, 8th Workshop on Humanoïd Soccer Robots, Oct 2013, Atlanta, United States. ⟨hal-02317135⟩
  • Vincent Hugel, Nicolas Jouandeau. Automatic generation of humanoid's geometric model parameters. 17th annual RoboCup International Symposium, Jul 2013, Eindhoven, Netherlands. ⟨10.1007/978-3-662-44468-9_36⟩. ⟨hal-02317131⟩
  • Nicolas Jouandeau, Vincent Hugel, Thomas da Costa. L3M-SIM Team Description. RoboCup 2013: Robot Soccer World Cup XVII, Jun 2013, Eindhoven, Netherlands. ⟨hal-02317129⟩
  • Nicolas Jouandeau, Vincent Hugel. L3M-SIM Team Description. RoboCup 2013: Robot Soccer World Cup XVII, Jun 2013, Eindhoven, Netherlands. ⟨hal-02317126⟩
  • Nicolas Jouandeau, Vincent Hugel. Simultaneous evolution of leg morphology and walking skills to build the best humanoid walker. IEEE-RAS International Conference on Humanoid Robots 2013, 8th Workshop on Humanoid Soccer Robots (HSR2013), 2013, Unknown, Unknown Region. ⟨hal-01723814⟩
  • Maja Zorjan, Vincent Hugel. Generalized humanoid leg inverse kinematics to deal with singularities. Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013, Unknown, Unknown Region. pp.4791--4796. ⟨hal-01723727⟩
  • Maja Zorjan, Vincent Hugel. Humanoid bending while carrying load: Influence of hip axes orientation layout on joint power. Advanced Robotics (ICAR), 2013 16th International Conference on, 2013, Unknown, Unknown Region. pp.1--6. ⟨hal-01723726⟩
  • Vincent Hugel, Nicolas Jouandeau. Walking Patterns for Real Time Path Planning Simulation of Humanoids. 21st IEEE International Symposium on Robot and Human Interactive Communication, Oct 2012, Paris, France. ⟨hal-02316456⟩
  • Nicolas Jouandeau, Vincent Hugel, Zhi Yan. L3M-SIM Team Description. RoboCup 2012: Robot Soccer World Cup XVI, Jun 2012, Mexico, Mexico. ⟨hal-02316429⟩
  • Vincent Hugel, Juan Francisco Blanes Noguera, Nicolas Jouandeau. L3M SPL Team Description. RoboCup 2012: Robot Soccer World Cup XVI, Jun 2012, Mexico, Mexico. ⟨hal-02316437⟩
  • Mouna Souissi, Vincent Hugel, Pierre Blazevic. Design optimisation of parallel joint mechanism for humanoid spine. Electrotechnical Conference (MELECON), 2012 16th IEEE Mediterranean, 2012, Unknown, Unknown Region. pp.997--1000. ⟨hal-01723829⟩
  • Christian Cibert, Vincent Hugel. Bio-inspired compliant spine for humanoid robot a degrees of freedom challenge. RO-MAN, 2012 IEEE, 2012, Unknown, Unknown Region. pp.1--5. ⟨hal-01723819⟩
  • Vincent Hugel, Nicolas Jouandeau. Walking patterns for real time path planning simulation of humanoids. RO-MAN, 2012 IEEE, 2012, Unknown, Unknown Region. pp.424--430. ⟨hal-01723820⟩
  • Mouna Souissi, Vincent Hugel, Pierre Blazevic. Modeling and Simulation of Humanoid Robot Spine Vertebra.. 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2012, Rome, Italy. pp.415--418. ⟨hal-01723830⟩
  • Zhi Yan, Nicolas Jouandeau, Vincent Hugel. L3M-SIM Team Description. 15th Annual RoboCup International Symposium,, Jul 2011, Istanbul, Turkey. ⟨hal-02311615⟩
  • Vincent Hugel, Juan Francisco Blanes Noguera, Nicolas Jouandeau, Juan José Alcaraz Jiménez, Humberto Martínez Barberá, et al.. L3M SPL Team Description. RoboCup 2011: Robot Soccer World Cup XV, Jul 2011, Istanbul, Turkey. ⟨hal-02311617⟩
  • Maja Zorjan, Vincent Hugel, Pierre Blazevic. Comparison Between Different Humanoid Leg Hip Kinematics Through Dynamic Simulation. International Journal of Industrial Engineering and Management (IJIEM), 2011, Unknown, Unknown Region. pp.131--137. ⟨hal-01723831⟩
  • Mouna Souissi, Vincent Hugel, Pierre Blazevic. Influence of the number of humanoid vertebral column pitch joints in flexion movements. Automation, Robotics and Applications (ICARA), 2011 5th International Conference on, 2011, Unknown, Unknown Region. pp.277--282. ⟨hal-01723833⟩
  • Maja Zorjan, Vincent Hugel, Pierre Blazevic. Influence of hip joint axes change of orientation on power distribution in humanoid motion. Automation, Robotics and Applications (ICARA), 2011 5th International Conference on, 2011, Unknown, Unknown Region. pp.271--276. ⟨hal-01723832⟩
  • Vincent Hugel, Humberto Martínez Barberá, Nicolas Jouandeau, Juan Francisco Blanes Noguera. French-Spanish L3M SPL Team Description. 14th RoboCup International Symposium, Jun 2010, Singapour, Singapore. ⟨hal-02311597⟩
  • Nicolas Jouandeau, P. Bonnin, Vincent Hugel, P. Blazevic. From Color Groups to Scene Interpretation. 4th Workshop of Humanoïd Soccer Robots, Dec 2009, Paris, France. ⟨hal-02310200⟩
  • Vincent Hugel, Nicolas Jouandeau. Les Trois Mousquetaires Team Description. RoboCup 2009, Jun 2009, Graaz, Austria. ⟨hal-02310196⟩
  • David Gouaillier, Vincent Hugel, Pierre Blazevic, Chris Kilner, Jerome Monceaux, et al.. Mechatronic design of NAO humanoid. 2009 IEEE International Conference on Robotics and Automation (ICRA), May 2009, Kobe, France. pp.769-774, ⟨10.1109/ROBOT.2009.5152516⟩. ⟨hal-03562368⟩
  • A. Abourachid, R. Hackert, H. Gioanni, Vincent Hugel. Biomechanical analysis of the quail walking. From avian walk to a bipedal robot.. From avian walk to a bipedal robot. 24th International Ornithological Congress, Hamburg, 2006, 2006, France. ⟨hal-00092338⟩
  • Eiichi Yoshida, Yisheng Guan, Neo Ee Sian, Vincent Hugel, Pierre Blazevic, et al.. Motion planning for whole body tasks by humanoid robot. 2005 IEEE International Conference on Mechatronics and Automation, Jul 2005, Niagara Falls, ON, Canada. pp.1784-1789, ⟨10.1109/ICMA.2005.1626830⟩. ⟨hal-03559194⟩
  • L. Mederreg, Vincent Hugel, Anick Abourachid, Pierre Blazevic, Rémi Hackert. The ROBOCOQ project: Bird Leg Kinematics Analysis and Modelling. Proceedings of International Computer Systems and Information Technology, IEEE ICSIT'05, Jul 2005, Algiers, Algeria. ⟨hal-03561403⟩
  • E. Yoshida, P. Blazevic, Vincent Hugel. Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform. 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, France. pp.1040-1045, ⟨10.1109/ROBOT.2005.1570253⟩. ⟨hal-03559209⟩
  • Patrick Bonnin, Olivier Stasse, Vincent Hugel, Pierre Blazevic, M. Silly-Chetto. Vers une méthode d'evaluation comparée de mécanismes de regroupements de pixels : Application à la décomposition en composantes connexes et à la croissance de régions pour l'utilisation dans un système de vision robotique temps réel. 19° Colloque sur le traitement du signal et des images, 2003, Paris, France. ⟨hal-03559306⟩
  • L. Mederreg, Vincent Hugel, Anick Abourachid, Olivier Stasse, Patrick Bonnin, et al.. The RoboCoq Project: Modelling and Design of Bird-like Robot. Climbing and Walking Robots, 2003, Catania, Italy. ⟨hal-03559329⟩
  • L. Mederreg, Vincent Hugel, Anick Abourachid, Olivier Stasse, Patrick Bonnin, et al.. the Robocoq project : Modelling and design of a bird-like robot equipped with stabilized vision. Long Abstract Proceedings of the Second International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2003, Kyoto, Japan. pp.44. ⟨hal-03559315⟩
  • Patrick Bonnin, Laurent Cabaret, Vincent Hugel, N. K. M'Sirdi, Pierre Blazevic, et al.. Méthode d'optimisation temporelle des algorithmes de vision. 18° Colloque sur le traitement du signal et des images, 2001, toulouse, France. ⟨hal-03559291⟩
  • Patrick Bonnin, Didier Solheid, Vincent Hugel, Pierre Blazevic, Kamel Bouchefra. Système de vision temps réel embarqué sur robots mobiles quadrupèdes dans le cadre de la « SONY legged RoboCup. 17° Colloque sur le traitement du signal et des images, FRA, 1999, GRETSI, Groupe d’Etudes du Traitement du Signal et des Images, Sep 1999, VANNES, France. ⟨hal-03559285⟩
  • Patrick Bonnin, Didier Solheid, Vincent Hugel, Pierre Blazevic. Programmation d’un Système de Vision Temps Réel Embarqué sur un Robot Quadrupède Mobile et Autonome. Vision Interface 99, 1999, Trois Rivieres, Canada. ⟨hal-03559336⟩
  • V. Pasqui, Vincent Hugel, P. Blazevic. Description and performance analysis of a mobile force feedback stick-shaped handle. Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications, 1998, Victoria, France. pp.1272-1277, ⟨10.1109/IROS.1998.727474⟩. ⟨hal-03559202⟩
  • Vincent Hugel, Amine Iles, Viviane Pasqui, Pierre Blazevic. TWO TECHNIQUES OF GEOMETRICAL MODELIZATION FOR AN HEXAPOD ROBOT.. The Third ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, 1997, BREMEN, Germany. ⟨hal-03559220⟩

Chapitres d'ouvrage11 documents

  • Anick Abourachid, Vincent Hugel. The Natural Bipeds, Birds and Humans: An Inspiration for Bipedal Robots. Lepora, F. Nathan and Mura, Anna and Mangan, Michael and Verschure, F.M.J. Paul and Desmulliez, Marc and Prescott, J. Tony. Biomimetic and Biohybrid Systems: 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings, Springer International Publishing, pp.3--15, 2016, 978-3-319-42417-0. ⟨10.1007/978-3-319-42417-0_1⟩. ⟨hal-01723625⟩
  • Nicolas Jouandeau, Vincent Hugel. Enhancing Humanoids’ Walking Skills through Morphogenesis Evolution Method. Simulation, Modeling, and Programming for Autonomous Robots, Springer International Publishing, pp.412--423, 2014. ⟨hal-01723800⟩
  • Vincent Hugel, Nicolas Jouandeau. Analytical Solution for Joint Coupling in NAO Humanoïd Hips. Lecture Notes in Computer Science book series (LNCS, volume 8992) - RoboCup 2014: Robot World Cup XVIII, pp.431-442, 2014, 18th annual RoboCup International Symposium. ⟨hal-03242984⟩
  • Vincent Hugel, Nicolas Jouandeau. Automatic generation of humanoid’s geometric model parameters. RoboCup 2013: Robot World Cup XVII, Springer Berlin Heidelberg, pp.408--419, 2013. ⟨hal-01723810⟩
  • Mouna Souissi, Vincent Hugel, Pierre Blazevic. Simulation of Humanoid Robot Vertebra. Recent Advances in Robotics and Automation, Springer Berlin Heidelberg, pp.289--299, 2013. ⟨hal-01723813⟩
  • Anick Abourachid, Vincent Hugel. L'idée de fonction en biologie et en robotique, témoignage autour du projet « RoboCoq ». Les fonctions : des organismes aux artefacts, Presses Universitaires de France, pp.371 - 380, 2010. ⟨hal-03559177⟩
  • Eiichi Yoshida, Vincent Hugel, Pierre Blazevic, Kazuhito Yokoi, Kensuke Harada. Dexterous Humanoid Whole-Body Manipulation by Pivoting. Humanoid Robots, Human-like Machines, I-Tech Education and Publishing, 2007, ⟨10.5772/4818⟩. ⟨hal-03559187⟩
  • L. Mederreg, Vincent Hugel, A. Abourachid, P. Blazevic, Rémi Hackert. Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism. Climbing and Walking Robots - Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005, London, UK, September 13-15, 2005, Springer Berlin Heidelberg, pp.319-326, 2006, 978-3-540-26413-2. ⟨10.1007/3-540-26415-9_38⟩. ⟨hal-02177642⟩
  • Vincent Hugel, Guillaume Amouroux, Thomas Costis, Patrick Bonnin, Pierre Blazevic. Specifications and Design of Graphical Interface for Hierarchical Finite State Machines. RoboCup 2005: Robot Soccer World Cup IX, 4020, Springer Berlin Heidelberg, pp.648-655, 2006, Lecture Notes in Computer Science, ⟨10.1007/11780519_65⟩. ⟨hal-03559223⟩
  • Aymeric de Cabrol, Patrick Bonnin, Thomas Costis, Vincent Hugel, Pierre Blazevic. A new video rate color region segmentation and classification for robotics applications. RoboCup 2005: Robot Soccer World Cup IX, 2005. ⟨hal-03559268⟩
  • Vincent Hugel, Patrick Bonnin, Jean Christophe Bouramoué, Didier Solheid, Pierre Blazevic, et al.. Quadruped Robot Guided by Enhanced Vision System and Supervision Modules. RoboCup 1998: RoboCup-98: Robot Soccer World Cup II, 1604, Springer Berlin Heidelberg; Springer Berlin Heidelberg, pp.485-490, 1999, Lecture Notes in Computer Science, ⟨10.1007/3-540-48422-1_50⟩. ⟨hal-03559170⟩

Brevets1 document

  • Jun Yokono, Masahiro Fujita, Vincent Hugel. Robot device and method of controlling robot device operation. Japan, Patent n° : WO2002065825B1. 2003. ⟨hal-03559368⟩

Autres publications1 document

  • Anick Abourachid, Ludovic Maes, Lionel Reveret, Vincent Hugel. Method of Generating Commands for Controlling Coordination of Displacement Members of a Moving Platform and Corresponding Generator. 2012. ⟨hal-01723823⟩

Pré-publications, Documents de travail2 documents

  • Juliette Drupt, Christophe Viel, Claire Dune, Vincent Hugel. ROV localization using ballasted umbilical equipped with IMUs. 2023. ⟨hal-04350174⟩
  • Christophe Viel, Juliette Drupt, Claire Dune, Vincent Hugel. ROV localization based on umbilical angle measurement. 2022. ⟨hal-03875151v2⟩

Rapports1 document

  • Christian Cibert, Vincent Hugel. Moments gyroscopiques : hélices, pods et autres volants d’inertie. [Research Report] bm5170, Techniques de l'ingénieur. 2017. ⟨hal-01723795⟩

Vidéos1 document

  • Sébastien Campocasso, Maxime Chalvin, Ugo Bourgon, Vincent Hugel, Matthieu Museau. Manufacturing of a Schwarz-P pattern by multi-axis WAAM (Video). 2022. ⟨hal-04736910⟩

Documents récupérés de l'archive ouverte HAL logo

Direction de Thèses

Thèses soutenues

  • Matheus Laranjeira (janvier 2016-avril 2019), 40% – co-encadrement avec Claire Dune
  • Aïda Feddaoui (octobre 2016-mai 2020), 25% – co-direction avec E. Busvelle (LSIS) et co-encadrement avec N. Boizot (LSIS)
  • Nicolas Gartner (octobre 2016-juin 2020), 40% – co-encadrement avec Mathieu Richier
  • Maxime Chalvin (septembre 2017-juillet 2020), 30% – co-encadrement avec Sébastien Campocasso
  • Ornella Tortorici (novembre 2017-décembre 2021), 30% – co-direction avec Hervé Barthélémy (IM2NP), co-encadrement avec Cédric Anthierens
  • Lewis Andurand (octobre 2019-août 2023), 30% – co-encadrement avec Sébastien Campocasso et Mathieu Museau (G-SCOP)
  • Juliette DRUPT (nov. 2020-nov. 2023), 30% – co-encadrement avec Claire Dune et Andrew Comport (I3S_CNRS)
  • Clémentin BOITTIAUX (nov. 2020-déc 2023), 25% – co-encadrement avec Claire Dune, Ricard Marxer (LIS) et Aurélien Arnaubec (Ifremer)

Thèses en cours

  • Bilal GHADER (déc. 2020-), 30% – co-direction avec Eric Watelain (IAPS), co-encadrement avec Claire Dune
  • Alexis Claude (juin 2022-), 20% – co-supervision avec Maxime Chalvin et Sébastien Campocasso
  • Charly Péraud (sept. 2022-), 50% – co-direction avec Cédric Anthierens
  • Louis Jouclas (oct. 2023-), 10%, co-direction avec Vincent Creuze (Univ. Montpellier)

Responsabilités collectives et administratives

  • Membre élu du Conseil d’Administration de l’Université de Toulon 2015-2019
  • Membre du Conseil de l’Ecole Doctorale 548 Mer et Sciences depuis septembre 2015
  • Membre du Pôle Information-Numérique-Prévention de l’Université de Toulon depuis septembre 2015
  • Membre élu du Conseil de Département GMP de l’IUT de Toulon depuis 2016
  • Président de jury d’admission en DUT 2ème année GMP depuis 2015
  • Responsable pédagogique du master Erasmus Mundus MIR (2020-).

Rayonnement scientifique

  • Membre du Comité Programme de la conférence ECMR (European Conference on Mobile Robots).
  • Responsable scientifique pour le Cosmer du projet Surfbot (2016-2020).

Enseignement

J’enseigne la mécanique analytique au département GMP de l’IUT de Toulon, la robotique mobile terrestre dans le parcours SYSMER de l’Ecole d’Ingénieurs Seatech de l’Université, et la modélisation des systèmes mécaniques en 1ère année du master ISC (Ingénierie des Systèmes Complexes), parcours Robotique et Objets Connectés.