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Brahim Tamadazte

21 accepted papers

2026

GIFT: Geometry-Induced Functional Transfer for Category-Level Object Manipulation

Cristiana de Farias, Luis Figueredo, Riddhiman Laha, Komlan Jean Maxime Adjigble, Brahim Tamadazte, Rustam Stolkin +2
ICRA 2026poster

Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-Induced Functional Transfer), which enables a robot to transfer complex object manipulation skills and constraints from …

Cited by 0Source ↗PDF ↗Scholar ↗
2024

Automatic Spinal Canal Breach Detection During Pedicle Screw Placement

Lilyan Leblanc, Elie Saghbini, Jimmy Da Silva, Antoine Harlé, Saman Vafadar, Thibault Chandanson +3
RA-L 2024

Precise pedicle screw placement is imperative for a range of spinal procedures demanding exact geometric alignment while also carrying inherent risks. The literature reports a complication rate in the case of screw mispositioning of up to 18%. To increase the accuracy of pedicle screw placement, we

Cited by 3Source ↗Scholar ↗
2024

Task-Informed Grasping of Partially Observed Objects

Cristiana de Farias, Brahim Tamadazte, Maxime Adjigble, Rustam Stolkin, Naresh Marturi
RA-L 2024

In this letter, we address the problem of task-informed grasping in scenarios where only incomplete or partial object information is available. Existing methods, which either focus on task-aware grasping or grasping under partiality, typically require extensive data and long training durations. In c

Cited by 2Source ↗Scholar ↗
2023

3D Spectral Domain Registration-Based Visual Servoing

Maxime Adjigble, Brahim Tamadazte, Cristiana de Farias, Rustam Stolkin, Naresh Marturi
ICRA 2023poster

This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between reference and target point clouds using spectral analysis. A 3D Fast…

Cited by 4Source ↗Scholar ↗
2023

TriRod: A 3-RF Continuum Parallel Robot for Shape-Based Load Estimation

Matyas A. Diezinger, Brahim Tamadazte, Guillaume J. Laurent
RA-L 2023

In this letter, we will discuss the design, modelling, and estimation of load based on the shape of a newly developed parallel continuum robot called TriRod. The proposed kinematic architecture consists of three flexible rods attached at their lower extremity to three rotating actuators. The robot i

Cited by 4Source ↗Scholar ↗
2022

Grasp Transfer for Deformable Objects by Functional Map Correspondence

Cristiana De Farias, Brahim Tamadazte, Rustam Stolkin, Naresh Marturi
ICRA 2022poster

Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to its deformed configurations. To this end, we investigate the ap…

Cited by 7Source ↗Scholar ↗
2020

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Cedric Girerd, Andrey V. Kudryavtsev, Patrick Rougeot, Pierre Renaud, Kanty Rabenorosoa, Brahim Tamadazte
RA-L 2020

This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric tube robots (CTRs). The objective is to make possible the automatic navigation of such continuum robots within an anatomica

Cited by 20Source ↗Scholar ↗
2018

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Andrey V. Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa +3
RA-L 2018

This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This app

Cited by 46Source ↗Scholar ↗
2018

Online Robust Endomicroscopy Video Mosaicking Using Robot Prior

Benoit Rosa, Bassem Dahroug, Brahim Tamadazte, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff +1
RA-L 2018

This letter discusses the development of a mosaicking algorithm for building large- and high-resolution confocal images. Due to the nature of optics and vision systems in general, there is still a dilemma between choosing a wide field-of-view and high resolution. The most accepted solution is to opt

Cited by 9Source ↗Scholar ↗
2017

Visual servoing controller for time-invariant 3D path following with remote centre of motion constraint

Bassem Dahroug, Brahim Tamadazte, Nicolas Andreff
ICRA 2017poster

The Remote Centre of Motion (RCM) is an essential movement for most of the medical robotic systems during the minimal invasive surgeries. In literature, there are many references which had analysed the techniques for modelling the problem of RCM constraint. However, only very few have discussed the…

Cited by 21Source ↗Scholar ↗
2016

Automated in-plane OCT-probe positioning towards repetitive optical biopsies

Mouloud Ourak, Alessandra De Simone, Brahim Tamadazte, Guillaume J. Laurent, Arianna Menciassi, Nicolas Andreff
ICRA 2016

This paper proposes the design of a vision-guided control law for microrobotic-assisted biomedical applications. More precisely, the developed control law is to servo an optical coherence tomography (OCT) system in real-time to carry out repetitive optical biopsy tasks. The OCT images are simultaneo

Cited by 6Source ↗Scholar ↗
2016

Partitioned camera-OCT based 6 DOF visual servoing for automatic repetitive optical biopsies

Mouloud Ourak, Brahim Tamadazte, Nicolas Andreff
IROS 2016poster

This paper addresses the design of a partitioned vision-guided scheme for repetitive optical biopsies. More precisely, our approach uses two image modalities to perform 6 degrees of freedom (DOF) positioning task. The development aims to partition the control into 3 DOF controlled by the B-scan imag…

Cited by 13Source ↗Scholar ↗
2016

Shearlet-based vs. photometric-based visual servoing for robot-assisted medical applications

Lesley-Ann Duflot, Alexandre Krupa, Brahim Tamadazte, Nicolas Andreff
IROS 2016poster

This paper deals with the development of a vision-based controller for robot-assisted medical applications. It concerns the use of shearlet coefficients in case of ultrasounds (US) images as visual signal inputs and the design of the associated interaction matrix. The proposed controller was validat…

Cited by 11Source ↗Scholar ↗
2016

Single frequency-based visual servoing for microrobotics applications

Valérian Guelpa, Guillaume J. Laurent, Brahim Tamadazte, Patrick Sandoz, Nadine Le Fort-Piat, Cédric Clévy
IROS 2016poster

Recently, high resolution visual methods based on direct-phase measurement of periodic patterns has been proposed with successful applications to microrobotics. This paper proposes a new implementation of direct-phase measurement methods to achieve 3-DoF (degrees of freedom) visual servoing. The pro…

Cited by 6Source ↗Scholar ↗
2016

Towards Ultrasound-based visual servoing using shearlet coefficients

Lesley-Ann Duflot, Alexandre Krupa, Brahim Tamadazte, Nicolas Andreff
ICRA 2016

This paper deals with the development of a new 6 degrees-of-freedom (DOF) vision-based controller for robot-assisted medical applications. The main objective is to use visual information extracted from Ultrasounds (US) images to control an US probe held by a robot. Instead of the conventional use of

Cited by 14Source ↗Scholar ↗
2015

Stereovision-based control for automated MOEMS assembly

Andrey V. Kudryavtsev, Guillaume J. Laurent, Cédric Clévy, Brahim Tamadazte, Philippe Lutz
IROS 2015poster

Microassembly represents a very promising solution to microproducts and complex Micro-Electro-Mechanical Systems (MEMS) fabrication. Since, in the case of teleoperated assembly, an operator is the main source of errors, there is a great interest in microassembly automation. Its main issue consists i…

Cited by 6Source ↗Scholar ↗