Quadruped Robot Running With a Bounding Gait. - S. Talebi; Ioannis Poulakakis; Evangelos Papadopoulos; Martin Buehler (ISER, 2000)

Planning and Obstacle Avoidance for Mobile Robots. - Evangelos Papadopoulos; Ioannis Poulakakis (ICRA, 2001)

On Path Planning and Obstacle Avoidance for Nonholonomic Platforms with Manipulators. - Evangelos Papadopoulos; Ioannis Poulakakis; Iakovos Papadimitriou (Int. J. Robotics Res., 2002)

On the stable passive dynamics of quadrupedal running. - Ioannis Poulakakis; Evangelos Papadopoulos; Martin Buehler (ICRA, 2003)

Experimentally Validated bounding Models for the Scout II Quadrupedal Robot. - Ioannis Poulakakis; James Andrew Smith; Martin Buehler (ICRA, 2004)

Rotary gallop in the untethered quadrupedal robot scout II. - James Andrew Smith; Ioannis Poulakakis (IROS, 2004)

Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot. - Ioannis Poulakakis; James Andrew Smith; Martin Buehler (Int. J. Robotics Res., 2005)

Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems. - Evangelos Papadopoulos; Iakovos Papadimitriou; Ioannis Poulakakis (Robotics Auton. Syst., 2005)

On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait. - Ioannis Poulakakis; Evangelos Papadopoulos; Martin Buehler (Int. J. Robotics Res., 2006)

Monopedal running control: SLIP embedding and virtual constraint controllers. - Ioannis Poulakakis; J. W. Grizzle (IROS, 2007)

Modeling and control of the monopedal robot Thumper. - Ioannis Poulakakis; Jessy W. Grizzle (ICRA, 2009)

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. - Ioannis Poulakakis; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2009)

Coupled stochastic differential equations and collective decision making in the Two-Alternative Forced-Choice task. - Ioannis Poulakakis; Luca Scardovi; Naomi Ehrich Leonard (ACC, 2010)

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; Jessy W. Grizzle (CDC, 2010)

Spring Loaded Inverted Pendulum embedding: Extensions toward the control of compliant running robots. - Ioannis Poulakakis (ICRA, 2010)

Bounding with Active Wheels and Liftoff Angle Velocity Adjustment. - James Andrew Smith; Ioannis Poulakakis; Michael Trentini; Inna Sharf (Int. J. Robotics Res., 2010)

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2011)

Node certainty in collective decision making. - Ioannis Poulakakis; Luca Scardovi; Naomi Ehrich Leonard (CDC, 2012)

Passive quadrupedal bounding with a segmented flexible torso. - Qu Cao; Ioannis Poulakakis (IROS, 2012)

A switching kinematic model for an octapedal robot. - Konstantinos Karydis; Ioannis Poulakakis; Herbert G. Tanner (IROS, 2012)

Networked Decision Making for Poisson Processes: Application to nuclear detection - Chetan D. Pahlajani; Ioannis Poulakakis; Herbert G. Tanner (CoRR, 2012)

Node Classification in Networks of Stochastic Evidence Accumulators - Ioannis Poulakakis; Luca Scardovi; Naomi Ehrich Leonard (CoRR, 2012)

Error probabilities and threshold selection in networked nuclear detection. - Chetan D. Pahlajani; Jianxin Sun 002; Ioannis Poulakakis; Herbert G. Tanner (CDC, 2013)

Probabilistic validation of a stochastic kinematic model for an eight-legged robot. - Konstantinos Karydis; Ioannis Poulakakis; Herbert G. Tanner (ICRA, 2013)

Passive stability and control of quadrupedal bounding with a flexible torso. - Qu Cao; Ioannis Poulakakis (IROS, 2013)

Decision making in sensor networks observing poisson processes. - Chetan D. Pahlajani; Ioannis Poulakakis; Herbert G. Tanner (MED, 2013)

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2013)

On the energetics of quadrupedal bounding with and without torso compliance. - Qu Cao; Ioannis Poulakakis (IROS, 2014)

Planning with the STAR(s). - Konstantinos Karydis; David Zarrouk; Ioannis Poulakakis; Ronald S. Fearing; Herbert G. Tanner (IROS, 2014)

Error probability bounds for nuclear detection: Improving accuracy through controlled mobility. - Chetan D. Pahlajani; Jianxin Sun 002; Ioannis Poulakakis; Herbert G. Tanner (Autom., 2014)

Networked Decision Making for Poisson Processes With Applications to Nuclear Detection. - Chetan D. Pahlajani; Ioannis Poulakakis; Herbert G. Tanner (IEEE Trans. Autom. Control., 2014)

Active sensor networks for nuclear detection. - Jianxin Sun 002; Herbert G. Tanner; Ioannis Poulakakis (ICRA, 2015)

On the control of gait transitions in quadrupedal running. - Qu Cao; Anthom T. van Rijn; Ioannis Poulakakis (IROS, 2015)

SPEAR: A monopedal robot with Switchable Parallel Elastic actuation. - Xin Liu; Anthony Rossi; Ioannis Poulakakis (IROS, 2015)

Integrating dynamic walking and arm impedance control for cooperative transportation. - Mohamad Shafiee Motahar; Sushant Veer; Jian Huang; Ioannis Poulakakis (IROS, 2015)

On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2015)

Navigation of miniature legged robots using a new template. - Konstantinos Karydis; Yan Liu; Ioannis Poulakakis; Herbert G. Tanner (MED, 2015)

On the energetics of a switchable parallel elastic actuator design for monopedal running. - Xin Liu; Ioannis Poulakakis (ROBIO, 2015)

Active compliance hybrid zero dynamics control of bounding on HyQ. - Xin Liu; Claudio Semini; Ioannis Poulakakis (ROBIO, 2015)

On the effects of design parameters on quadruped robot gaits. - Dimitrios Myrisiotis; Ioannis Poulakakis; Evangelos Papadopoulos (ROBIO, 2015)

A template candidate for miniature legged robots in quasi-static motion. - Konstantinos Karydis; Yan Liu; Ioannis Poulakakis; Herbert G. Tanner (Auton. Robots, 2015)

Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty. - Konstantinos Karydis; Ioannis Poulakakis; Jianxin Sun 002; Herbert G. Tanner (Int. J. Robotics Res., 2015)

Performance bounds for mismatched decision schemes with Poisson process observations. - Chetan D. Pahlajani; Jianxin Sun 002; Ioannis Poulakakis; Herbert G. Tanner (Syst. Control. Lett., 2015)

On the stability of symmetric quadrupedal bounding gaits via factored Poincaré maps. - Xin Liu; Ioannis Poulakakis (ACC, 2016)

Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (ACC, 2016)

Composing limit cycles for motion planning of 3D bipedal walkers. - Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (CDC, 2016)

Decision-Making Accuracy for Sensor Networks with Inhomogeneous Poisson Observations. - Chetan D. Pahlajani; Indrajeet Yadav; Herbert G. Tanner; Ioannis Poulakakis (DARS, 2016)

Experimental Validation of a Template for Navigation of Miniature Legged Robots. - Konstantinos Karydis; Adam Stager; Herbert G. Tanner; Ioannis Poulakakis (ISER, 2016)

Quadrupedal running with a flexible torso: control and speed transitions with sums-of-squares verification. - Qu Cao; Ioannis Poulakakis (Artif. Life Robotics, 2016)

Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks. - Ioannis Poulakakis; George Forrest Young; Luca Scardovi; Naomi Ehrich Leonard (IEEE Trans. Autom. Control., 2016)

Generation of and switching among limit-cycle bipedal walking gaits. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (CDC, 2017)

Steering a 3D limit-cycle walker for collaboration with a leader. - Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (IROS, 2017)

Almost driftless navigation of 3D limit-cycle walking bipeds. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2017)

Adaptation of limit-cycle walkers for collaborative tasks: A supervisory switching control approach. - Sushant Veer; Mohamad Shafiee Motahar; Ioannis Poulakakis (IROS, 2017)

Poincaré Analysis for Hybrid Periodic Orbits of Systems with Impulse Effects under External Inputs. - Sushant Veer; Rakesh; Ioannis Poulakakis (CoRR, 2017)

A Navigation and Control Strategy for Miniature Legged Robots. - Konstantinos Karydis; Ioannis Poulakakis; Herbert G. Tanner (IEEE Trans. Robotics, 2017)

Information-sharing and decision-making in networks of radiation detectors. - Indrajeet Yadav; Chetan D. Pahlajani; Herbert G. Tanner; Ioannis Poulakakis (Auton. Robots, 2018)

Ultimate Boundedness for Switched Systems with Multiple Equilibria Under Disturbances. - Sushant Veer; Ioannis Poulakakis (CoRR, 2018)

Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances. - Sushant Veer; Ioannis Poulakakis (ACC, 2019)

Robustness of Periodic Orbits of Impulsive Systems à la Poincaré. - Sushant Veer; Ioannis Poulakakis (CDC, 2019)

Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. - Sushant Veer; Ioannis Poulakakis (ICRA, 2019)

Input-to-State Stability of Periodic Orbits of Systems With Impulse Effects via Poincaré Analysis. - Sushant Veer; Ioannis Poulakakis (IEEE Trans. Autom. Control., 2019)

An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty. - Prem Chand; Sushant Veer; Ioannis Poulakakis (ICRA, 2020)

Switched Systems With Multiple Equilibria Under Disturbances: Boundedness and Practical Stability. - Sushant Veer; Ioannis Poulakakis (IEEE Trans. Autom. Control., 2020)

Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain. - Chrysostomos Karakasis; Ioannis Poulakakis; Panagiotis K. Artemiadis (MED, 2022)

A Sequential MPC Approach to Reactive Planning for Bipedal Robots. - Kunal Sanjay Narkhede; Abhijeet Mangesh Kulkarni; Dhruv Ashwinkumar Thanki; Ioannis Poulakakis (CoRR, 2022)

Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees. - Prem Chand; Sushant Veer; Ioannis Poulakakis (IEEE Robotics Autom. Lett., 2022)

A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments. - Kunal Sanjay Narkhede; Abhijeet Mangesh Kulkarni; Dhruv Ashwinkumar Thanki; Ioannis Poulakakis (IEEE Robotics Autom. Lett., 2022)

Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control. - Kunal Sanjay Narkhede; Dhruv Ashwinkumar Thanki; Abhijeet Mangesh Kulkarni; Ioannis Poulakakis (IROS, 2023)

Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles. - Kunal Sanjay Narkhede; Mohamad Shafiee Motahar; Sushant Veer; Ioannis Poulakakis (CoRR, 2023)

Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped. - Michail Papadakis; Jørgen Anker Olsen; Ioannis Poulakakis; Kostas Alexis (CoRR, 2024)