Luis Sentis

CoRR, 2023

Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries.

[BibT_eX]

[DOI]

Jee-eun Lee

Tirthankar Bandyopadhyay

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Deep Imitation Learning for Humanoid Loco-manipulation Through Human Teleoperation.

[BibT_eX]

[DOI]

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance.

[BibT_eX]

[DOI]

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Learning Adaptive Horizon Maps Based on Error Forecast for Model Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022

Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environments.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2022

Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2022

Adaptive robot climbing with magnetic feet in unknown slippery structure.

[BibT_eX]

[DOI]

Jee-eun Lee

Tirthankar Bandyopadhyay

Frontiers Robotics AI, 2022

Hierarchical Task-Space Optimal Covariance Control With Chance Constraints.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2022

Control and Evaluation of a Humanoid Robot with Rolling Contact Knees.

[BibT_eX]

[DOI]

CoRR, 2022

KC-TSS: An Algorithm for Heterogeneous Robot Teams Performing Resilient Target Search.

[BibT_eX]

[DOI]

Ryan Gupta

CoRR, 2022

Data-Driven Safety Verification for Legged Robots.

[BibT_eX]

[DOI]

CoRR, 2022

Active object tracking using context estimation: handling occlusions and detecting missing targets.

[BibT_eX]

[DOI]

Appl. Intell., 2022

Mixtures of Controlled Gaussian Processes for Dynamical Modeling of Deformable Objects.

[BibT_eX]

[DOI]

Proceedings of the Learning for Dynamics and Control Conference, 2022

Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Longitudinal Social Impacts of HRI over Long-Term Deployments.

[BibT_eX]

[DOI]

Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2022

2021

Task-Adaptive Robot Learning From Demonstration With Gaussian Process Models Under Replication.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Robust and adaptive door operation with a mobile robot.

[BibT_eX]

[DOI]

Carme Torras

Intell. Serv. Robotics, 2021

The Robot Economy: Here It Comes.

[BibT_eX]

[DOI]

Int. J. Soc. Robotics, 2021

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2021

Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2021

Editorial: Towards Real-World Deployment of Legged Robots.

[BibT_eX]

[DOI]

Navinda Kottege

Dimitrios Kanoulas

Frontiers Robotics AI, 2021

Versatile Locomotion Planning and Control for Humanoid Robots.

[BibT_eX]

[DOI]

SeungHyeon Bang

Frontiers Robotics AI, 2021

Biologically-Inspired Impedance Control With Hysteretic Damping.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

Information-Theoretic Based Target Search with Multiple Agents.

[BibT_eX]

[DOI]

Ryan Gupta

CoRR, 2021

An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces.

[BibT_eX]

[DOI]

Auton. Robots, 2021

Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System.

[BibT_eX]

[DOI]

Proceedings of the 3rd Annual Conference on Learning for Dynamics and Control, 2021

A Barrier Pair Method for Safe Human-Robot Shared Autonomy.

[BibT_eX]

[DOI]

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

2020

Robust Bipedal Locomotion Based on a Hierarchical Control Structure - CORRIGENDUM.

[BibT_eX]

[DOI]

Robotica, 2020

Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2020

Task-Adaptive Robot Learning from Demonstration under Replication with Gaussian Process Models.

[BibT_eX]

[DOI]

CoRR, 2020

A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control.

[BibT_eX]

[DOI]

CoRR, 2020

Gaussian-Process-based Robot Learning from Demonstration.

[BibT_eX]

[DOI]

CoRR, 2020

Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks.

[BibT_eX]

[DOI]

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning.

[BibT_eX]

[DOI]

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Reachability-based Trajectory Optimization for Robotic Systems Given Sequences of Rigid Contacts.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

Adaptive Compliance Shaping with Human Impedance Estimation.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

Robust Estimator-Based Safety Verification: A Vector Norm Approach.

[BibT_eX]

[DOI]

Binghan He

Proceedings of the 2020 American Control Conference, 2020

2019

Tradeoffs in Neuroevolutionary Learning-Based Real-Time Robotic Task Design in the Imprecise Computation Framework.

[BibT_eX]

[DOI]

ACM Trans. Cyber Phys. Syst., 2019

Quadric Inclusion Programs: An LMI Approach to ℋ<sub>∞</sub>-Model Identification.

[BibT_eX]

[DOI]

Gray Cortright Thomas

IEEE Trans. Autom. Control., 2019

Robust Bipedal Locomotion Based on a Hierarchical Control Structure.

[BibT_eX]

[DOI]

Robotica, 2019

Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2019

Thermal Recovery of Multi-Limbed Robots With Electric Actuators.

[BibT_eX]

[DOI]

Gilberto Briscoe-Martinez

IEEE Robotics Autom. Lett., 2019

Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report.

[BibT_eX]

[DOI]

Rishi Shah

Yuqian Jiang

Haresh Karnan

CoRR, 2019

Data Efficient and Safe Learning for Locomotion via Simplified Model.

[BibT_eX]

[DOI]

CoRR, 2019

Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces.

[BibT_eX]

[DOI]

CoRR, 2019

A Versatile Framework for Robust and Adaptive Door Operation with a Mobile Manipulator Robot.

[BibT_eX]

[DOI]

Carme Torras

CoRR, 2019

Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Trajectory Generation for Robotic Systems with Contact Force Constraints.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation.

[BibT_eX]

[DOI]

Proceedings of the 2019 American Control Conference, 2019

Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs.

[BibT_eX]

[DOI]

Gray Cortright Thomas

Jeremiah M. Coholich

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2019

2018

Impedance Control and Performance Measure of Series Elastic Actuators.

[BibT_eX]

[DOI]

Nicholas Paine

IEEE Trans. Ind. Electron., 2018

Robot Economy: Ready or Not, Here It Comes.

[BibT_eX]

[DOI]

CoRR, 2018

Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation.

[BibT_eX]

[DOI]

CoRR, 2018

LAAIR: A Layered Architecture for Autonomous Interactive Robots.

[BibT_eX]

[DOI]

CoRR, 2018

An Architecture for Person-Following using Active Target Search.

[BibT_eX]

[DOI]

CoRR, 2018

Social Navigation Planning Based on People's Awareness of Robots.

[BibT_eX]

[DOI]

CoRR, 2018

Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach.

[BibT_eX]

[DOI]

CoRR, 2018

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints.

[BibT_eX]

[DOI]

CoRR, 2018

Decentralized Control Systems Laboratory Using Human-Centered Robotic Actuators.

[BibT_eX]

[DOI]

CoRR, 2018

On Blocking Collisions between People, Objects and other Robots.

[BibT_eX]

[DOI]

CoRR, 2018

Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming.

[BibT_eX]

[DOI]

Rachel Schlossman

CoRR, 2018

Identifying H[infinity]-Models: An LMI Approach.

[BibT_eX]

[DOI]

CoRR, 2018

Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2018

Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids.

[BibT_eX]

[DOI]

Hochul Hwang

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Safety Control Synthesis with Input Limits: a Hybrid Approach.

[BibT_eX]

[DOI]

Binghan He

Proceedings of the 2018 Annual American Control Conference, 2018

2017

Whole-Body Control [TC Spotlight].

[BibT_eX]

[DOI]

Federico L. Moro

Christopher G. Atkeson

IEEE Robotics Autom. Mag., 2017

Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2017

Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators.

[BibT_eX]

[DOI]

CoRR, 2017

Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller.

[BibT_eX]

[DOI]

CoRR, 2017

Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems.

[BibT_eX]

[DOI]

CoRR, 2017

Locomotion control of three dimensional passive-foot biped robot based on whole body operational space framework.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 2017

Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Human body part multicontact recognition and detection methodology.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Towards understanding visually guided locomotion over complex and rough terrain: A phase-space planning method.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE Workshop on Advanced Robotics and its Social Impacts, 2017

MIMO identification of frequency-domain unreliability in SEAs.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

ControlIt! - A Software Framework for Whole-Body Operational Space Control.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2016

Web Based Teleoperation of a Humanoid Robot.

[BibT_eX]

[DOI]

CoRR, 2016

Full-body collision detection and reaction with omnidirectional mobile platforms: a step towards safe human-robot interaction.

[BibT_eX]

[DOI]

Travis Llado

Auton. Robots, 2016

Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Towards computationally efficient planning of dynamic multi-contact locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Passivity of time-delayed whole-body operational space control with series elastic actuation.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Dynamic behaviors on the NAO robot with closed-loop whole body operational space control.

[BibT_eX]

[DOI]

Peter Stone

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

High-level planner synthesis for whole-body locomotion in unstructured environments.

[BibT_eX]

[DOI]

Ufuk Topcu

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015

Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers.

[BibT_eX]

[DOI]

IEEE Trans. Ind. Electron., 2015

Valkyrie: NASA's First Bipedal Humanoid Robot.

[BibT_eX]

[DOI]

J. Field Robotics, 2015

Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots.

[BibT_eX]

[DOI]

J. Field Robotics, 2015

A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion.

[BibT_eX]

[DOI]

CoRR, 2015

Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking.

[BibT_eX]

[DOI]

CoRR, 2015

Tradeoffs in Real-Time Robotic Task Design with Neuroevolution Learning for Imprecise Computation.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE Real-Time Systems Symposium, 2015

Hybrid multi-contact dynamics for wedge jumping locomotion behaviors.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, 2015

A method for dynamically balancing a point foot robot.

[BibT_eX]

[DOI]

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal.

[BibT_eX]

[DOI]

Proceedings of the 13th International Conference on Control Automation Robotics & Vision, 2014

Feedback parameter selection for impedance control of series elastic actuators.

[BibT_eX]

[DOI]

Nicholas Paine

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Grasping novel objects with a dexterous robotic hand through neuroevolution.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE Symposium on Computational Intelligence in Control and Automation, 2014

2013

Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains.

[BibT_eX]

[DOI]

Josh Petersen

Roland Philippsen

Auton. Robots, 2013

Architecture of a cyberphysical avatar.

[BibT_eX]

[DOI]

Proceedings of the ACM/IEEE 4th International Conference on Cyber-Physical Systems (with CPS Week 2013), 2013

Phase space planning and robust control for data-driven locomotion behaviors.

[BibT_eX]

[DOI]

Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots, 2013

Contact sensing and mobility in rough and cluttered environments.

[BibT_eX]

[DOI]

Alan S. Kwok

Proceedings of the 2013 European Conference on Mobile Robots, 2013

2012

Architecture of a cyberphysical avatar.

[BibT_eX]

[DOI]

Proceedings of the REACTION 2012, 2012

Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot.

[BibT_eX]

[DOI]

Josh Petersen

Roland Philippsen

Proceedings of the Robotics: Science and Systems VIII, 2012

A new prismatic series elastic actuator with compact size and high performance.

[BibT_eX]

[DOI]

Nicholas Paine

Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, 2012

Sparse online low-rank projection and outlier rejection (SOLO) for 3-D rigid-body motion registration.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A three dimensional foot placement planner for locomotion in very rough terrains.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

2011

Prediction and Planning Methods of Bipedal Dynamic Locomotion Over Very Rough Terrains.

[BibT_eX]

[DOI]

Michael Slovich

Proceedings of the Robotics Research, 2011

Perturbation theory to plan dynamic locomotion in very rough terrains.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

An open source extensible software package to create whole-body compliant skills in personal mobile manipulators.

[BibT_eX]

[DOI]

Roland Philippsen

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Motion planning of extreme locomotion maneuvers using multi-contact dynamics and numerical integration.

[BibT_eX]

[DOI]

Mike Slovich

Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011

2010

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2010

2009

Modeling and control of multi-contact centers of pressure and internal forces in humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008

A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts.

[BibT_eX]

[DOI]

Proceedings of the Second European Robotics Symposium 2008, 2008

2006

A Whole-body Control Framework for Humanoids Operating in Human Environments.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005

Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2005

Control of Free-Floating Humanoid Robots Through Task Prioritization.

[BibT_eX]

[DOI]

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004

Human-Centered Robotics and Interactive Haptic Simulation.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2004

Whole-Body Dynamic Behavior and Control of Human-like Robots.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2004

Human-like motion from physiologically-based potential field.

[BibT_eX]

[DOI]

Proceedings of the Building the Information Society, 2004

Prioritized multi-objective dynamics and control of robots in human environments.

[BibT_eX]

[DOI]

Proceedings of the 4th IEEE/RAS International Conference on Humanoid Robots, 2004

2002

Robotics and interactive simulation.

[BibT_eX]

[DOI]

Commun. ACM, 2002

1999

A fast low-cost solar cell spectral response measurement system with accuracy indicator.

[BibT_eX]

[DOI]

Santiago Silvestre