Mechano thermo and proprioceptor feedback for integrated haptic feedback. - Darwin G. Caldwell; Nikos G. Tsagarakis; Andrew Wardle (ICRA, 1997)

Dextrous Exploration of a Virtual World for Improved Prototyping. - Darwin G. Caldwell; C. Favede; Nikolaos G. Tsagarakis (ICRA, 1998)

Pneumatic Muscle Actuator Technology a Light Weight Power System for a Humanoid Robot. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; D. Badihi; Gustavo A. Medrano-Cerda (ICRA, 1998)

An Integrated Tactile/Shear Feedback Array for Stimulation of Finger Mechanoreceptor. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; C. Giesler (ICRA, 1999)

Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; Gustavo A. Medrano-Cerda; J. Schofield; S. Brown (ICRA, 1999)

Improved Modelling and Assessment of Pneumatic Muscle Actuators. - Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2000)

Enhanced Dynamic Performance in Pneumatic Muscle Actuators. - Steve Davis 001; J. Canderle; P. Artrit; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2002)

Development and Control of a 'Soft-Actuated' Exoskeleton for Use in Physiotherapy and Training. - Nikolaos G. Tsagarakis; Darwin G. Caldwell (Auton. Robots, 2003)

Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators. - Steve Davis 001; Nikolaos G. Tsagarakis; J. Canderle; Darwin G. Caldwell (Int. J. Robotics Res., 2003)

Exoskeletons for human force augmentation. - M. Brown; Nikos G. Tsagarakis; Darwin G. Caldwell (Ind. Robot, 2003)

Occupational and physical therapy using a hand exoskeleton based exerciser. - Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2004)

A Haptic Enabled Multimodal Pre-operative Planner for Hip Arthroplasty. - Silvano Imboden; Marco Petrone; Paolo Quadrani; Cinzia Zannoni; R. Mayoral; Gordon Clapworthy; Debora Testi; Marco Viceconti; D. Neiberg; Nikolaos G. Tsagarakis; Darwin G. Caldwell (WHC, 2005)

A Portable Fingertip Tactile Feedback Array – Transmission System Reliability and Modelling. - Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (WHC, 2005)

A 5 dof Haptic Interface for Pre-operative Planning of Surgical Access in Hip Arthroplasty. - Nikolaos G. Tsagarakis; Darwin G. Caldwell (WHC, 2005)

SLIP AESTHEASIS: A Portable 2D Slip/Skin Stretch Display for the Fingertip. - Nikolaos G. Tsagarakis; T. Horne; Darwin G. Caldwell (WHC, 2005)

Lower Body Design of the 'iCub' a Human-baby like Crawling Robot. - Nikolaos G. Tsagarakis; Martin Sinclair; Francesco Becchi; Giorgio Metta; Giulio Sandini; Darwin G. Caldwell (Humanoids, 2006)

Free to Touch: A Portable Tactile Display For 3D Surface Texture Exploration. - Ioannis Sarakoglou; Milan Bezdicek; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2006)

Performance Assessment of a 3 DOF Differential Based Waist joint for the "iCub" Baby Humanoid Robot. - William M. Hinojosa; Nikolaos G. Tsagarakis; Giorgio Metta; Francesco Becchi; Giulio Sandini; Darwin G. Caldwell (RO-MAN, 2006)

Haptic-Enabled Multimodal Interface for the Planning of Hip Arthroplasty. - Nikolaos G. Tsagarakis; John O. Gray; Darwin G. Caldwell; Cinzia Zannoni; Marco Petrone; Debora Testi; Marco Viceconti (IEEE Multim., 2006)

Lower body realization of the baby humanoid - 'iCub'. - Nikolaos G. Tsagarakis; Francesco Becchi; Ludovic Righetti; Auke Jan Ijspeert; Darwin G. Caldwell (IROS, 2007)

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. - Nikolaos G. Tsagarakis; Giorgio Metta; Giulio Sandini; David Vernon; Ricardo Beira; Francesco Becchi; Ludovic Righetti; José Santos-Victor; Auke Jan Ijspeert; Maria Chiara Carrozza; Darwin G. Caldwell (Adv. Robotics, 2007)

"Soft" Exoskeletons for Upper and Lower Body Rehabilitation - Design, Control and Testing. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; Sophia Kousidou; Nelson Costa; Ioannis Sarakoglou (Int. J. Humanoid Robotics, 2007)

The initial design and manufacturing process of a low cost hand for the robot iCub. - Steve Davis 001; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2008)

2D motion coordination enhancement for 'Ataxia' impaired users using a haptic device. - Nikolaos G. Tsagarakis; Martin Gube; Darwin G. Caldwell (IROS, 2008)

Effect of the tactile array density on the discrimination of edge patterns: Implications for tactile systems design. - Nadia Vanessa Garcia-Hernandez; Nikos G. Tsagarakis; Darwin G. Caldwell (ICAR, 2009)

A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation. - Jody Alessandro Saglia; Nikolaos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICRA, 2009)

A compact soft actuator unit for small scale human friendly robots. - Nikolaos G. Tsagarakis; Matteo Laffranchi; Bram Vanderborght; Darwin G. Caldwell (ICRA, 2009)

MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping. - Bram Vanderborght; Nikolaos G. Tsagarakis; Claudio Semini; Ronald Van Ham; Darwin G. Caldwell (ICRA, 2009)

Safe human robot interaction via energy regulation control. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2009)

Antagonistic and series elastic actuators: a comparative analysis on the energy consumption. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Ferdinando Cannella; Darwin G. Caldwell (IROS, 2009)

The mechanical design of the new lower body for the child humanoid robot 'iCub'. - Nikolaos G. Tsagarakis; Bram Vanderborght; Matteo Laffranchi; Darwin G. Caldwell (IROS, 2009)

Leg mechanisms for hydraulically actuated robots. - Yousheng Yang; Claudio Semini; Nikolaos G. Tsagarakis; Emanuele Guglielmino; Darwin G. Caldwell (IROS, 2009)

A High-performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation. - Jody Alessandro Saglia; Nikolaos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (Int. J. Robotics Res., 2009)

Human Tactile Ability to Discriminate Variations in Small Ridge Patterns thorugh a Portable-Wearable Tactile Display. - Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ACHI, 2010)

Psychophysical Evaluation of a Low Density and Portable Tactile Device Displaying Small-Scale Surface Features. - Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis; Ioannis Sarakoglou; Darwin G. Caldwell (EuroHaptics (2), 2010)

Trajectory generation of straightened knee walking for humanoid robot iCub. - Zhibin Li 001; Nikolaos G. Tsagarakis; Darwin G. Caldwell; Bram Vanderborght (ICARCV, 2010)

A variable physical damping actuator (VPDA) for compliant robotic joints. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2010)

Control strategies for ankle rehabilitation using a high performance ankle exerciser. - Jody Alessandro Saglia; Nikolaos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICRA, 2010)

Water/air performance analysis of a fluidic muscle. - Michele Focchi; Emanuele Guglielmino; Claudio Semini; Alberto Parmiggiani; Nikolaos G. Tsagarakis; Bram Vanderborght; Darwin G. Caldwell (IROS, 2010)

An octopus anatomy-inspired robotic arm. - Emanuele Guglielmino; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2010)

A novel actuator with adjustable stiffness (AwAS). - Amir Jafari; Nikolaos G. Tsagarakis; Bram Vanderborght; Darwin G. Caldwell (IROS, 2010)

Antagonistically actuated compliant joint: Torque and stiffness control. - Irene Sardellitti; Gianluca Palli; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2010)

Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. - Claudio Semini; Nikolaos G. Tsagarakis; Emanuele Guglielmino; Darwin G. Caldwell (IROS, 2010)

A human hand compatible optimised exoskeleton system. - Jamshed Iqbal; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2010)

Fast bipedal walk using large strides by modulating hip posture and toe-heel motion. - Zhibin Li 001; Bram Vanderborght; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2010)

A multi-DOF robotic exoskeleton interface for hand motion assistance. - Jamshed Iqbal; Nikos G. Tsagarakis; Darwin G. Caldwell (EMBC, 2011)

Orientation discrimination of patterned surfaces through an actuated and non-actuated tactile display. - Nadia Vanessa Garcia-Hernandez; Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (World Haptics, 2011)

Effectiveness of a Tactile Display for Providing Orientation Information of 3d-patterned Surfaces. - Nadia Vanessa Garcia-Hernandez; Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (HCI (14), 2011)

A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives. - Federico L. Moro; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2011)

VSA-CubeBot: A modular variable stiffness platform for multiple degrees of freedom robots. - Manuel G. Catalano; Giorgio Grioli; Manolo Garabini; Fabio Bonomo; Michele Mancini; Nikolaos G. Tsagarakis; Antonio Bicchi (ICRA, 2011)

Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS). - Amir Jafari; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2011)

AwAS-II: A new Actuator with Adjustable Stiffness based on the novel principle of adaptable pivot point and variable lever ratio. - Amir Jafari; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2011)

A compact compliant actuator (CompAct™) with variable physical damping. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2011)

A decoupled impedance observer for a variable stiffness robot. - Alessandro Serio; Giorgio Grioli; Irene Sardellitti; Nikolaos G. Tsagarakis; Antonio Bicchi (ICRA, 2011)

The design of the lower body of the compliant humanoid robot "cCub". - Nikolaos G. Tsagarakis; Zhibin Li 001; Jody Alessandro Saglia; Darwin G. Caldwell (ICRA, 2011)

Robust estimation of variable stiffness in flexible joints. - Fabrizio Flacco; Alessandro De Luca 001; Irene Sardellitti; Nikolaos G. Tsagarakis (IROS, 2011)

Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. - Petar Kormushev; Barkan Ugurlu; Sylvain Calinon; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2011)

A new variable stiffness actuator (CompAct-VSA): Design and modelling. - Nikolaos G. Tsagarakis; Irene Sardellitti; Darwin G. Caldwell (IROS, 2011)

Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots. - Arash Ajoudani; Nikolaos G. Tsagarakis; Antonio Bicchi (ROBIO, 2011)

Tele-Impedance based teleoperation: Peg-in-hole experimental results. - Arash Ajoudani; Nikolaos G. Tsagarakis; Antonio Bicchi (ROBIO, 2011)

MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D. - Bram Vanderborght; Nikolaos G. Tsagarakis; Ronald Van Ham; Ivar Thorson; Darwin G. Caldwell (Auton. Robots, 2011)

Feeling through Tactile Displays: A Study on the Effect of the Array Density and Size on the Discrimination of Tactile Patterns. - Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IEEE Trans. Haptics, 2011)

Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems. - Matteo Laffranchi; Nikos G. Tsagarakis; Darwin G. Caldwell (AMC, 2012)

TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness. - Arash Ajoudani; Marco Gabiccini; Nikolaos G. Tsagarakis; Alin Albu-Schäffer; Antonio Bicchi (Humanoids, 2012)

Statistical dynamical systems for skills acquisition in humanoids. - Sylvain Calinon; Zhibin Li 001; Tohid Alizadeh; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2012)

A passivity based admittance control for stabilizing the compliant humanoid COMAN. - Zhibin Li 001; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2012)

The mechatronic design of the new legs of the iCub robot. - Alberto Parmiggiani; Giorgio Metta; Nikos G. Tsagarakis (Humanoids, 2012)

Tele-impedance: Towards transferring human impedance regulation skills to robots. - Arash Ajoudani; Nikolaos G. Tsagarakis; Antonio Bicchi (ICRA, 2012)

A Variable Damping module for Variable Impedance Actuation. - Manuel G. Catalano; Giorgio Grioli; Manolo Garabini; Felipe Augusto Weilemann Belo; Andrea di Basco; Nikolaos G. Tsagarakis; Antonio Bicchi (ICRA, 2012)

How design can affect the energy required to regulate the stiffness in variable stiffness actuators. - Amir Jafari; Nikolaos G. Tsagarakis; Irene Sardellitti; Darwin G. Caldwell (ICRA, 2012)

Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid. - Zhibin Li 001; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2012)

Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance. - Zhibin Li 001; Bram Vanderborght; Nikolaos G. Tsagarakis; Luca Colasanto; Darwin G. Caldwell (ICRA, 2012)

Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs). - Federico L. Moro; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2012)

A compact tactile display suitable for integration in VR and teleoperation. - Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2012)

A position and stiffness control strategy for variable stiffness actuators. - Irene Sardellitti; Gustavo A. Medrano-Cerda; Nikolaos G. Tsagarakis; Amir Jafari; Darwin G. Caldwell (ICRA, 2012)

Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints. - Barkan Ugurlu; Jody Alessandro Saglia; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2012)

Internal model control for improving the gait tracking of a compliant humanoid robot. - Luca Colasanto; Nikos G. Tsagarakis; Zhibin Li 001; Darwin G. Caldwell (IROS, 2012)

The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans. - Petar Kormushev; Barkan Ugurlu; Luca Colasanto; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2012)

The role of physical damping in compliant actuation systems. - Matteo Laffranchi; Lisha Chen; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2012)

A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees. - Efi Psomopoulou; Zoe Doulgeri; George A. Rovithakis; Nikos G. Tsagarakis (IROS, 2012)

Integration of a tactile display in teleoperation of a soft robotic finger using model based tactile feedback. - Ioannis Sarakoglou; Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2012)

Variable impedance actuators: Moving the robots of tomorrow. - Bram Vanderborght; Alin Albu-Schäffer; Antonio Bicchi; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Ganesh Gowrishankar; Manolo Garabini; Markus Grebenstein; Giorgio Grioli; Sami Haddadin; et al. (IROS, 2012)

CompAct Arm™: a Compliant Manipulator with Intrinsic Variable Physical Damping. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Robotics: Science and Systems, 2012)

Exploration of virtual surface features with a high performance tactile and force feedback interface. - Nadia Vanessa Garcia-Hernandez; Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (SMC, 2012)

On the Kinematic Motion Primitives (kMPs) - Theory and Application. - Federico L. Moro; Nikos G. Tsagarakis; Darwin G. Caldwell (Frontiers Neurorobotics, 2012)

The Design of the iCub humanoid Robot. - Alberto Parmiggiani; Marco Maggiali; Lorenzo Natale; Francesco Nori; Alexander Schmitz; Nikos G. Tsagarakis; José Santos-Victor; Francesco Becchi; Giulio Sandini; Giorgio Metta (Int. J. Humanoid Robotics, 2012)

Yaw moment compensation for bipedal Robots via Intrinsic angular momentum Constraint. - Barkan Ugurlu; Jody Alessandro Saglia; Nikos G. Tsagarakis; Darwin G. Caldwell (Int. J. Humanoid Robotics, 2012)

Tele-impedance: Teleoperation with impedance regulation using a body-machine interface. - Arash Ajoudani; Nikos G. Tsagarakis; Antonio Bicchi (Int. J. Robotics Res., 2012)

On-line estimation of variable stiffness in flexible robot joints. - Fabrizio Flacco; Alessandro De Luca 001; Irene Sardellitti; Nikos G. Tsagarakis (Int. J. Robotics Res., 2012)

A High Performance Tactile Feedback Display and Its Integration in Teleoperation. - Ioannis Sarakoglou; Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IEEE Trans. Haptics, 2012)

On the stiffness design of intrinsic compliant manipulators. - Navvab Kashiri; Nikos G. Tsagarakis; Matteo Laffranchi; Darwin G. Caldwell (AIM, 2013)

Designing a High Performance Humanoid Robot Based on Dynamic Simulation. - Houman Dallali; Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Vo-Gia Loc; Nikos G. Tsagarakis; Darwin G. Caldwell; Michele Gesino (EMS, 2013)

Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach. - Houman Dallali; Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Nicolas Docquier; Petar Kormushev; Nikos G. Tsagarakis; Zhibin Li 001; Darwin G. Caldwell (ICM, 2013)

Dynamic modeling and adaptable control of the CompAct™ arm. - Navvab Kashiri; Matteo Laffranchi; Nikos G. Tsagarakis; Irene Sardellitti; Darwin G. Caldwell (ICM, 2013)

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICM, 2013)

Human-like impedance and minimum effort control for natural and efficient manipulation. - Arash Ajoudani; Marco Gabiccini; Nikos G. Tsagarakis; Antonio Bicchi (ICRA, 2013)

Optimal control for maximizing velocity of the CompAct™ compliant actuator. - Lisha Chen; Manolo Garabini; Matteo Laffranchi; Navvab Kashiri; Nikos G. Tsagarakis; Antonio Bicchi; Darwin G. Caldwell (ICRA, 2013)

Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device. - Nikos Karavas; Arash Ajoudani; Nikos G. Tsagarakis; Jody Alessandro Saglia; Antonio Bicchi; Darwin G. Caldwell (ICRA, 2013)

Gravity compensation control of compliant joint systems with multiple drives. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICRA, 2013)

COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control. - Nikos G. Tsagarakis; Stephen Morfey; Gustavo A. Medrano-Cerda; Zhibin Li 001; Darwin G. Caldwell (ICRA, 2013)

Teleimpedance control of a synergy-driven anthropomorphic hand. - Arash Ajoudani; Sasha B. Godfrey; Manuel G. Catalano; Giorgio Grioli; Nikos G. Tsagarakis; Antonio Bicchi (IROS, 2013)

Link position control of a compliant actuator with unknown transmission friction torque. - Lisha Chen; Matteo Laffranchi; Jinoh Lee; Navvab Kashiri; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2013)

Stabilizing humanoids on slopes using terrain inclination estimation. - Zhibin Li 001; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2013)

Optimal ankle compliance regulation for humanoid balancing control. - Mohamad Mosadeghzad; Zhibin Li 001; Nikos G. Tsagarakis; Gustavo A. Medrano-Cerda; Houman Dallali; Darwin G. Caldwell (IROS, 2013)

Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN. - Nicolas Perrin 001; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2013)

A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (IROS, 2013)

An asymmetric compliant antagonistic joint design for high performance mobility. - Nikolaos G. Tsagarakis; Stephen Morfey; Houman Dallali; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2013)

Human-inspired balancing assistance: Application to a knee exoskeleton. - Nikos Karavas; Arash Ajoudani; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2013)

Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation. - Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2013)

Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators. - Jorhabib Eljaik; Zhibin Li 001; Marco Randazzo; Alberto Parmiggiani; Giorgio Metta; Nikos G. Tsagarakis; Francesco Nori (Robotics: Science and Systems, 2013)

Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. - Przemyslaw Kryczka; Petar Kormushev; Kenji Hashimoto; Hun-ok Lim; Nikos G. Tsagarakis; Darwin G. Caldwell; Atsuo Takanishi (URAI, 2013)

Walking pattern generation for a humanoid robot with compliant joints. - Zhibin Li 001; Nikos G. Tsagarakis; Darwin G. Caldwell (Auton. Robots, 2013)

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot. - Federico L. Moro; Alexander Spröwitz; Alexandre Tuleu; Massimo Vespignani; Nikos G. Tsagarakis; Auke Jan Ijspeert; Darwin G. Caldwell (Biol. Cybern., 2013)

Variable impedance actuators: A review. - Bram Vanderborght; Alin Albu-Schäffer; Antonio Bicchi; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Oliver Eiberger; Werner Friedl; Ganesh Ganesh; Manolo Garabini; Markus Grebenstein; et al. (Robotics Auton. Syst., 2013)

Improving Mouse-Based Computer Interaction in Users With Weak Upper Limb Motion Control Using a Haptic Assistive System. - Nikos G. Tsagarakis; Darwin G. Caldwell (IEEE Trans. Hum. Mach. Syst., 2013)

Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms. - Irene Sardellitti; Gustavo A. Medrano-Cerda; Nikolaos G. Tsagarakis; Amir Jafari; Darwin G. Caldwell (IEEE Trans. Robotics, 2013)

HANDS.DVI: A Device-Independent Programming and Control Framework for Robotic Hands. - Gionata Salvietti; Guido Gioioso; Monica Malvezzi; Domenico Prattichizzo; Alessandro Serio; Edoardo Farnioli; Marco Gabiccini; Antonio Bicchi; Ioannis Sarakoglou; Nikos G. Tsagarakis; Darwin G. Caldwell (Technology Transfer Experiments from the ECHORD Project, 2014)

Decentralized Feedback Design for a Compliant Robot Arm. - Houman Dallali; Gustavo A. Medrano-Cerda; Navvab Kashiri; Nikos G. Tsagarakis; Darwin G. Caldwell (EMS, 2014)

Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback. - Anais Brygo; Ioannis Sarakoglou; Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis (EuroHaptics (2), 2014)

A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. - Arash Ajoudani; Jinoh Lee; Alessio Rocchi; Mirko Ferrati; Enrico Mingo Hoffman; Alessandro Settimi; Darwin G. Caldwell; Antonio Bicchi; Nikos G. Tsagarakis (Humanoids, 2014)

Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback. - Anais Brygo; Ioannis Sarakoglou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2014)

Can active impedance protect robots from landing impact? - Houman Dallali; Petar Kormushev; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2014)

Upper-body impedance control with variable stiffness for a door opening task. - Jinoh Lee; Arash Ajoudani; Enrico Mingo Hoffman; Alessio Rocchi; Alessandro Settimi; Mirko Ferrati; Antonio Bicchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2014)

Comparison study of two inverted pendulum models for balance recovery. - Zhibin Li 001; Chengxu Zhou; Houman Dallali; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2014)

Optimal human-inspired ankle stiffness regulation for humanoid balancing control. - Mohamad Mosadeghzad; Nikos Karavas; Arash Ajoudani; Nikos G. Tsagarakis; Emmanouil Spyrakos-Papastavridis; Darwin G. Caldwell (Humanoids, 2014)

Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. - Nikolaos G. Tsagarakis; Houman Dallali; Francesca Negrello; Wesley Roozing; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (Humanoids, 2014)

Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control. - Navvab Kashiri; Nikos G. Tsagarakis; Michaël Van Damme; Bram Vanderborght; Darwin G. Caldwell (ICINCO (2), 2014)

Proxy-Based Sliding Mode Control of Compliant Joint Manipulators. - Navvab Kashiri; Nikos G. Tsagarakis; Michaël Van Damme; Bram Vanderborght; Darwin G. Caldwell (ICINCO (Selected Papers), 2014)

Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control. - Arash Ajoudani; Nikos G. Tsagarakis; Jinoh Lee; Marco Gabiccini; Antonio Bicchi (ICRA, 2014)

Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking. - Luca Colasanto; Nicolas Perrin 001; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2014)

Real-time damping estimation for variable impedance actuators. - Navvab Kashiri; Matteo Laffranchi; Jinoh Lee; Nikos G. Tsagarakis; Lisha Chen; Darwin G. Caldwell (ICRA, 2014)

Physical interaction detection and control of compliant manipulators equipped with friction clutches. - Navvab Kashiri; Matteo Laffranchi; Nikos G. Tsagarakis; Alessio Margan; Darwin G. Caldwell (ICRA, 2014)

Model-free force tracking control of piezoelectric actuators: Application to variable damping actuator. - Jinoh Lee; Matteo Laffranchi; Navvab Kashiri; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2014)

Power efficient balancing control for humanoids based on approximate optimal ankle compliance regulation. - Mohamad Mosadeghzad; Nikos G. Tsagarakis; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2014)

Development of a hybrid actuator with controllable mechanical damping. - Ioannis Sarakoglou; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2014)

A passivity based compliance stabilizer for humanoid robots. - Chengxu Zhou; Zhibin Li 001; Juan Alejandro Castano; Houman Dallali; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2014)

Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system. - Jinoh Lee; Maolin Jin; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2014)

The patched intrinsic tactile object: A tool to investigate human grasps. - Alessandro Serio; Emanuele Riccomini; Vincenzo Tartaglia; Ioannis Sarakoglou; Marco Gabiccini; Nikos G. Tsagarakis; Antonio Bicchi (IROS, 2014)

Lyapunov Stability Margins for humanoid robot balancing. - Emmanouil Spyrakos-Papastavridis; Nicolas Perrin 001; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (IROS, 2014)

Yarp Based Plugins for Gazebo Simulator. - Enrico Mingo Hoffman; Silvio Traversaro; Alessio Rocchi; Mirko Ferrati; Alessandro Settimi; Francesco Romano; Lorenzo Natale; Antonio Bicchi; Francesco Nori; Nikos G. Tsagarakis (MESAS, 2014)

A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. - Alessandro Settimi; Corrado Pavan; Valerio Varricchio; Mirko Ferrati; Enrico Mingo Hoffman; Alessio Rocchi; Kamilo Melo; Nikos G. Tsagarakis; Antonio Bicchi (MESAS, 2014)

Bio-inspired impedance controller and balancing feedback for the effective teleoperation of a bipedal robot. - Anais Brygo; Ioannis Sarakoglou; Nadia Vanessa Garcia-Hernandez; Nikolaos G. Tsagarakis (ROBIO, 2014)

How leg/foot compliance and posture affects impact forces during landing. - Wooseok Choi; Houman Dallali; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2014)

Development of a 7DOF soft manipulator arm for the compliant humanoid robot COMAN. - Vo-Gia Loc; Navvab Kashiri; Francesca Negrello; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2014)

Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs). - Federico L. Moro; Nikos G. Tsagarakis; Darwin G. Caldwell (Auton. Robots, 2014)

Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots. - Matteo Laffranchi; Lisha Chen; Navvab Kashiri; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (Robotics Auton. Syst., 2014)

Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. - Barkan Ugurlu; Jody Alessandro Saglia; Nikos G. Tsagarakis; Stephen Morfey; Darwin G. Caldwell (IEEE Trans. Ind. Electron., 2014)

Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand. - Arash Ajoudani; Sasha B. Godfrey; Matteo Bianchi 002; Manuel G. Catalano; Giorgio Grioli; Nikos G. Tsagarakis; Antonio Bicchi (IEEE Trans. Haptics, 2014)

How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks. - Nadia Vanessa Garcia-Hernandez; Federica Bertolotto; Ferdinando Cannella; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IEEE Trans. Haptics, 2014)

Efficient self-collision avoidance based on focus of interest for humanoid robots. - Cheng Fang; Alessio Rocchi; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2015)

A modular compliant actuator for emerging high performance and fall-resilient humanoids. - Francesca Negrello; Manolo Garabini; Manuel G. Catalano; Jörn Malzahn; Darwin G. Caldwell; Antonio Bicchi; Nikolaos G. Tsagarakis (Humanoids, 2015)

Optically-regulated impedance-based balancing for humanoid robots. - Emmanouil Spyrakos-Papastavridis; Dimitrios Kanoulas; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2015)

Online impedance parameter tuning for compliant biped balancing. - Emmanouil Spyrakos-Papastavridis; Navvab Kashiri; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2015)

On the role of robot configuration in Cartesian stiffness control. - Arash Ajoudani; Nikos G. Tsagarakis; Antonio Bicchi (ICRA, 2015)

Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders. - Mostafa Bagheri; Arash Ajoudani; Jinoh Lee; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2015)

Damping control of variable damping compliant actuators. - Navvab Kashiri; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Matteo Laffranchi; Darwin G. Caldwell (ICRA, 2015)

Fall Prediction of legged robots based on energy state and its implication of balance augmentation: A study on the humanoid. - Zhibin Li 001; Chengxu Zhou; Juan Alejandro Castano; Xin Wang 041; Francesca Negrello; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2015)

OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. - Alessio Rocchi; Enrico Mingo Hoffman; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2015)

A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control. - Arash Ajoudani; Cheng Fang; Nikos G. Tsagarakis; Antonio Bicchi (IROS, 2015)

A new foot sole design for humanoids robots based on viscous air damping mechanism. - Wooseok Choi; Chengxu Zhou; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2015)

A general whole-body compliance framework for humanoid robots. - Luca Colasanto; Nikos G. Tsagarakis; Auke Jan Ijspeert (IROS, 2015)

Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing. - Przemyslaw Kryczka; Petar Kormushev; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2015)

Active control of under-actuated foot tilting for humanoid push recovery. - Zhibin Li 001; Chengxu Zhou; Qiuguo Zhu; Rong Xiong; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2015)

From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis. - Yangwei You; Zhibin Li 001; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2015)

Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle. - Chengxu Zhou; Xin Wang 041; Zhibin Li 001; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2015)

Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints. - Houman Dallali; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (SyRoCo, 2015)

Variable stiffness actuators: The user's point of view. - Giorgio Grioli; Sebastian Wolf 001; Manolo Garabini; Manuel G. Catalano; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Werner Friedl; Markus Grebenstein; Matteo Laffranchi; Dirk Lefeber; Stefano Stramigioli; et al. (Int. J. Robotics Res., 2015)

Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism. - Amir Jafari; Nikos G. Tsagarakis; Darwin G. Caldwell (Ind. Robot, 2015)

Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans. - Diego Torricelli; José González-Vargas; Jan F. Veneman; Katja D. Mombaur; Nikos G. Tsagarakis; Antonio J. del Ama; Ángel Gil-Agudo; Juan C. Moreno 001; José Luis Pons Rovira (IEEE Robotics Autom. Mag., 2015)

Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach. - Juan Alejandro Castano; Andres Hernandez; Zhibin Li 001; Nikos G. Tsagarakis; Darwin G. Caldwell; Robin De Keyser (Robotics Auton. Syst., 2015)

Tele-impedance based assistive control for a compliant knee exoskeleton. - Nikos Karavas; Arash Ajoudani; Nikos G. Tsagarakis; Jody Alessandro Saglia; Antonio Bicchi; Darwin G. Caldwell (Robotics Auton. Syst., 2015)

Teleimpedance Control: Overview and Application. - Arash Ajoudani; Sasha B. Godfrey; Nikos G. Tsagarakis; Antonio Bicchi (Human and Robot Hands, 2016)

Robot Dynamics Constraint for Inverse Kinematics. - Enrico Mingo Hoffman; Alessio Rocchi; Nikos G. Tsagarakis; Darwin G. Caldwell (ARK, 2016)

A generic optimization-based framework for reactive collision avoidance in bipedal locomotion. - Chengxu Zhou; Cheng Fang; Xin Wang 041; Zhibin Li 001; Nikos G. Tsagarakis (CASE, 2016)

Design of a wearable skin stretch cutaneous device for the upper limb. - Francesco Chinello; Claudio Pacchierotti; Nikos G. Tsagarakis; Domenico Prattichizzo (HAPTICS, 2016)

An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. - Peter Kaiser 001; Dimitrios Kanoulas; Markus Grotz; Luca Muratore; Alessio Rocchi; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Tamim Asfour (Humanoids, 2016)

Uncertainty analysis for curved surface contact patches. - Dimitrios Kanoulas; Nikos G. Tsagarakis; Marsette Vona (Humanoids, 2016)

An active compliant impact protection system for humanoids: Application to WALK-MAN hands. - Jinoh Lee; Wooseok Choi; Dimitrios Kanoulas; Rajesh Subburaman; Darwin G. Caldwell; Nikolaos G. Tsagarakis (Humanoids, 2016)

Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation. - Luka Peternel; Nikos G. Tsagarakis; Darwin G. Caldwell; Arash Ajoudani (Humanoids, 2016)

Robust Model Predictive Control for humanoids standing balancing. - Juan Alejandro Castano; Chengxu Zhou; Zhibin Li 001; Nikos G. Tsagarakis (ICARM, 2016)

A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot. - Malgorzata Kamedula; Navvab Kashiri; Darwin G. Caldwell; Nikos G. Tsagarakis (ICINCO (2), 2016)

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg. - Navvab Kashiri; Arash Ajoudani; Darwin G. Caldwell; Nikos G. Tsagarakis (ICINCO (1), 2016)

Reflex control of the Pisa/IIT SoftHand during object slippage. - Arash Ajoudani; Elif Hocaoglu; Alessandro Altobelli; Matteo Rossi; Edoardo Battaglia; Nikos G. Tsagarakis; Antonio Bicchi (ICRA, 2016)

Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries. - Anais Brygo; Ioannis Sarakoglou; Arash Ajoudani; Nadia Vanessa Garcia-Hernandez; Giorgio Grioli; Manuel G. Catalano; Darwin G. Caldwell; Nikolaos G. Tsagarakis (ICRA, 2016)

Design of a variable compliant humanoid foot with a new toe mechanism. - Wooseok Choi; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2016)

Robust and adaptive whole-body controller for humanoids with multiple tasks under uncertain disturbances. - Jinoh Lee; Houman Dallali; Maolin Jin; Darwin G. Caldwell; Nikolaos G. Tsagarakis (ICRA, 2016)

WALK-MAN humanoid lower body design optimization for enhanced physical performance. - Francesca Negrello; Manolo Garabini; Manuel G. Catalano; Przemyslaw Kryczka; Wooseok Choi; Darwin G. Caldwell; Antonio Bicchi; Nikolaos G. Tsagarakis (ICRA, 2016)

Preparatory object reorientation for task-oriented grasping. - Anh Nguyen 003; Dimitrios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2016)

Detecting object affordances with Convolutional Neural Networks. - Anh Nguyen 003; Dimitrios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2016)

Towards multi-modal intention interfaces for human-robot co-manipulation. - Luka Peternel; Nikos G. Tsagarakis; Arash Ajoudani (IROS, 2016)

Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. - Wesley Roozing; Jörn Malzahn; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2016)

iT-Knee: An exoskeleton with ideal torque transmission interface for ergonomic power augmentation. - Lorenzo Saccares; Ioannis Sarakoglou; Nikos G. Tsagarakis (IROS, 2016)

HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback. - Ioannis Sarakoglou; Anais Brygo; Dario Mazzanti; Nadia Vanessa Garcia-Hernandez; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2016)

Balance and impedance optimization control for COmpliant huMANoid stepping. - Emmanouil Spyrakos-Papastavridis; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2016)

Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction. - Peter Kaiser 001; Eren Erdal Aksoy; Markus Grotz; Dimitrios Kanoulas; Nikos G. Tsagarakis; Tamim Asfour (ISER, 2016)

Multi-sensor based fall prediction method for humanoid robots. - Rajesh Subburaman; Jinoh Lee; Darwin G. Caldwell; Nikos G. Tsagarakis (MFI, 2016)

Straight leg walking strategy for torque-controlled humanoid robots. - Yangwei You; Songyan Xin; Chengxu Zhou; Nikos G. Tsagarakis (ROBIO, 2016)

Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation. - Zhibin Li 001; Chengxu Zhou; Nikos G. Tsagarakis; Darwin G. Caldwell (Auton. Robots, 2016)

Stabilization of bipedal walking based on compliance control. - Chengxu Zhou; Zhibin Li 001; Xin Wang 041; Nikos G. Tsagarakis; Darwin G. Caldwell (Auton. Robots, 2016)

The Walk-Man Robot Software Architecture. - Mirko Ferrati; Alessandro Settimi; Luca Muratore; Nikos G. Tsagarakis; Lorenzo Natale; Lucia Pallottino (Frontiers Robotics AI, 2016)

Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control. - Juan Alejandro Castano; Zhibin Li 001; Chengxu Zhou; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Int. J. Humanoid Robotics, 2016)

Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency. - Wesley Roozing; Zhibin Li 001; Darwin G. Caldwell; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2016)

Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments. - Navvab Kashiri; Jinoh Lee; Nikos G. Tsagarakis; Michaël Van Damme; Bram Vanderborght; Darwin G. Caldwell (Robotics Auton. Syst., 2016)

RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms. - Cheng Fang; Jinoh Lee; Arash Ajoudani; Chengxu Zhou; Nikos G. Tsagarakis; Darwin G. Caldwell (AIM, 2017)

Design and characterization of a novel high-compliance spring for robots with soft joints. - Francesca Negrello; Manuel G. Catalano; Manolo Garabini; Mattia Poggiani; Darwin G. Caldwell; Nikos G. Tsagarakis; Antonio Bicchi (AIM, 2017)

MPC strategy for dynamic stabilization of preplanned walking gaits. - Juan Alejandro Castano; Chengxu Zhou; Przemyslaw Kryczka; Nikos G. Tsagarakis (Humanoids, 2017)

An online interactive method for guided calibration of multi-dimensional force/torque transducers. - Francesco Cursi; Jörn Malzahn; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2017)

On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands. - Virginia Ruiz Garate; Nikos G. Tsagarakis; Antonio Bicchi; Arash Ajoudani (Humanoids, 2017)

Robot control for dummies: Insights and examples using OpenSoT. - Enrico Mingo Hoffman; Alessio Rocchi; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2017)

Vision-based foothold contact reasoning using curved surface patches. - Dimitrios Kanoulas; Chengxu Zhou; Anh Nguyen 003; Georgios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (Humanoids, 2017)

A two-staged residual for resilient external torque estimation with series elastic actuators. - Chan Lee; Jinoh Lee; Jörn Malzahn; Nikolaos G. Tsagarakis; Sehoon Oh (Humanoids, 2017)

Variable impedance walking using Time-Varying Lyapunov Stability Margins. - Emmanouil Spyrakos-Papastavridis; Peter R. N. Childs; Nikos G. Tsagarakis (Humanoids, 2017)

Actuation principles for robots with high power and enhance physical interaction capabilities. - Nikos G. Tsagarakis (ICARSC, 2017)

A real-time and reduced-complexity approach to the detection and monitoring of static joint overloading in humans. - Wansoo Kim 001; Jinoh Lee; Nikos G. Tsagarakis; Arash Ajoudani (ICORR, 2017)

A novel human effort estimation method for knee assistive exoskeletons. - Lorenzo Saccares; Anais Brygo; Ioannis Sarakoglou; Nikos G. Tsagarakis (ICORR, 2017)

Combined inverse-dynamics/passivity-based control for robots with elastic joints. - Andrea Giusti; Jörn Malzahn; Nikolaos G. Tsagarakis; Matthias Althoff (ICRA, 2017)

A self-adaptive variable impedance actuator based on intrinsic non-linear compliance and damping principles. - Navvab Kashiri; Darwin G. Caldwell; Nikolaos G. Tsagarakis (ICRA, 2017)

A study of nonlinear forward models for dynamic walking. - Yangwei You; Chengxu Zhou; Zhibin Li 001; Nikos G. Tsagarakis (ICRA, 2017)

XBotCore: A Real-Time Cross-Robot Software Platform. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Alessio Rocchi; Darwin G. Caldwell; Nikos G. Tsagarakis (IRC, 2017)

Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. - Lorenzo Baccelliere; Navvab Kashiri; Luca Muratore; Arturo Laurenzi; Malgorzata Kamedula; Alessio Margan; Stefano Cordasco; Jörn Malzahn; Nikos G. Tsagarakis (IROS, 2017)

Teleoperation in cluttered environments using wearable haptic feedback. - João Bimbo; Claudio Pacchierotti; Marco Aggravi; Nikos G. Tsagarakis; Domenico Prattichizzo (IROS, 2017)

What is the torque bandwidth of this actuator? - Jörn Malzahn; Navvab Kashiri; Wesley Roozing; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2017)

Object-based affordances detection with Convolutional Neural Networks and dense Conditional Random Fields. - Anh Nguyen 003; Dimitrios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2017)

HERI hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation. - Zeyu Ren; Chengxu Zhou; Songyan Xin; Nikos G. Tsagarakis (IROS, 2017)

Inverse dynamics control of bimanual object manipulation using orthogonal decomposition: An analytic approach. - Mohammad Shahbazi; Jinoh Lee; Darwin G. Caldwell; Nikolaos G. Tsagarakis (IROS, 2017)

A torque-controlled humanoid robot riding on a two-wheeled mobile platform. - Songyan Xin; Yangwei You; Chengxu Zhou; Cheng Fang; Nikos G. Tsagarakis (IROS, 2017)

Exploiting the natural dynamics of compliant joint robots for cyclic motions. - Navvab Kashiri; Emmanouil Spyrakos-Papastavridis; Darwin G. Caldwell; Nikos G. Tsagarakis (MMAR, 2017)

FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters. - Stefan Bethge; Jörn Malzahn; Nikolaos G. Tsagarakis; Darwin G. Caldwell (RAAD, 2017)

Orientation planning in task space using quaternion polynomials. - Mohammad Shahbazi; Navvab Kashiri; Darwin G. Caldwell; Nikolaos G. Tsagarakis (ROBIO, 2017)

Humanoid running based on centroidal dynamics and heuristic foot placement. - Songyan Xin; Yangwei You; Chengxu Zhou; Nikos G. Tsagarakis (ROBIO, 2017)

Real-Time Pose Estimation for Event Cameras with Stacked Spatial LSTM Networks. - Anh Nguyen 003; Thanh-Toan Do; Darwin G. Caldwell; Nikos G. Tsagarakis (CoRR, 2017)

AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection. - Thanh-Toan Do; Anh Nguyen 003; Ian D. Reid 001; Darwin G. Caldwell; Nikos G. Tsagarakis (CoRR, 2017)

Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback. - Spandan Roy; Indra Narayan Kar; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (CoRR, 2017)

Corrigendum: The Walk-Man Robot Software Architecture. - Mirko Ferrati; Alessandro Settimi; Luca Muratore; Alberto Cardellino; Alessio Rocchi; Enrico Mingo Hoffman; Corrado Pavan; Dimitrios Kanoulas; Nikos G. Tsagarakis; Lorenzo Natale; Lucia Pallottino (Frontiers Robotics AI, 2017)

Visual Grasp Affordance Localization in Point Clouds Using Curved Contact Patches. - Dimitrios Kanoulas; Jinoh Lee; Darwin G. Caldwell; Nikos G. Tsagarakis (Int. J. Humanoid Robotics, 2017)

WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. - Nikolaos G. Tsagarakis; Darwin G. Caldwell; Francesca Negrello; Wooseok Choi; Lorenzo Baccelliere; Vo-Gia Loc; J. Noorden; Luca Muratore; Alessio Margan; Alberto Cardellino; Lorenzo Natale; Enrico Mingo Hoffman; et al. (J. Field Robotics, 2017)

On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles. - Navvab Kashiri; Jörn Malzahn; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2017)

On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators. - Wesley Roozing; Jörn Malzahn; Navvab Kashiri; Darwin G. Caldwell; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2017)

Model-Free Robust Adaptive Control of Humanoid Robots With Flexible Joints. - Maolin Jin; Jinoh Lee; Nikolaos G. Tsagarakis (IEEE Trans. Ind. Electron., 2017)

Choosing Poses for Force and Stiffness Control. - Arash Ajoudani; Nikos G. Tsagarakis; Antonio Bicchi (IEEE Trans. Robotics, 2017)

An analysis of the effect of gravity compensation on compliant biped walking controllers. - Emmanouil Spyrakos-Papastavridis; Peter R. N. Childs; Nikos G. Tsagarakis (AMC, 2018)

Explosive Motions with Compliant Actuation Arrangements in Articulated Robots. - Roel Djajadiningrat; Wesley Roozing; Nikolaos G. Tsagarakis (BioRob, 2018)

From Non-Reactive to Reactive Walking in Humanoid Robots. - Juan Alejandro Castano; Chengxu Zhou; Nikos G. Tsagarakis (Humanoids, 2018)

rxKinFu: Moving Volume KinectFusion for 3D Perception and Robotics. - Dimitrios Kanoulas; Nikos G. Tsagarakis; Marsette Vona (Humanoids, 2018)

Balancing Control Through Post-Optimization of Contact Forces. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (Humanoids, 2018)

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. - Luigo Penco; Brice Clement; Valerio Modugno; Enrico Mingo Hoffman; Gabriele Nava; Daniele Pucci; Nikos G. Tsagarakis; Jean-Baptiste Mourert; Serena Ivaldi (Humanoids, 2018)

A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion. - Vignesh Sushrutha Raghavan; Dimitrios Kanoulas; Chengxu Zhou; Darwin G. Caldwell; Nikos G. Tsagarakis (Humanoids, 2018)

The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles. - Zeyu Ren; Wesley Roozing; Nikos G. Tsagarakis (Humanoids, 2018)

Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts. - Rajesh Subburaman; Nikos G. Tsagarakis; Jinoh Lee (Humanoids, 2018)

New Cross-Step Enabled Configurations for Humanoid Robot. - Songyan Xin; Chengxu Zhou; Nikos G. Tsagarakis (Humanoids, 2018)

Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor. - Emily-Jane Rolley-Parnell; Dimitrios Kanoulas; Arturo Laurenzi; Brian Delhaisse; Leonel Dario Rozo; Darwin G. Caldwell; Nikos G. Tsagarakis (ICARCV, 2018)

A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. - Juan Alejandro Castano; Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Malgorzata Karnedula; Nikos G. Tsagarakis (ICRA, 2018)

Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users. - Juan Alejandro Castano; Przemyslaw Kryczka; Brian Delhaisse; Chengxu Zhou; Nikos G. Tsagarakis (ICRA, 2018)

Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. - Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2018)

Footstep Planning in Rough Terrain for Bipedal Robots Using Curved Contact Patches. - Dimitrios Kanoulas; Alexander Stumpf; Vignesh Sushrutha Raghavan; Chengxu Zhou; Alexia Toumpa; Oskar von Stryk; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Continuously Controllable Series Clutches for Efficient Robot Actuation. - Jörn Malzahn; Vishnu Dev Amara; Nikolaos G. Tsagarakis (ICRA, 2018)

Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Lorenzo Baccelliere; Navvab Kashiri; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks. - Anh Nguyen 003; Dimitrios Kanoulas; Luca Muratore; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots. - Wesley Roozing; Zeyu Ren; Nikos G. Tsagarakis (ICRA, 2018)

Online Falling-Over Control of Humanoids Exploiting Energy Shaping and Distribution Methods. - Rajesh Subburaman; Jinoh Lee; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IRC, 2018)

A Self-Tuning Impedance Controller for Autonomous Robotic Manipulation. - Pietro Balatti; Dimitrios Kanoulas; Giuseppe Francesco Rigano; Luca Muratore; Nikos G. Tsagarakis; Arash Ajoudani (IROS, 2018)

On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO robot. - Malgorzata Kamedula; Navvab Kashiri; Nikos G. Tsagarakis (IROS, 2018)

Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. - Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

XBotCloud: A Scalable Cloud Computing Infrastructure for XBot Powered Robots. - Luca Muratore; Barry Lennox; Nikos G. Tsagarakis (IROS, 2018)

Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation. - Luka Peternel; Cheng Fang; Nikos G. Tsagarakis; Arash Ajoudani (IROS, 2018)

A Method for Robot Motor Fatigue Management in Physical Interaction and Human-Robot Collaboration Tasks. - Luka Peternel; Nikos G. Tsagarakis; Arash Ajoudani (IROS, 2018)

HERI II: A Robust and Flexible Robotic Hand based on Modular Finger design and Under Actuation Principles. - Zeyu Ren; Navvab Kashiri; Chengxu Zhou; Nikos G. Tsagarakis (IROS, 2018)

Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control. - Wesley Roozing; Navvab Kashiri; Nikos G. Tsagarakis (IROS, 2018)

A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

A Novel Joint Torque Estimation Method and Sensory System for Assistive Lower Limb Exoskeletons. - Lorenzo Saccares; Ioannis Sarakoglou; Nikos G. Tsagarakis (IROS, 2018)

On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints. - Mohammad Shahbazi; Navvab Kashiri; Darwin G. Caldwell; Nikolaos G. Tsagarakis (IROS, 2018)

Neural-Network-Controlled Spring Mass Template for Humanoid Running. - Songyan Xin; Brian Delhaisse; Yangwei You; Chengxu Zhou; Mohammad Shahbazi; Nikos G. Tsagarakis (IROS, 2018)

An open-source architecture for simulation, execution and analysis of real-time robotics systems. - Dennis Leroy Wigand; Pouya Mohammadi 001; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Jochen J. Steil; Sebastian Wrede 001 (SIMPAR, 2018)

A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm. - Cheng Fang; Arash Ajoudani; Antonio Bicchi; Nikos G. Tsagarakis (SMC, 2018)

Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm. - Cheng Fang; Giuseppe Francesco Rigano; Navvab Kashiri; Arash Ajoudani; Jinoh Lee; Nikos G. Tsagarakis (SMC, 2018)

Robot adaptation to human physical fatigue in human-robot co-manipulation. - Luka Peternel; Nikos G. Tsagarakis; Darwin G. Caldwell; Arash Ajoudani (Auton. Robots, 2018)

Object Captioning and Retrieval with Natural Language. - Anh Nguyen 003; Thanh-Toan Do; Ian D. Reid 001; Darwin G. Caldwell; Nikos G. Tsagarakis (CoRR, 2018)

A mixed real-time robot hardware abstraction layer (R-HAL). - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Encycl. Semantic Comput. Robotic Intell., 2018)

An Overview on Principles for Energy Efficient Robot Locomotion. - Navvab Kashiri; Andy Abate; Sabrina J. Abram; Alin Albu-Schäffer; Patrick Clary; Monica A. Daley; Salman Faraji; Raphael Furnemont; Manolo Garabini; Hartmut Geyer; Alena M. Grabowski; Jonathan W. Hurst; et al. (Frontiers Robotics AI, 2018)

Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing. - Dimitrios Kanoulas; Jinoh Lee; Darwin G. Caldwell; Nikos G. Tsagarakis (Int. J. Humanoid Robotics, 2018)

Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation. - Arash Ajoudani; Cheng Fang; Nikolaos G. Tsagarakis; Antonio Bicchi (Int. J. Robotics Res., 2018)

Design and Evaluation of a Wearable Skin Stretch Device for Haptic Guidance. - Francesco Chinello; Claudio Pacchierotti; João Bimbo; Nikos G. Tsagarakis; Domenico Prattichizzo (IEEE Robotics Autom. Lett., 2018)

Online Model Based Estimation of Complete Joint Stiffness of Human Arm. - Cheng Fang; Arash Ajoudani; Antonio Bicchi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2018)

Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness. - Virginia Ruiz Garate; Maria Pozzi; Domenico Prattichizzo; Nikolaos G. Tsagarakis; Arash Ajoudani (IEEE Robotics Autom. Lett., 2018)

Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration. - Wansoo Kim 001; Jinoh Lee; Luka Peternel; Nikolaos G. Tsagarakis; Arash Ajoudani (IEEE Robotics Autom. Lett., 2018)

Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach. - Jinoh Lee; Chan Lee; Nikolaos G. Tsagarakis; Sehoon Oh (IEEE Robotics Autom. Lett., 2018)

Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario. - Francesca Negrello; Alessandro Settimi; Danilo Caporale; Gianluca Lentini; Mattia Poggiani; Dimitrios Kanoulas; Luca Muratore; Emanuele Luberto; Gaspare Santaera; Luca Ciarleglio; Leonardo Ermini; Lucia Pallottino; et al. (IEEE Robotics Autom. Mag., 2018)

Online impedance regulation techniques for compliant humanoid balancing. - Emmanouil Spyrakos-Papastavridis; Navvab Kashiri; Peter R. N. Childs; Nikos G. Tsagarakis (Robotics Auton. Syst., 2018)

On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. - Andrea Giusti; Jörn Malzahn; Nikolaos G. Tsagarakis; Matthias Althoff (IEEE Trans. Robotics, 2018)

Real-Time 6DOF Pose Relocalization for Event Cameras With Stacked Spatial LSTM Networks. - Anh Nguyen 003; Thanh-Toan Do; Darwin G. Caldwell; Nikos G. Tsagarakis (CVPR Workshops, 2019)

Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot. - Vivekanandan Suryamurthy; Vignesh Sushrutha Raghavan; Arturo Laurenzi; Nikos G. Tsagarakis; Dimitrios Kanoulas (Humanoids, 2019)

Flux Regulation for Torque-controlled Robotics Actuators. - Mobin Mohammadnia; Navvab Kashiri; Francesco Braghin; Nikos G. Tsagarakis (ICAR, 2019)

Object Captioning and Retrieval with Natural Language. - Anh Nguyen 003; Quang D. Tran; Thanh-Toan Do; Ian D. Reid 001; Darwin G. Caldwell; Nikos G. Tsagarakis (ICCV Workshops, 2019)

Towards Robot Interaction Autonomy: Explore, Identify, and Interact. - Pietro Balatti; Dimitrios Kanoulas; Nikos G. Tsagarakis; Arash Ajoudani (ICRA, 2019)

Versatile Reactive Bipedal Locomotion Planning Through Hierarchical Optimization. - Jiatao Ding; Chengxu Zhou; Zhao Guo; Xiaohui Xiao; Nikos G. Tsagarakis (ICRA, 2019)

Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm. - Cheng Fang; Navvab Kashiri; Giuseppe Francesco Rigano; Arash Ajoudani; Nikos G. Tsagarakis (ICRA, 2019)

CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. - Arturo Laurenzi; Enrico Mingo Hoffman; Luca Muratore; Nikos G. Tsagarakis (ICRA, 2019)

A Rolling Flexure Mechanism for Progressive Stiffness Actuators. - Jörn Malzahn; Eamon Barrett; Nikos G. Tsagarakis (ICRA, 2019)

Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. - Pouya Mohammadi 001; Enrico Mingo Hoffman; Luca Muratore; Nikos G. Tsagarakis; Jochen J. Steil (ICRA, 2019)

A Self-Modulated Impedance Multimodal Interaction Framework for Human-Robot Collaboration. - Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2019)

Benchmarking Resilience of Artificial Hands. - Francesca Negrello; Manolo Garabini; Giorgio Grioli; Nikos G. Tsagarakis; Antonio Bicchi; Manuel G. Catalano (ICRA, 2019)

Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. - Arturo Laurenzi; Dimitrios Kanoulas; Enrico Mingo Hoffman; Luca Muratore; Nikolaos G. Tsagarakis (IRC, 2019)

Collision Detection and Isolation on a Robot using Joint Torque Sensing. - João Bimbo; Claudio Pacchierotti; Nikos G. Tsagarakis; Domenico Prattichizzo (IROS, 2019)

Nonlinear optimization of Step Duration and Step Location. - Jiatao Ding; Xiaohui Xiao; Nikolaos G. Tsagarakis (IROS, 2019)

Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency. - Yisoo Lee; Nikolaos G. Tsagarakis; Jinoh Lee (IROS, 2019)

Outlier-Robust State Estimation for Humanoid Robots*. - Stylianos Piperakis; Dimitrios Kanoulas; Nikos G. Tsagarakis; Panos E. Trahanias (IROS, 2019)

Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot. - Vignesh Sushrutha Raghavan; Dimitrios Kanoulas; Arturo Laurenzi; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2019)

Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2019)

Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control. - Songyan Xin; Romeo Orsolino; Nikos G. Tsagarakis (IROS, 2019)

Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space. - Juan Alejandro Castano; Chengxu Zhou; Nikos G. Tsagarakis (ROBIO, 2019)

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. - Petar Kormushev; Barkan Ugurlu; Darwin G. Caldwell; Nikos G. Tsagarakis (Auton. Robots, 2019)

Robust and adaptive dynamic controller for fully-actuated robots in operational space under uncertainties. - Jinoh Lee; Houman Dallali; Maolin Jin; Darwin G. Caldwell; Nikolaos G. Tsagarakis (Auton. Robots, 2019)

Nonlinear Model Predictive Control for Robust Bipedal Locomotion Exploring CoM Height and Angular Momentum Changes. - Jiatao Ding; Chengxu Zhou; Songyan Xin; Xiaohui Xiao; Nikolaos G. Tsagarakis (CoRR, 2019)

V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation. - Anh Nguyen 003; Thanh-Toan Do; Ian D. Reid 001; Darwin G. Caldwell; Nikos G. Tsagarakis (CoRR, 2019)

Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation. - Jörn Malzahn; Navvab Kashiri; Monica A. Daley; Nikolaos G. Tsagarakis (Frontiers Robotics AI, 2019)

CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. - Navvab Kashiri; Lorenzo Baccelliere; Luca Muratore; Arturo Laurenzi; Zeyu Ren; Enrico Mingo Hoffman; Malgorzata Kamedula; Giuseppe Francesco Rigano; Jörn Malzahn; Stefano Cordasco; Paolo Guria; Alessio Margan; et al. (IEEE Robotics Autom. Lett., 2019)

Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2019)

Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. - Enrico Mingo Hoffman; Stéphane Caron; Francesco Ferro; Luis Sentis; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2019)

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. - Tobias Klamt; Malgorzata Kamedula; Hakan Karaoguz; Navvab Kashiri; Arturo Laurenzi; Christian Lenz; Daniele Leonardis; Enrico Mingo Hoffman; Luca Muratore; Dmytro Pavlichenko; Francesco Porcini; Diego Rodriguez; et al. (IEEE Robotics Autom. Mag., 2019)

The Compliant Joint Toolbox for MATLAB: An Introduction With Examples. - Jörn Malzahn; Wesley Roozing; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2019)

Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. - Pouya Mohammadi 001; Enrico Mingo Hoffman; Niels Dehio; Milad S. Malekzadeh; Martin A. Giese; Nikos G. Tsagarakis; Jochen J. Steil (IEEE Robotics Autom. Mag., 2019)

A2ML: A general human-inspired motion language for anthropomorphic arms based on movement primitives. - Cheng Fang; Xilun Ding; Chengxu Zhou; Nikolaos G. Tsagarakis (Robotics Auton. Syst., 2019)

Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement. - Dimitrios Kanoulas; Nikos G. Tsagarakis; Marsette Vona (Robotics Auton. Syst., 2019)

Human inspired fall prediction method for humanoid robots. - Rajesh Subburaman; Dimitrios Kanoulas; Luca Muratore; Nikos G. Tsagarakis; Jinoh Lee (Robotics Auton. Syst., 2019)

A selective muscle fatigue management approach to ergonomic human-robot co-manipulation. - Luka Peternel; Cheng Fang; Nikolaos G. Tsagarakis; Arash Ajoudani (Robotics Comput. Integr. Manuf., 2019)

Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback. - Spandan Roy; Indra Narayan Kar; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (IEEE Trans. Control. Syst. Technol., 2019)

Human Arm Posture Optimisation in Bilateral Teleoperation Through Interface Reconfiguration. - Luka Peternel; Cheng Fang; Marco Laghi; Antonio Bicchi; Nikos G. Tsagarakis; Arash Ajoudani (BioRob, 2020)

On the efficient control of series-parallel compliant articulated robots. - Vishnu Dev Amara; Jörn Malzahn; Zeyu Ren; Wesley Roozing; Nikos G. Tsagarakis (ICRA, 2020)

A Novel Orientability Index and the Kinematic Design of the RemoT-ARM: A Haptic Master with Large and Dexterous Workspace. - Gaofeng Li; Edoardo Del Bianco; Fernando Caponetto; Vasiliki Katsageorgiou; Nikos G. Tsagarakis; Ioannis Sarakoglou (ICRA, 2020)

Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot. - Vignesh Sushrutha Raghavan; Dimitrios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2020)

Robust Gait Synthesis Combining Constrained Optimization and Imitation Learning. - Jiatao Ding; Xiaohui Xiao; Nikos G. Tsagarakis; Yanlong Huang (IROS, 2020)

A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. - Francesco Ruscelli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2020)

A method for autonomous robotic manipulation through exploratory interactions with uncertain environments. - Pietro Balatti; Dimitrios Kanoulas; Nikolaos G. Tsagarakis; Arash Ajoudani (Auton. Robots, 2020)

A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. - Gennaro Raiola; Enrico Mingo Hoffman; Michele Focchi; Nikos G. Tsagarakis; Claudio Semini (Frontiers Robotics AI, 2020)

Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. - Tobias Klamt; Max Schwarz; Christian Lenz; Lorenzo Baccelliere; Domenico Buongiorno; Torben Cichon; Antonio Di Guardo; David Droeschel; Massimiliano Gabardi; Malgorzata Kamedula; Navvab Kashiri; Arturo Laurenzi; et al. (J. Field Robotics, 2020)

A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Reactive Support Polygon Adaptation for the Hybrid Legged-Wheeled CENTAURO Robot. - Malgorzata Kamedula; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Incomplete Orientation Mapping for Teleoperation With One DoF Master-Slave Asymmetry. - Gaofeng Li; Fernando Caponetto; Edoardo Del Bianco; Vasiliki Katsageorgiou; Ioannis Sarakoglou; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control. - Luca Paparusso; Navvab Kashiri; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. - Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Francesco Ruscelli; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]. - Arash Ajoudani; Philipp Albrecht; Matteo Bianchi 002; Andrea Cherubini; Simona Del Ferraro; Philippe Fraisse; Lars Fritzsche; Manolo Garabini; Alberto Ranavolo; Patricia Helen Rosen; Massimo Sartori; Nikos G. Tsagarakis; et al. (IEEE Robotics Autom. Mag., 2020)

The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2020)

Wheeled motion kinematics and control of a hybrid mobility CENTAURO robot. - Malgorzata Kamedula; Navvab Kashiri; Nikos G. Tsagarakis (Robotics Auton. Syst., 2020)

Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. - Eamon Barrett; Enrico Mingo Hoffman; Lorenzo Baccelliere; Nikos G. Tsagarakis (AIM, 2021)

A Compliant Mechanism with Progressive Stiffness for Robotic Actuation. - Eamon Barrett; Jörn Malzahn; Nikos G. Tsagarakis (AIM, 2021)

Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. - Italo Belli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Paolo Rocco; Nikolaos G. Tsagarakis (HUMANOIDS, 2021)

Towards a Generic Grasp Planning Pipeline using End-Effector Specific Primitive Grasping Actions. - Liana Bertoni; Davide Torielli; Yifang Zhang; Nikos G. Tsagarakis; Luca Muratore (ICAR, 2021)

Thermal Control for Peak Operation of Electric Robotic actuators. - Akash Singh; Navvab Kashiri; Nikos G. Tsagarakis (ICAR, 2021)

Towards an Open-Source Hardware Agnostic Framework for Robotic End-Effectors Control. - Davide Torielli; Liana Bertoni; Nikos G. Tsagarakis; Luca Muratore (ICAR, 2021)

Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots. - Edoardo Romiti; Navvab Kashiri; Jörn Malzahn; Nikos G. Tsagarakis (ICRA, 2021)

Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO. - Xinyuan Zhao; Yangwei You; Arturo Laurenzi; Navvab Kashiri; Nikos G. Tsagarakis (ICRA, 2021)

Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology. - Éamon Barrett; Zeyu Ren; Nikos G. Tsagarakis (IROS, 2021)

A Soft Assistive Device for Elbow Effort-Compensation. - Emir Mobedi; Wansoo Kim 001; Elena De Momi; Nikos G. Tsagarakis; Arash Ajoudani (IROS, 2021)

A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization. - Yisoo Lee; Sanghyun Kim; Jaeheung Park; Nikos G. Tsagarakis; Jinoh Lee (IEEE Access, 2021)

Nonlinear model predictive control for robust bipedal locomotion: exploring angular momentum and CoM height changes. - Jiatao Ding; Chengxu Zhou; Songyan Xin; Xiaohui Xiao; Nikolaos G. Tsagarakis (Adv. Robotics, 2021)

Autonomous Obstacle Crossing Strategies for the Hybrid Wheeled-Legged Robot Centauro. - Alessio De Luca; Luca Muratore; Vignesh Sushrutha Raghavan; Davide Antonucci; Nikolaos G. Tsagarakis (Frontiers Robotics AI, 2021)

NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. - Luca Rossini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. - Enrico Mingo Hoffman; Nikos G. Tsagarakis (Int. J. Humanoid Robotics, 2021)

An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg. - Wesley Roozing; Zeyu Ren; Nikos G. Tsagarakis (Int. J. Robotics Res., 2021)

Blending of Series-Parallel Compliant Actuation With Field Weakening Control for Explosive Motion Generation. - Vishnu Dev Amara; Jörn Malzahn; Wesley Roozing; Nikolaos G. Tsagarakis (IEEE Robotics Autom. Lett., 2021)

A Workspace Limit Approach for Teleoperation Based on Signed Distance Function. - Gaofeng Li; Fernando Caponetto; Edoardo Del Bianco; Vasiliki Katsageorgiou; Ioannis Sarakoglou; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2021)

Exo-Muscle: A Semi-Rigid Assistive Device for the Knee. - Yifang Zhang; Arash Ajoudani; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2021)

Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots. - Xinyuan Zhao; Yuqiang Wu; Arturo Laurenzi; Nikos G. Tsagarakis (AIM, 2022)

Task Driven Online Impedance Modulation. - Liana Bertoni; Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2022)

Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. - Ioannis Dadiotis; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2022)

An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. - Maolin Lei; Liang Lu; Arturo Laurenzi; Luca Rossini; Edoardo Romiti; Jörn Malzahn; Nikos G. Tsagarakis (Humanoids, 2022)

An Optimal Frontier Enhanced "Next Best View" Planner For Autonomous Exploration. - Liang Lu; Alessio De Luca; Luca Muratore; Nikos G. Tsagarakis (Humanoids, 2022)

From Offline to Online: A Perception-Based Local Planner for Dynamic Obstacle Avoidance. - Luca Rossini; Nikos G. Tsagarakis (Humanoids, 2022)

A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass. - Davide Torielli; Luca Muratore; Alessio De Luca; Nikos G. Tsagarakis (Humanoids, 2022)

A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO. - Alessio De Luca; Luca Muratore; Nikos G. Tsagarakis (IROS, 2022)

Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators. - Davide Torielli; Luca Muratore; Nikos G. Tsagarakis (IROS, 2022)

Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles. - Vignesh Sushrutha Raghavan; Dimitrios Kanoulas; Darwin G. Caldwell; Nikos G. Tsagarakis (IEEE Access, 2022)

Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. - Luca Rossini; Paolo Ferrari; Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Prototyping fast and agile motions for legged robots with Horizon. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Horizon: A Trajectory Optimization Framework for Robotic Systems. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Frontiers Robotics AI, 2022)

Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains. - Xinyuan Zhao; Yuqiang Wu; Yangwei You; Arturo Laurenzi; Nikolaos G. Tsagarakis (Frontiers Robotics AI, 2022)

A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure. - Yisoo Lee; Nikos G. Tsagarakis; Christian Ott 001; Jinoh Lee (IEEE Robotics Autom. Lett., 2022)

TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface. - Davide Torielli; Luca Muratore; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2022)

FollowMe: a Robust Person Following Framework Based on Visual Re-Identification and Gestures. - Federico Rollo; Andrea Zunino; Gennaro Raiola; Fabio Amadio; Arash Ajoudani; Nikolaos G. Tsagarakis (ARSO, 2023)

An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design. - Edoardo Romiti; Francesco Iacobelli; Marco Ruzzon; Navvab Kashiri; Jörn Malzahn; Nikos G. Tsagarakis (CASE, 2023)

Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization. - Federico Rollo; Gennaro Raiola; Andrea Zunino; Nikolaos G. Tsagarakis; Arash Ajoudani (ECMR, 2023)

Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. - Ioannis Dadiotis; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2023)

Optimal Design of Agile Jumping Maneuvers for a Single Leg System. - Andrea Patrizi; Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2023)

A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. - Luca Rossini; Enrico Mingo Hoffman; SeungHyeon Bang; Luis Sentis; Nikos G. Tsagarakis (Humanoids, 2023)

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. - Enrico Mingo Hoffman; Arturo Laurenzi; Francesco Ruscelli; Luca Rossini; Lorenzo Baccelliere; Davide Antonucci; Alessio Margan; Paolo Guria; Marco Migliorini; Stefano Cordasco; Gennaro Raiola; Luca Muratore; et al. (ICRA, 2023)

Modelling and Compensation for Transmission Error of Timing Belt in Legged Robots. - Jingcheng Jiang; Yifang Zhang; Nikos G. Tsagarakis (ROBIO, 2023)

In-Hand Re-grasp Manipulation with Passive Dynamic Actions via Imitation Learning. - Dehao Wei; Guokang Sun; Zeyu Ren; Shuang Li; Zhufeng Shao; Xiang Li; Nikos G. Tsagarakis; Shaohua Ma (CoRR, 2023)

CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance. - Federico Rollo; Andrea Zunino; Nikolaos G. Tsagarakis; Enrico Mingo Hoffman; Arash Ajoudani (CoRR, 2023)

FollowMe: a Robust Person Following Framework Based on Re-Identification and Gestures. - Federico Rollo; Andrea Zunino; Gennaro Raiola; Fabio Amadio; Arash Ajoudani; Nikolaos G. Tsagarakis (CoRR, 2023)

ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors. - Davide Torielli; Liana Bertoni; Fabio Fusaro; Nikos G. Tsagarakis; Luca Muratore (J. Intell. Robotic Syst., 2023)

Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. - Paolo Ferrari; Luca Rossini; Francesco Ruscelli; Arturo Laurenzi; Giuseppe Oriolo; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Robotics Auton. Syst., 2023)

A telerobotic system enabling online switching among various architectures and controllers. - Gaofeng Li; Fernando Caponetto; Vasiliki Katsageorgiou; Nikos G. Tsagarakis; Ioannis Sagakoglou (Robotics Auton. Syst., 2023)

A survey on control of humanoid fall over. - Rajesh Subburaman; Dimitrios Kanoulas; Nikos G. Tsagarakis; Jinoh Lee (Robotics Auton. Syst., 2023)

A Haptic Shared Autonomy With Partial Orientation Regulation for DoF Deficiency in Remote Side. - Gaofeng Li; Fernando Caponetto; Xinyu Wu 001; Ioannis Sarakoglou; Nikos G. Tsagarakis (IEEE Trans. Haptics, 2023)

On Perpendicular Curve-Based Task Space Trajectory Tracking Control With Incomplete Orientation Constraint. - Gaofeng Li; Shan Xu 002; Dezhen Song; Fernando Caponetto; Ioannis Sarakoglou; Jingtai Liu; Nikos G. Tsagarakis (IEEE Trans Autom. Sci. Eng., 2023)

The XBot2 real-time middleware for robotics. - Arturo Laurenzi; Davide Antonucci; Nikos G. Tsagarakis; Luca Muratore (Robotics Auton. Syst., 2023)

A Power-Aware Control Strategy for an Elbow Effort-Compensation Device. - Emir Mobedi; Sebastian Hjorth; Wansoo Kim 001; Elena De Momi; Nikos G. Tsagarakis; Arash Ajoudani (IEEE Robotics Autom. Lett., 2023)

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot. - Luca Muratore; Arturo Laurenzi; Alessio De Luca; Liana Bertoni; Davide Torielli; Lorenzo Baccelliere; Edoardo Del Bianco; Nikos G. Tsagarakis (Sensors, 2023)

XBot2D: towards a robotics hybrid cloud architecture for field robotics. - Luca Muratore; Nikolaos G. Tsagarakis (Frontiers Robotics AI, 2023)

Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees. - Alessio De Luca; Luca Muratore; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2023)

Smart Drill: an Autonomous Drilling End-Effector with Embedded Sensing and Intelligence for Mobile and Collaborative Robots. - Edoardo Del Bianco; Federico Rollo; Marco Roveri; Nikos G. Tsagarakis (CASE, 2024)

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation. - Jin Wang; Rui Dai; Weijie Wang; Luca Rossini; Francesco Ruscelli; Nikos G. Tsagarakis (CoRL, 2024)

Mechanical Design of an Agile Quadruped Robot. - Edoardo Del Bianco; Navvab Kashiri; Marco Roveri; Nikos G. Tsagarakis (ERF (1), 2024)

Semantic-Based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. - Federico Rollo; Gennaro Raiola; Nikolaos G. Tsagarakis; Marco Roveri; Enrico Mingo Hoffman; Arash Ajoudani (ERF (2), 2024)

A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. - Edoardo Del Bianco; Davide Torielli; Federico Rollo; Damiano Gasperini; Arturo Laurenzi; Lorenzo Baccelliere; Luca Muratore; Marco Roveri; Nikos G. Tsagarakis (Humanoids, 2024)

Continuous Adaptation in Person Re-identification for Robotic Assistance. - Federico Rollo; Andrea Zunino; Nikolaos G. Tsagarakis; Enrico Mingo Hoffman; Arash Ajoudani (ICRA, 2024)

The Joint-Space Reconstruction of Human Fingers by using a Highly Under-Actuated Exoskeleton. - Yuan Su; Gaofeng Li; Yongsheng Deng; Ioannis Sarakoglou; Nikos G. Tsagarakis; Jiming Chen (ICRA, 2024)

Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems. - Davide Torielli; Leonardo Franco; Maria Pozzi; Luca Muratore; Monica Malvezzi; Nikos G. Tsagarakis; Domenico Prattichizzo (ICRA, 2024)

Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. - Maolin Lei; Edoardo Romiti; Arturo Laurenzi; Nikos G. Tsagarakis (IROS, 2024)

Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model. - Jin Wang; Arturo Laurenzi; Nikos G. Tsagarakis (IROS, 2024)

Grounding Language Models in Autonomous Loco-manipulation Tasks. - Jin Wang; Nikos G. Tsagarakis (CoRR, 2024)

Hybrid Sensor Fusion Mixed with Reinforcement Learning in Autonomous Dual-Arm Lifting Tasks Performed by Humanoid Robots. - Juan Hernandez-Vicen; Bartek Lukawski; Santiago Martínez de la Casa Díaz; Nikos G. Tsagarakis; Carlos Balaguer (Robotics, 2024)

A Laser-Guided Interaction Interface for Providing Effective Robot Assistance to People With Upper Limbs Impairments. - Davide Torielli; Liana Bertoni; Luca Muratore; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2024)

A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots. - Yifang Zhang; Jingcheng Jiang; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2024)

On the Calibration, Fault Detection and Recovery of a Force Sensing Device. - Yifang Zhang; Arash Ajoudani; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2024)

Construction Robotics and Automation [TC Spot Light]. - Iro Armeni; Jingdao Chen; Chen Feng 002; Inbae Jeong; Ci-Jyun Liang; Kristian Morin; Nikolaos G. Tsagarakis; Xi Wang; Liangjun Zhang (IEEE Robotics Autom. Mag., 2024)

A hierarchical simulation-based push planner for autonomous recovery in navigation blocked scenarios of mobile robots. - Alessio De Luca; Luca Muratore; Nikolaos G. Tsagarakis (Robotics Auton. Syst., 2025)

An intuitive tele-collaboration interface exploring laser-based interaction and behavior trees. - Davide Torielli; Luca Muratore; Nikolaos G. Tsagarakis (Robotics Auton. Syst., 2025)

Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning. - Ioannis Dadiotis; Mayank Mittal; Nikolaos G. Tsagarakis; Marco Hutter 001 (CoRR, 2025)

The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. - Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. - Francesco Ruscelli; Luca Rossini; Enrico Mingo Hoffman; Lorenzo Baccelliere; Arturo Laurenzi; Luca Muratore; Davide Antonucci; Stefano Cordasco; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

Robust Humanoid Locomotion via Sequential Stepping and Angular Momentum Optimization. - Jiatao Ding; Cosimo Della Santina; Tin Lun Lam; Jianxin Pang; Xiaohui Xiao; Nikos G. Tsagarakis; Yanlong Huang (IEEE Trans. Ind. Electron., 2025)

CONCERT: a Modular Reconfigurable Robot for Construction. - Luca Rossini; Edoardo Romiti; Arturo Laurenzi; Francesco Ruscelli; Marco Ruzzon; Luca Covizzi; Lorenzo Baccelliere; Stefano Carrozzo; Michael Terzer; Marco Magri; Carlo Morganti; Maolin Lei; et al. (CoRR, 2025)

Learning to Recover: Dynamic Reward Shaping with Wheel-Leg Coordination for Fallen Robots. - Boyuan Deng; Luca Rossini; Jin Wang; Weijie Wang; Nikolaos G. Tsagarakis (CoRR, 2025)

Effective Data-Driven Joint Friction Modeling and Compensation With Physical Consistency. - Rui Dai; Luca Rossini; Arturo Laurenzi; Andrea Patrizi; Nikolaos G. Tsagarakis (IEEE Robotics Autom. Lett., 2025)

INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM. - Jin Wang; Weijie Wang; Boyuan Deng; Heng Zhang; Rui Dai; Nikolaos G. Tsagarakis (CoRR, 2025)

Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. - Maolin Lei; Edoardo Romiti; Arturo Laurenzi; Cheng Zhou; Wanli Xing; Liang Lu; Nikos G. Tsagarakis (CoRR, 2025)

A Proximity-Based Framework for Human-Robot Seamless Close Interactions. - Liana Bertoni; Lorenzo Baccelliere; Luca Muratore; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2025)