Human-robot physical interaction with dynamically stable mobile robots. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (HRI, 2009)

Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (ICRA, 2009)

State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot. - Umashankar Nagarajan; Anish Mampetta; George Kantor; Ralph L. Hollis (ICRA, 2009)

Hybrid control for navigation of shape-accelerated underactuated balancing systems. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (CDC, 2010)

Generalized direction changing fall control of humanoid robots among multiple objects. - Umashankar Nagarajan; Ambarish Goswami (ICRA, 2010)

Dynamic Constraint-based Optimal Shape Trajectory Planner for Shape-Accelerated Underactuated Balancing Systems. - Umashankar Nagarajan (Robotics: Science and Systems, 2010)

Planning in high-dimensional shape space for a single-wheeled balancing mobile robot with arms. - Umashankar Nagarajan; Byungjun Kim; Ralph L. Hollis (ICRA, 2012)

Integrated planning and control for graceful navigation of shape-accelerated underactuated balancing mobile robots. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (ICRA, 2012)

Automatic task-specific model reduction for humanoid robots. - Umashankar Nagarajan; Katsu Yamane (IROS, 2013)

Shape space planner for shape-accelerated balancing mobile robots. - Umashankar Nagarajan; Ralph L. Hollis (Int. J. Robotics Res., 2013)

Integrated motion planning and control for graceful balancing mobile robots. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (Int. J. Robotics Res., 2013)

Universal balancing controller for robust lateral stabilization of bipedal robots in dynamic, unstable environments. - Umashankar Nagarajan; Katsu Yamane (ICRA, 2014)

Direction-changing fall control of humanoid robots: theory and experiments. - Ambarish Goswami; Seung-kook Yun; Umashankar Nagarajan; Sung-Hee Lee; KangKang Yin; Shivaram Kalyanakrishnan (Auton. Robots, 2014)

The ballbot: An omnidirectional balancing mobile robot. - Umashankar Nagarajan; George Kantor; Ralph L. Hollis (Int. J. Robotics Res., 2014)

Balancing in Dynamic, Unstable Environments Without Direct Feedback of Environment Information. - Umashankar Nagarajan; Katsu Yamane (IEEE Trans. Robotics, 2014)

Integral Admittance Shaping for exoskeleton control. - Umashankar Nagarajan; Gabriel Aguirre-Ollinger; Ambarish Goswami (ICRA, 2015)

An admittance shaping controller for exoskeleton assistance of the lower extremities. - Gabriel Aguirre-Ollinger; Umashankar Nagarajan; Ambarish Goswami (Auton. Robots, 2016)

Integral admittance shaping: A unified framework for active exoskeleton control. - Umashankar Nagarajan; Gabriel Aguirre-Ollinger; Ambarish Goswami (Robotics Auton. Syst., 2016)

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes. - Max Bajracharya; James Borders; Daniel M. Helmick; Thomas Kollar; Michael Laskey; John Leichty; Jeremy Ma; Umashankar Nagarajan; Akiyoshi Ochiai; Josh Petersen; Krishna Shankar; Kevin Stone; et al. (ICRA, 2020)