Yacine Chitour

About

Yacine Chitour is a leading researcher in robotics, with key contributions spanning robot dynamics identification, human-robot interaction, and nonholonomic motion planning. His most cited work (32 citations) presents a comprehensive dynamic parameters identification of a 6-DOF industrial robot, both with and without payload—a foundational contribution for physical human-robot interaction (pHRI) experiments. He has also advanced the understanding of the rolling-body problem, providing historical and modern perspectives on nonholonomic systems that enable dexterous manipulation with simplified hardware. In human-robot co-manipulation, Chitour developed an event-controlled online trajectory generator based on interaction force processing, and proposed modeling and control strategies for handling tasks. His tilt estimator for 3D non-rigid pendulums, using tri-axial accelerometers and gyrometers, supports balance control in humanoid robotics. Additionally, he co-authored a review of electronics, control architecture, and human interfaces for lower limb medical exoskeletons. With over 100 total citations across these works, Chitour’s research bridges theoretical nonholonomic mechanics and practical robotic systems, impacting industrial automation, rehabilitation, and collaborative robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Dynamic Parameters Identification of an Industrial Robot With and Without Payload

   32 citations · 2018
2. 2
   The rolling problem: overview and challenges

   18 citations · 2014
3. 3
   An event-controlled online trajectory generator based on the human-robot interaction force processing

   14 citations · 2014
4. 4
   Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer

   12 citations · 2017
5. 5
   On Human-Robot Co-manipulation for Handling Tasks: Modeling and Control Strategy

   8 citations · 2012
6. 6
   A Brief Review of the Electronics, Control System Architecture, and Human Interface for Commercial Lower Limb Medical Exoskeletons Stabilized by Aid of Crutches

   6 citations · 2019
7. 7
   Quantization of the rolling-body problem with applications to motion planning

   5 citations · 2004
8. 8
   The rolling problem: overview and challenges

   4 citations · 2013
9. 9
   Dexterity through Rolling: Towards Manipulation of Unknown Objects

   3 citations · 1996
10. 10
    Dynamic Parameters Identification of an Industrial Robot: A Constrained Nonlinear WLS Approach

    2 citations · 2018

Key Collaborators

Contact & Links