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Rafael Cisneros Limón

Researcher

International Journals (peer-reviewed)
Main author
  • R. Cisneros, J. M. Ibarra, M. A. Armada. "Inverse Kinematics of a Humanoid Robot with Non-Spherical Hip: a Hybrid Algorithm Approach". INTECH International Journal of Advanced Robotic Systems, Vol. 10, No. 213, p.p. 1-13, 2013. [PDF]
  • R. Cisneros, K. Yokoi, E. Yoshida. "Impulsive pedipulation of a spherical object with 3D goal position by a humanoid robot". International Journal of Humanoid Robotics, Vol. 13, No. 2, p.p. (1650003) 1-43, 2016.
  • R. Cisneros, S. Nakaoka, M. Morisawa, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro. "Effective teleoperated manipulation for humanoid robots in partially unknown real environments: team AIST-NEDO's approach for performing the Plug Task during the DRC Finals". Advanced Robotics, Vol. 30, No. 24, p.p. 1544-1558, 2016.
  • R. Cisneros, M. Morisawa, M. Benallegue, A. Escande, F. Kanehiro. "Inverse dynamics-based multi-contact locomotion control framework without joint torque feedback". Advanced Robotics, Vol. 34, No. 21-22, p.p. 1398-1419, 2020.
  • R. Cisneros, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, R.P. Singh, L. Sun, Y. Chen, C. Fournier, G. Lorthioir, M. Tsuru, S. Chefchaouni, Y. Osawa, G.Caron, K. Chappellet, M. Morisawa, A. Escande, K. Ayusawa, Y. Houhou, I. Kumagai, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar. "A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer". International Journal of Social Robotics, 2024. [PDF]
Coauthor
  • I. Kumagai, M. Morisawa, T. Sakaguchi, S. Nakaoka, K. Kaneko, H. Kaminaga, S. Kajita, M. Benallegue, R. Cisneros, F. Kanehiro. "Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency". IEEE Robotics & Automation Magazine, Vol. 26, No. 5, p.p. 20-29, 2019.
  • M. Morisawa, R. Cisneros, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro. "Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact". International Journal of Humanoid Robotics, Vol. 17, No. 1, p.p. (2050003) 1-28, 2020.
  • M. Benallegue, R. Cisneros, A. Benallegue, Y. Chitour, M. Morisawa, F. Kanehiro. "Lyapunov-stable orientation estimator for humanoid robots". IEEE Robotics and Automation Letters, Vol. 5, No. 4, p.p. 6371-6378, 2020.
  • M. Benallegue, A. Benallegue, R. Cisneros, Y. Chitour. "Velocity-aided IMU-based Tilt and Attitude Estimation". IEEE Transactions on Automatic Control, 2022.
  • K. Darvish, L. Penco, J. Ramos, R. Cisneros, J. Pratt, E. Yoshida, S. Ivaldi, D. Pucci. "Teleoperation of Humanoid Robots: A Survey". IEEE Transactions on Robotics, 2023.
  • S. Chefchaouni, R. Cisneros, H. Kaminaga, M. Benallegue, T. Nobeshima, S. Kanazawa, F. Kanehiro. "Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction". MDPI Sensors, Vol. 23, No. 9, p.p. (4569) 1-20, 2023.
  • M. Hamze, M. Benallegue, R. Cisneros, A. Benallegue. "Compliant Contacts Balance-Force Controller for Legged Robots". IEEE Robotics and Automation Letters, 2024.
International Conference Proceedings (peer-reviewed)
Main author
  • R. Cisneros, E. Yoshida, K. Yokoi. "Ball Dynamics Simulation on OpenHRP3". IEEE International Conference on Robotics and Biomimetics (ROBIO), Guangzhou, China, 2012.
  • R. Cisneros, K. Yokoi, E. Yoshida. "Impulsive Pedipulation of a Spherical Object for Reaching a 3D Goal Position". IEEE-RAS International Conference on Humanoid Robots, Atlanta, U.S.A., 2013. [PDF]
  • R. Cisneros, K. Yokoi, E. Yoshida. "Yaw Moment Compensation by Using Full Body Motion". IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 2014. Best Student Paper.
  • R. Cisneros, E. Yoshida, K. Yokoi. "Partial Yaw Moment Compensation Through Whole-Body Motion". IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 2014. [PDF]
  • R. Cisneros, J.L. Vazquez, J.R. Mendoza. "Workspace analysis of a 6-RSS parallel robot considering non-ideal spherical joints". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.
  • R. Cisneros, S. Kajita, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro. "Task-Level Teleoperated Manipulation for the HRP-2Kai Humanoid Robot". IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, 2015.
  • R. Cisneros, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro. "Enabling a Teleoperated Humanoid Robot to Pass Through Debris-Filled Terrain using Manipulation". IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016.
  • R. Cisneros, R. Kikuuwe, S. Nakaoka, F. Kanehiro. "Stable Simulation of Flexible Cable-Like Objects by using Serial Kinematic Chains with High Number of Passive Degrees-of-Freedom". IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), San Francisco, U.S.A., 2016.
  • R. Cisneros, M. Benallegue, A. Benallegue, M. Morisawa, H. Audren, P. Gergondet, A. Escande, A. Kheddar, F. Kanehiro. "Robust Humanoid Control Using a QP Solver with Integral Gains". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
  • R. Cisneros, M. Benallegue, M. Morisawa, E. Yoshida, K. Yokoi, F. Kanehiro. "Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver". IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018. [PDF]
  • R. Cisneros, M. Benalleuge, M. Morisawa, F. Kanehiro. "QP-based task-space hybrid / parallel control for multi-contact motion in a torque-controlled humanoid robot". IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, 2019.
  • R. Cisneros, M. Benalleuge, R. Kikuuwe, M. Morisawa, F. Kanehiro. "Reliable chattering-free simulation of friction torque in joints presenting high stiction". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, U.S.A., 2020.
Coauthor
  • S. Nakaoka, M. Morisawa, R. Cisneros, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro. "Task Sequencer Integrated into a Teleoperation Interface for Biped Humanoid Robots". IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, 2015.
  • K. Kaneko, M. Morisawa, S. Kajita, S. Nakaoka, T. Sakaguchi, R. Cisneros, F. Kanehiro. "Humanoid Robot HRP-2Kai: Improvement of HRP-2 towards Disaster Response Tasks". IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, 2015.
  • S. Kajita, R. Cisneros, M. Benallegue, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro. "Impact Acceleration of Falling Humanoid Robot with an Airbag". IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016.
  • S. Nakaoka, R. Cisneros, M. Morisawa, T. Sakaguchi, K. Kaneko, S. Kajita, F. Kanehiro. "Developing Semi-Autonomous Humanoid Robots that Perform Various Composite Tasks via a Task Sequencer and Dynamics Simulator". IEEE Workshop on Advanced Robotics and its Social Impacts, Austin, U.S.A., 2017.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro. "Biped Walking Pattern Generation based on Spatially Quantized Dynamics". IEEE-RAS International Conference on Humanoid Robots, Birmingham, England, 2017.
  • M. Morisawa, R. Cisneros, M. Benallegue, I. Kumagai, A. Escande, F. Kanehiro. "Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact". IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, S. Nakaoka, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro. "Biped Gait Control Based on Spatially Quantized Dynamics". IEEE-RAS International Conference on Humanoid Robots, Beijing, China, 2018.
  • M. Morisawa, M. Benallegue, R. Cisneros, I. Kumagai, A. Escande, K. Kaneko, F. Kanehiro. "Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro. "Position-Based Lateral Balance Control for Knee-Stretched Biped Robot". IEEE-RAS International Conference on Humanoid Robots, Toronto, Canada, 2019.
  • M. Benallegue, R. Cisneros, A. Benallegue, A. Tanguy, A. Escande, M. Morisawa, F. Kanehiro "On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021.
  • Y. Chen, L. Sun, M. Benallegue, R. Cisneros, R.P. Singh, K. Kaneko, A. Tanguy, G. Caron, K. Suzuki, A. Kheddar, F. Kanehiro. "Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM". IEEE-RAS International Conference on Humanoid Robots, Okinawa, Japan, 2022.
  • R.P. Singh, M. Benallegue, M. Morisawa, R. Cisneros, F. Kanehiro. "Learning Bipedal Walking on Planned Footsteps for Humanoid Robots". IEEE-RAS International Conference on Humanoid Robots, Okinawa, Japan, 2022.
  • Y. Houhou, R.P. Singh, R. Cisneros. "Learning to Classify Surface Roughness Using Tactile Force Sensors". IEEE/SICE International Symposium on System Integration (SII), Ha Long, Vietnam, 2024.
  • T. Tako, R. Cisneros, H. Kaminaga, K. Kaneko, M. Murooka, I. Kumagai, H. Masuzawa, Y. Kakiuchi. "Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots". IEEE-RAS International Conference on Humanoid Robots, Nancy, France, 2024. Best Interactive Presentation Finalist.
International Workshop Contributions (peer-reviewed)
Main author
  • R. Cisneros, K. Yokoi, E. Yoshida. "A 3D Targeted Kicking Motion Generator". The 16th. Workshop on Humanoid Soccer Robots - IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico, 2016. [PDF]
  • R. Cisneros, M. Benallegue, K. Kaneko, H. Kaminaga, G. Caron, A. Tanguy, R.P. Singh, L. Sun, A. Dallard, C. Fournier, M. Tsuru, C. Yang, Y. Osawa, G. Lorthioir, F. Kanehiro, A. Kheddar. "Team JANUS Humanoid Avatar: A cybernetic avatar to embody human telepresence". Workshop on "Towards Robot Avatars: Perspectives on the ANA Avatar XPRIZE Competition" - Robotics: Science and Systems (RSS), New York City, U.S.A., 2022. [PDF]
  • R. Cisneros, A. Dallard, M. Benallegue, K. Kaneko, H. Kaminaga, P. Gergondet, A. Tanguy, C. Fournier, R.P. Singh, Y. Chen, S. Chefchaouni, G. Lorthioir, Y. Osawa, M. Tsuru, L. Sun, M. Morisawa, G. Caron, M. Ono, K. Shirasaka, S. Wada, H. Wada, F. Kanehiro, A. Kheddar. "Enhancement of Team JANUS’ cybernetic avatar system for exploration and skill transfer". 2nd. Workshop Toward Robot Avatars - IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023. [PDF]
Coauthor
  • S. Kajita, R. Cisneros, M. Benallegue, T. Sakaguchi, M. Morisawa, S. Nakaoka, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro. "Airbag System Developments for Humanoid Falling". Half-Day Workshop on Humanoid Robot Falling: Fall Detection, Damage Prevention and Recovery Actions - IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
  • G. Lorthioir, M. Benallegue, R. Cisneros, I. Ramirez-Alpizar. "Enhancing Teleoperation in Dynamic Environments: A Novel Shared Autonomy Framework Leveraging Multimodal Language Models". Towards Collaborative Partners: Design, Shared Control, and Robot Learning for Physical Human-Robot Interaction Workshop - IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024. [PDF]
Domestic Journals (peer-reviewed)
Main author
  • J.L. Vázquez, R. Cisneros, J.R. Mendoza, R. Alejos. "Análisis cinemático y simulación de un robot paralelo de estructura 6-RSS" ("Kinematic analysis and simulation of a 6-RSS parallel robot") [in spanish]. Cientifica: The Mexican Journal of Electromechanical Engineering, Vol. 11, No. 2, 2007. [PDF]
Coauthor
  • J.M. Ibarra, E. Hernández, J. Neira, R. Cisneros, J.E. Lavín. "Desarrollo de un sistema de SLAM visual FKE para el robot humanoide Robonova-I" ("Development of an EKF visual SLAM system for the Robonova-I humanoid robot") [in spanish]. The Anahuac Journal, Vol. 8, No. 2, 2008.
  • J. M. Ibarra, E. Hernández, R. Cisneros, J. E. Lavín, J. Neira. "Desarrollo de un sistema SLAM VISUAL con reconstrucción 3D monocular de marcas orientadas para un humanoide" ("Development of a VISUAL SLAM system with oriented landmarks based 3D monocular reconstruction for a humanoid robot") [in spanish]. Iberoamerican Journal of Systems, Cibernetics and Informatics, Vol. 6, No. 2, 2009.
Domestic Conference Proceedings (peer-reviewed)
Main author
  • J.R. Mendoza, R. Cisneros, J.L. Vázquez. "Modelo dinámico de un robot paralelo de 6 gdl tipo RSS" ("Dynamic model of a 6-RSS parallel robot") [in spanish]. International Congress of Electromechanical and Systems Engineering (CIIES), 2008.
  • J.M. Ibarra, R. Cisneros. "Modelado y simulación de un humanoide" ("Modeling and simulation of a humanoid robot") [in spanish]. Iberoamerican Conference on Systems, Cybernetics and Informatics (CISCI), Orlando, U.S.A., 2008.
  • J.M. Ibarra, R. Cisneros, L. García, J. E. Lavín, I. Yáñez. "Evasión de obstáculos basada en visión artificial y en sensores infrarrojos para un humanoide" ("Obstacle avoidance for a humanoid robot based on artificial vision and IR sensors") [in spanish]. International Congress of Innovation and Technological Development (CIINDET), Cuernavaca, Mexico, 2008. Best Paper in the Automatic Control Area.
  • J.M. Ibarra, R. Cisneros, E. Hernández, A.J. Malo. "Generación automática de mapas urbanos a partir de imágenes satelitales" ("Automatic urban map generation from satellite images") [in spanish]. International Congress of Innovation and Technological Development (CIINDET), Cuernavaca, Mexico, 2008.
  • J.M. Ibarra, R. Cisneros. "Forward and inverse kinematics for a small-sized humanoid robot". International Conference on Electronics, Communications and Computers (CONIELECOMP), Cholula, Mexico, 2009.
Coauthor
  • J.M. Ibarra, E. Hernández, J. Neira, R. Cisneros, J.E. Lavín. "SLAM visual tipo EKF aplicado a un robot humanoide" ("Visual EKF SLAM for a humanoid robot") [in spanish]. Mexican Congress on Robotics (CoMRob), Mexico City, 2008.
  • J.M. Ibarra, J.E. Lavín, R. Cisneros, E. Hernández. "Reconstrucción 3D monocular para el sistema de SLAM visual de un robot humanoide" ("3D monocular reconstruction to be used by the visual SLAM system installed on a humanoid robot") [in spanish]. Mexican Congress on Robotics (CoMRob), Mexico City, 2008.
  • J.M. Ibarra, R. Cisneros, J.E. Lavín, E. Hernández, M.A. Trujano. "Proposición de una técnica de análisis de imágenes para generar los vectores de medición clásicos usados en SLAM" ("Proposition of an image analysis technique for the generation of the traditional measurement vectors used in SLAM") [in spanish]. International Congress of Innovation and Technological Development (CIINDET), Cuernavaca, Mexico, 2008.
  • E. Hernández, J.M. Ibarra, J. Neira, R. Cisneros, J.E. Lavín. "Visual SLAM with oriented landmarks and partial odometry". International Conference on Electronics, Communications and Computers (CONIELECOMP), Cholula, Mexico, 2011.
  • J.M. Ibarra, R. Cisneros, A.D. Gómez, E. Hernández, L.E. Figueroa, F.J.K. Lara. "Monocular visual self-localization for humanoid soccer robots". International Conference on Electronics, Communications and Computers (CONIELECOMP), Cholula, Mexico, 2011.
  • J.M. Ibarra, L.E. Figueroa, R. Cisneros, P. Mejía. "Behavior Control for a Humanoid Soccer Player using Webots". International Conference on Electronics, Communications and Computers (CONIELECOMP), Cholula, Mexico, 2011.
  • M.E. Hunter, F.J.K. Lara, R. Cisneros, J.M. Ibarra. "Mechanical design and kinematic analysis of the AH1N1 humanoid robot". International Conference on Electronics, Communications and Computers (CONIELECOMP), Cholula, Mexico, 2011.
Domestic Conference Proceedings (non-peer-reviewed)
Main author
  • R. Cisneros, K. Yokoi, E. Yoshida. "Ball Dynamics Simulation on OpenHRP3". The 30th. Annual Conference of the Robotics Society of Japan, Sapporo, Japan, 2012.
  • R. Cisneros, K. Yokoi, E. Yoshida. "Impulsive Pedipulation of a Spherical Object for Reaching a 3D Goal Position". The 31th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2013.
  • R. Cisneros, K. Yokoi, E. Yoshida. "Partial Yaw Moment Compensation By Using Bounded Full Body Motion". The 32th. Annual Conference of the Robotics Society of Japan, Fukuoka, Japan, 2014.
  • R. Cisneros, M. Morisawa, S. Nakaoka, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro. "Plug Task performed by the HRP-2Kai Humanoid Robot at the DARPA Robotics Challenge". The 33th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2015.
  • R. Cisneros, M. Morisawa, S. Nakaoka, K. Kaneko, S. Kajita, T. Sakaguchi, F. Kanehiro. "Performing the Debris Task of the DRC Trials with the HRP-2Kai Humanoid Robot in Simulation". The 34th. Annual Conference of the Robotics Society of Japan, Yamagata, Japan, 2016.
Coauthor
  • K. Kaneko, M. Morisawa, S. Kajita, S. Nakaoka, T. Sakaguchi, R. Cisneros, F. Kanehiro. "ヒューマノイドロボット：HRP-2改" ("Humanoid Robot: HRP-2Kai") [in japanese]. The 33th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2015.
  • S. Nakaoka, M. Morisawa, R. Cisneros, T. Sakaguchi, S. Kajita, K. Kaneko, F. Kanehiro. "Choreonoidを用いたヒューマノイドロボット用遠隔操作インタフェースの開発とDARPA Robotics Challengeにおける検証" ("Development of a teleoperation interface　for a humanoid robot in Choreonoid and its verification at the DARPA Robotics Challenge") [in japanese]. The 33th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2015.
  • S. Kajita, T. Sakaguchi, M. Morisawa, S. Nakaoka, R. Cisneros, K. Kaneko, F. Kanehiro. "ヒューマノイドロボットHRP-2改によるドア通過" ("HRP-2Kai humanoid robot passing through a door") [in japanese]. The 33th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2015.
  • T. Sakaguchi, M. Morisawa, S. Nakaoka, R. Cisneros, S. Kajita, K. Kaneko, F. Kanehiro. "HRP-2改におけるDARPA Robotics Challengeのサプライズタスク（ボタン）に対する戦略" ("Strategy used by the HRP-2Kai humanoid robot for performing the surprise task (button) at the DARPA Robotics Challenge") [in japanese]. The 33th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2015.
  • S. Kajita, R. Cisneros, M. Benallegue, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro. "等身大ヒューマノイドロボットの転倒時衝撃に関する実験的検討" (Experimental study on the falling impact of a life-sized humanoid robot) [in japanese]. The 34th. Annual Conference of the Robotics Society of Japan, Yamagata, Japan, 2016.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, S. Nakaoka, M. Morisawa, K. Kaneko, F. Kanehiro. "空間量子化ダイナミクスによる２足歩行軌道生成" (Biped walking trajectory generation using Spatial Quantized Dynamics) [in japanese]. The 35th.　Annual Conference of the Robotics Society of Japan, Kawagoe, Japan, 2017.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, S. Nakaoka, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro. "空間量子化ダイナミクスによる膝伸展２足歩行の実現" (Realization of knee-extended biped walking using Spatially Quantized Dynamics) [in japanese]. The 36th. Annual Conference of the Robotics Society of Japan, Kasugai, Japan, 2018.
  • S. Kajita, M. Benallegue, R. Cisneros, T. Sakaguchi, M. Morisawa, H. Kaminaga, I. Kumagai, K. Kaneko, F. Kanehiro. "膝伸展２足歩行のためのLateral安定化制御" (Lateral stabilization control for knee-extended bipedal walking) [in japanese]. The 37th. Annual Conference of the Robotics Society of Japan, Tokyo, Japan, 2019.
Domestic Workshop Contributions (non-peer-reviewed)
Coauthor
Patents
Coinventor
  • M. Benallegue, R. Cisneros. Control method and control device. JP2022185879A, Japan, 2022. [Website]