Publications
Book Chapter:
- M. T. Chikhaoui and Benoît Rosa (2022): “Modeling and control strategies for flexible devices”, Endorobotics, 1st Edition: Design, R&D and Future Trends, pp. 187-213, edited by Luigi Manfredi, Elsevier. Paperback ISBN: 9780128217504. (bibtex, online, pdf)
Peer-Reviewed International Journals:
- M. Tummers, F. Boyer, V. Lebastard, A. Offermann, J. Troccaz, B. Rosa, and M. T. Chikhaoui (in press): "Continuum concentric push-pull robots: a Cosserat rod model". The International Journal of Robotics Research. (pdf, codes)
- M. Tummers, V. Lebastard, F. Boyer, J. Troccaz, B. Rosa, and M. T. Chikhaoui (2023): "Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives". IEEE Transactions on Robotics, 39(3): 2360-2378. (bibtex, online, video, pdf, codes)
- M. T. Chikhaoui, S. Lilge, S. Kleinschmidt, and J. Burgner-Kahrs (2019): "Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments". IEEE Robotics and Automation Letters, 4(2): 989-996 (bibtex, online) with IEEE ICRA 2019 Presentation, Montreal, Canada.
- M. T. Chikhaoui, A. Benouhiba, P. Rougeot, K. Rabenorosoa, M. Ouisse, and N. Andreff (2018): "Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots". Annals of Biomedical Engineering, 46(10): 1511-1521. (bibtex, online, pdf)
- M. T. Chikhaoui, J. Granna, J. Starke, and J. Burgner-Kahrs (2018): "Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots". IEEE Robotics and Automation Letters, 3(3): 1793-1800. (bibtex, online) with IEEE ICRA 2018 Presentation, Brisbane, Australia.
- A. V. Kudryavtsev, M. T. Chikhaoui, A. Liadov, P. Rougeot, F. Spindler, K. Rabenorosoa, J. Burgner-Kahrs, B. Tamadazte, and N. Andreff (2018): "Eye-in-Hand Visual Servoing of Concentric Tube Robots". IEEE Robotics and Automation Letters, 3(3): 2315-2321. (bibtex, online, pdf) with IEEE ICRA 2018 Presentation, Brisbane, Australia.
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2016): "Kinematics and Performance Analysis of a Novel Concentric Tube Robotic Structure with Embedded Soft Micro-Actuation". Mechanism and Machine Theory, 104: 234-254. (bibtex, online, pdf)
Peer-Reviewed International Conferences:
- T. Alsaka, Ph. Cinquin, and M. T. Chikhaoui (2024): "Hierarchy Control of Dual-arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques". In: Lenarčič, J., Husty, M. (eds) Advances in Robot Kinematics, pp. 140-148, Ljubljana, Slovenia. (bibtex, online, pdf)
- Q. Boyer, M. T. Chikhaoui, P. Roux, F. Marionnet, S. Voros, and K. Rabenorosoa (2023): "Real-time Closed-loop Control of Concentric Tube Robots: Performance Assessment". Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), Paris, France.
- H. J. Zhang, S. Lilge, M. T. Chikhaoui, and J. Burgner-Kahrs (2022): "Cooperative Control of Dual-Arm Concentric Tube Continuum Robots". International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS), Toronto, Canada. Finalist Best Robotics Paper Award (bibtex, online, pdf)
- F. Zaccaria, S. Briot, M. T. Chikhaoui, E. Idà, and M. Carricato (2020): "An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots". In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 601. Finalist Best Research Paper Award (bibtex, online, pdf)
- M. T. Chikhaoui and J. Burgner-Kahrs (2018): "Control of Continuum Robots for Medical Applications: State of the Art". International Conference on New Actuators, pp. 154-164, Bremen, Germany. (ISBN 978-3-8007-4675-0, bibtex, online, pdf)
- J. Starke, E. Amanov, M. T. Chikhaoui, and J. Burgner-Kahrs (2017): "On the Merits of Helical Tendon Routing in Continuum Robots". IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6470-6476, Vancouver, Canada. (bibtex, online)
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2017): "Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-Actuation for 3T-1R Tasks". Advances in Robot Kinematics. J. Lenarčič and J.-P. Merlet Edition, pp. 51-59, Grasse, France. (bibtex, online, pdf - ARK book)
- M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, and N. Andreff (2016): "Design and Closed-loop Control of a Tri-layer Polypyrrole based Telescopic Soft Robot". IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1145-1150, Daejeon, Korea. (bibtex, online, pdf)
- A. Cot, M. T. Chikhaoui, K. Rabenorosoa, P. Rougeot, and N. Andreff (2016): "Synthesis, Encapsulation, and Performance Analysis of Large Deformation Tri-layer Polypyrrole Actuator". IEEE International Conference on Advanced Intelligent Mechatronics, pp. 436-441, Banff, Canada. (bibtex, online, pdf)
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014): "Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy". Advances in Robot Kinematics. Springer International Publishing, J. Lenarčič and O. Khatib Edition, pp. 457-465, Ljubljana, Slovenia. (bibtex, online, pdf)
Peer-Reviewed International Symposium and Workshop:
- H. J. Zhang, S. Lilge, M. T. Chikhaoui, and J. Burgner-Kahrs (2021): "Task-Based Autonomous Control of a Dual Arm Concentric Tube Continuum Robot for Single-Port Surgery". The Hamlyn Symposium on Medical Robotics, London, United Kingdom. (bibtex, pdf)
- M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, and N. Andreff (2017): "Towards Biocompatible Conducting Polymer Actuated Tubes for Intracorporeal Laser Steering". The Hamlyn Symposium on Medical Robotics, pp. 79-80, London, United Kingdom. Best Poster Award (bibtex, pdf - proceedings)
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2015): "Electro-Active Polymer based Micro-Actuation in a Concentric Tube Robot for Medical Applications". IEEE/RSJ IROS Workshop Navigation and Actuation of Flexible Instruments in Medical Applications, Hamburg, Germany. (bibtex)
Peer-Reviewed French Journal:
- M. N. Boushaki, M. T. Chikhaoui, K. Rabenorosoa, C. Liu, N. Andreff, and Ph. Poignet (2016): "Design, Modeling, and Control of Concentric Tube Robots: Towards Medical Applications". Techniques de l'Ingénieur, Article S7767. (bibtex, online - in French, pdf - in French)
Peer-Reviewed French Conferences:
- M. T. Chikhaoui, M. Ourak, Q. Tanguy, P. Struck, K. Rabenorosoa, S. Bargiel, B. Tamadazte, N. Passily, O. Gaiffe, L. Froehly, Ch. Gorecki, Ph. Lutz, and N. Andreff (2017): "Endomicroscope for Gastrointestinal Cancer Detection: Concept and Preliminary Results". Surgetica, pp. 9-11. Strasbourg, France. (bibtex)
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014): "Towards Clinical Application of Continuum Active Micro-endoscope Robot based on EAP Actuation". Surgetica, pp. 159-162, Chambéry, France. (bibtex, pdf)
European and French Symposium:
- L. Barrand, M. T. Chikhaoui, A. Cot, K. Rabenorosoa, P. Rougeot, B. Lakard, S. Lakard, and N. Andreff (2015): "Towards Polypyrrole Actuated Flexible Endomicroscope: Synthesis". French Symposium on Emerging Technologies for Micro-Nanofabrication, Lyon, France.
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014). Symposium of the French Research Group in Robotics (GdR Robotique), Paris, France.
- M. T. Chikhaoui, K. Rabenorosoa, and N. Andreff (2014). Smart Systems for a Better Life Workshop. Neuchâtel, Switzerland.
Dissertation:
- M. T. Chikhaoui (2016): "Novel Concept of Concentric Tube Robots with Micro-Actuators based on Electro-Active Polymers". Ph. D. Thesis, Université de Franche-Comté, France. Best Thesis Award (bibtex, pdf - in French)
Edition:
- J. Burgner-Kahrs, L. A. Kahrs, V. Modes, M. T. Chikhaoui, A. Nabavi (2017): Tagungsband 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, PZH Verlag. ISBN: 978-3-95900-158-8. (online)
Student manuscript: