Publications

Invited Talks

• 1. Ting Wang.  Walking analysis of young-elderly people by using an intelligent walker ANG.(Invited Presentation) The  First IEEE International Symposium on Last-Mile Smart Mobility, Versailles, Nov 28-29, 2016.

International Journals

• 1. Yuexiu Xing, Ting Wang, Fen Zhou, Aiqun Hu, Guyue Li, Linning Peng.  EVAL cane: Non-intrusive monitoring platform with a novel gait-based user identification scheme.  IEEE Transactions on Instrumentation & Measurement, pp1-15, June 2020. (IF=3.067)

  2. Amina Gacem, Eric Monacelli, Ting Wang, Nelly Nadjar-Gauthiera et al. Assessment of wheelchair skills based on analysis of driving style. Cognition, Technology & Work (Springer), pp1-15, May 2019. (IF=1.188)

  3. Ting Wang, Jean-Piere Merlet, Guillaume Sacco, Philippe Robert, Jean-Michel Turpin, Bernqrd Teboul, Audrey Marteu, Olivier Guerin.  Walking analysis of young-elderly people by using an intelligent walker ANG. Robotics and Autonomous Systems (Elsevier),  75:96-106, Jan. 2016 (IF=2.928).

  4. Ting Wang, Christine Chevallereau, D. Tlalolini. Stable walking control of a 3D biped robot with foot rotation. Robotica (Cambridge Press), 32(4): 551-570, Jul. 2014 (IF=1.184).

  5. Ting Wang, Christine Chevallereau, Carlos Rengifo. Walking and steering control for a 3D biped robot considering ground contact and stability. Robotics and Autonomous Systems (Elsevier), 60(7): 962-977, 2012 (IF=2.928). 

  6. Ting Wang, Christine Chevallereau. Stability analysis and time-varying walking control for an under-actuated planar biped robot. Robotics and Autonomous Systems (Elsevier), 59(6): 444-456, 2011 (IF=2.928).

International Conferences

• 1. Ting Wang, B. Kouma, M. Gueye, A. Diakite, A. A. Houmed. Sense’Z: a System for Real-Time Hand Gesture Recognition with Embedded Machine Learning and IoT Applications. In Proceedings of the 30th IEEE Symposium on Computers and Communications (ISCC 2025), pp.1-7,  2 - 5 July, Bologna, Italy.

  2. Ting Wang, M. Padonou, Y. Said, L. Homsi, S. Brinis, V. Motuel, E. Monacelli. EVAL Belt: A Connected Vibration-Feedback System for Mobility and Real-Time Monitoring of Visually Impaired Users. In Proceedings of the 20th IEEE International Symposium on Broadband Multimedia Systems and Broadcasting (BMSB 2025), pp.1-6, June 11-13, 2025, Dublin, Ireland. 

  3. X. Wang, F. Zhou, Y. Chen and Ting Wang, "Maximal Distance Spectrum Assignment for Services Provisioning in Elastic Optical Networks," 2023 IFIP Networking Conference (IFIP Networking), Barcelona, Spain, 2023, pp. 1-9, doi:10.23919/IFIPNetworking57963.2023.10186441.

  4. Ting Wang, A. A. Pileño and E. Monacelli, "How can Sensor Data Accessibility be Enhanced in IoT-Based Health Monitoring Systems?," 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), Kristiansand, Norway, 2024, pp. 1-6, doi: 10.1109/ICIEA61579.2024.10664742.

  5. Ting Wang, Rupert Grobler,  Eric Monacelli. EVAL-Cane: An IoT-based smart cane for the evaluation of walking gait and enviroment. The 15th IEEE International  Symposium on Broadband Multimedia Systems and Broadcasting (BMSB'20), pp. 1-4,  Paris, France 2020.

  6. Ting Wang, Claire Dune, Jean-Pierre Merlet, Philippe Gorce, Guillaume Sacco, Philippe Robert, Jean-Michel Turpin, Bernqrd Teboul, Audrey Marteu, Olivier Guerin. A new application of smart walker for quantitative analysis of human walking. The Second Workshop on Assistive Computer Vision and Robotics (ACVR'14) held in conjunction with European Conference on Computer Vision (ECCV), Zuric, Switzerland, September 2014, pp1-17, accepted for oral presentation.

  7. Ting Wang, Christine Chevallereau. Steering Control for a 3D Biped Robot Considering Ground Contact andStability. The 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR’11), Paris, France, September 2011. (Best Paper Award)

  8. Ting Wang, Christine Chevallereau. Walking Control for a 3D Biped Robot Considering Ground Contact. Dynamic Walking, Jena, Germany, July 2011.

  9. Ting Wang, Christine Chevallereau. A New Control Law for a 3D Biped Robot Based on Regulation of the Zero Moment Point and Joint Path. IEEE-RAS International Conference on Humanoid Robots (Humanoids’10), Nashville, TN, USA, December 2010.

  10. Ting Wang, Christine Chevallereau. Stability of Time-varying Control for an Underactuated Biped Robot Based on Choice of Controlled Outputs.. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’10), Taipei, China, October 2010.

  11. Ting Wang, Christine Chevallereau, C-l. Shih. Choice of Output for Time-variant Walking Control for a Five-Link Underactuated Planar Biped Robot. The 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids’09), Paris, France, Decembre 2009.

French Conferences:

• 1. Ting Wang, Christine Chevallereau  Stability and Control for a 3D Biped Robot Based on Choice of Controlled Outputs. 5ème Journée National du Robotique Humanoïde (JNRH’10), Poitiers, France, june 2010.

  2. Ting Wang, Christine Chevallereau  Command and stability analysis for a 3D biped robot. The 4th Centrale-Beihang Rearch Workshop, May 2010.

  3. Ting Wang, Christine Chevallereau. Analyse de stabilité pour un robot marcheur sous-actionné. 4ème Journée National du Robotique Humanoïde (JNRH’09), Nantes, France, May 2009.

  4. Ting Wang, Christine Chevallereau. Time-variant walking control for a Five-Link Under-actuated Planar Biped Robot. 16ème édition du Colloque de Recherche Inter-Écoles Centrales (CRIEC’09), Lyon, June 2009.

Thesis :

• 1. Ting Wang. Walking control of Biped robots / Contribution à la commande de robots marcheurs bipèdes. Ph.D dissertation, IRCCYN, Ecole Centrale de Nantes, December, 2011.

     1. Jury: Abba G, Alamir M, Aoustin Y, Bruneau O, Chevallereau C (Supervisor), Gelin R.

     2. Abstract: The objective of this thesis is to study the walking control of biped robots including imbalance walking phase. Thus we dedicated to the stability analysis of periodical walking with under-actuation. Firstly, a planar biped robot with point feet is studied. Some tools for stability analysis such as Poincaré return map, Zero Dynamics and Hybrid Zero Dynamics are discussed. Two control laws based on joint reference motion (common in robotics) are proposed and compared with a control law for tracking parameterized reference trajectory (free temporal evolution). Next a biped robot with feet moving in 3D is discussed. In view of the importance of ZMP (Zero Moment Point) for the walking stability, it is regulated to its desired values. Moreover, a feedback control of the orientation of the swing foot is used to ensure a proper landing. As a result, some controlled outputs have been defined, so the robot can be dealt with like an under-actuated system. The approaches developed previously are then taken to obtain a stable walking. In addition, a steering control law is proposed to control the walking direction of the robot to pass through a door and reach a destination with a mild curvature. Finally, the proposed controller is extended to a biped robot with arms and a foot rotation phase that describing the stance heel lifts from the ground and the stance foot rotates about the toe is included in the single support phase. The proposed control can be naturally extended to this imbalance phase due to the control of ZMP, and the simulation results validate it is effective to obtain stable walking.