2018
Books
[170] T. Asfour, J. Borràs, C. Mandery, P. Kaiser, E. E. Aksoy and M. Grotz, On the dualities between grasping and whole-body loco-manipulation tasks, Springer Proceedings in Advanced Robotics, 2018
Journal Articles
[169] Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis, "CoM-Based Grasp Position Adaptation using 3D Range and Force/Torque Sensing", World Scientific International Journal of Humanoid Robotics (IJHR) (2018).
[168] Domenichelli, D.E., Traversaro, S., Muratore, L., Rocchi, A., Nori, F., Natale, L., A Build System for Software Development in Robotic Academic Collaborative Environments, IEEE International Conference on Robotic Computing
Conference Papers
[167] Fantacci, C., Vezzani, G., Pattacini, U., Tikhanoff, V., and Natale, L., Markerless visual servoing on unknown objects for humanoid robot platforms, IEEE-RAS International Conference on Robotics and Automation, Brisbane, Australia, 2018.
[166] Malzahn, J. and Amara, V.D. and Tsagarakis, N., “Continuously Controllable Series Clutches for Efficient Robot Actuation”, IEEE International Conference on Robotics and Automation, 2018.
[165] Thanh-Toan Do*, Anh Nguyen*, Ian Reid, Darwin G. Caldwell, Nikos G. Tsagarakis, “AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection”, IEEE International Conference on Robotics and Automation, 2018. (* equal contribution)
[164] Roozing, Z. Ren, and Nikos G. Tsagarakis, “Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots”, IEEE International Conference on Robotics and Automation, 2018.
[163] Rajesh Subburaman, Jinoh Lee, Nikos Tsagarakis and Darwin Caldwell, “Online Falling-Over Control of Humanoids Exploiting Energy Shaping and Distribution Methods”, IEEE International Conference on Robotics and Automation, 2018
[162] Juan A. Castano, Przemyslaw Kryczka, Brian Delhaisse, Chengxu Zhou and Nikos G. Tsagarakis, “Feedback control architecture, From Developers to Users”, IEEE International Conference on Robotics and Automation, 2018.
[161] Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis and Darwin G. Caldwell, “Multi-Priority Cartesian Impedance Control based on Quadratic Programming Optimization”, IEEE International Conference on Robotics and Automation, 2018.
[160] Rigano G.F., Muratore L., Laurenzi A., Hoffman E.M., Rocchi A., Tsagarakis N.G., “Towards A Robot Hardware Abstraction Layer (R-HAL) Leveraging the XBot Software Framework”, IEEE International Conference on Robotic Computing, 2018
[159] Domenichelli D.E., Traversaro D., Muratore L., Rocchi A., Nori F., Natale L., “A Build System for Software Development in Robotic Academic Collaborative Environments”, IEEE International Conference on Robotic Computing IRC 2018
[158] Dimitrios Kanoulas, Alexander Stumpf, Vignesh Sushrutha Raghavan, Chengxu Zhou, Alexia Toumpa, Oskar von Stryk, Darwin G. Caldwell, Nikos Tsagarakis, "Footstep Planning in Rough Terrain for Bipedal Robots using Curved Contact Patches", 2018 IEEE International Conference on Robotics and Automation (ICRA) (2018).
[157] Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos Tsagarakis, "Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks", 2018 IEEE International Conference on Robotics and Automation (ICRA) (2018).
2017
Books
[156] Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis and Darwin G. Caldwell, “Robot Dynamics Constraint for Inverse Kinematics”, Advances in Robot Kinematics, Springer
[155] Peter Kaiser, Markus Grotz, Eren E. Aksoy, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Tamim Asfour, "Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction", Springer 2016 International Symposium on Experimental Robotics (ISER) (2017)
Journal Articles
[154] Zobova, Alexandra ; Habra, Timothée ; Van der Noot, Nicolas ; Dallali, Houman ; Tsagarakis, Nikolaos G. ; Fisette, Paul ; Ronsse, Renaud, Multi-physics modelling of a compliant humanoid robot, Multibody System Dynamics, Vol. 39, no.1-2, p. 95-114 (2017).
[153] N. Van der Noot, A. J. Ijspeert, and R. Ronsse, Bio-inspired controller achieving forward speed modulation with a 3D bipedal walker, The International Journal of Robotics Research
[152] S Faraji, AJ Ijspeert, Modeling Robot Geometries Like Molecules, Application to Fast Multicontact Posture Planning for Humanoids, IEEE Robotics and Automation Letters 3 (1), 289-296
[151] S Faraji, AJ Ijspeert, 3LP: a linear 3D-walking model including torso and swing dynamics, The International Journal of Robotics Research 36 (4), 436 - 455
[150] J. Borràs, C. Mandery and T. Asfour, A Whole-Body Support Pose Taxonomy for Multi-Contact Humanoid Robot Motions, Science Robotics, vol. 2, no. 13, 2017
[159] Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis “Online Model Based Estimation of Complete Joint Stiffness of Human Arm”, RA-L, Volume 3, Issue 1, Jan. 2018
[148] C. Zhou, X. Wang, Z. Li, and N. Tsagarakis, “Overview of gait synthesis for the humanoid COMAN”, Journal of Bionic Engineering, vol. 14, no. 1, pp. 15–25, 2017
[147] Arash Ajoudani, Cheng Fang, Nikos G. Tsagarakis, Antonio Bicchi, “Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation”, IJRR 2017.
[146] W. Roozing, J. Malzahn, N. Kashiri, D. G. Caldwell, and N. G. Tsagarakis, “On the Stiffness Selection for Torque Controlled Series-Elastic Actuators,”, IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 4, pp. 2255--2262, 2017
[145] Muratore L., Laurenzi A., Hoffman E.M., Rocchi A., Caldwell D.G., Tsagarakis N.G., “On the Design and Evaluation of XBotCore, a Cross-Robot Real-Time Software Framework”, Journal of Software Engineering for Robotics, vol. 8, (no. 1), pp. 164-170
[144] Maolin Jin, Jinoh Lee, Nikos G. Tsagarakis, “Model-free Robust Adaptive Control of Humanoid Robots with Flexible Joints”, IEEE Transactions on Industrial Electronics (SCI, IF: 7.17), Vol.64, Issue 2, pp.1706-1715, 2017
[143] Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis, "Visual Grasp Affordance Localization in Point Clouds using Curved Contact Patches", World Scientific International Journal of Humanoid Robotics (IJHR) (2017).
[142] Nikos G. Tsagarakis, Darwin G. Caldwell, F. Negrello, W. Choi, L. Baccelliere, VG. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, E. Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, D. Kanoulas , M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, A. Ajoudani, “WALK-MAN: A High Performance Humanoid Platform for Realistic Environments”, Journal of Field Robotics (JFR) (2017).
[141] Maolin Jin, Jinoh Lee, Nikos G. Tsagarakis, “Model-free Robust Adaptive Control of Humanoid Robots with Flexible Joints”, IEEE Transactions on Industrial Electronics (2016).
Conference Papers
[140] Fantacci, C., Pattacini, U., Tikhanoff, V., and Natale, L., Visual end-effector tracking using a 3D model-aided particle filter for humanoid robot platforms, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, 2017
[139] Van der Noot, Nicolas; Ijspeert, Auke Jan; Ronsse, Renaud, Bio-inspired controller achieving forward speed modulation with a 3D bipedal walker. The International Journal of Robotics Research
[138] Habra, Timothée; Grotz, Markus; Sippel, David; Asfour, Tamim; Ronsse, Renaud, Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences. Humanoid Robots (Humanoids), 2017 IEEE-RAS International Conference on
[137] Grotz Markus, HabraTimothée, Ronsse Renaud, Asfour Tamim, Autonomous view selection and gaze stabilization for humanoid robots. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2017
[136] S Faraji, AJ Ijspeert, A singularity-tolerant inverse kinematics including joint position and velocity limitations, Dynamic Walking 2017
[135] M. Grotz, T. Habra, R. Ronsse and T. Asfour, Autonomous View Selection and Gaze Stabilization for Humanoid Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[134] M. Grotz, P. Kaiser, E. E. Aksoy, F. Paus and T. Asfour, Graph-Based Visual Semantic Perception for Humanoid Robots, IEEE-RAS International Conference on Humanoid Robots, 2017
[133] T. Habra, M. Grotz, D. Sippel, T. Asfour and R. Ronsse, Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences, IEEE-RAS International Conference on Humanoid Robots, 2017
[132] P. Kaiser, C. Mandery, A. Boltres and T. Asfour, Affordance-Based Multi-Contact Whole-Body Pose Sequence Planning for Humanoid Robots in Unknown Environments, IEEE International Conference on Robotics and Automation, 2018
[131] Cursi, F. and Malzahn, J. and Tsagarakis, N. and Caldwell, D., “An Online Interactive Method for Guided Calibration of Multi-Dimensional Force/Torque Transducers”, IEEE-RAS International Conference on Humanoid Robots, 2017
[130] Chan Lee, Jinoh Lee, Jörn Malzahn, Nikos Tsagarakis, Sehoon Oh, "A Two-Staged Residual for Resilient External Torque Estimation with Series Elastic Actuators ",IEEE-RAS International Conference on Humanoid Robots, 2017
[129] Juan Castano, Chengxu Zhou, Przemyslaw Kryczka, Nikos G Tsagarakis, “MPC strategy for dynamic stabilization of preplanned walking gaits”, IEEE-RAS International Conference on Humanoid Robots, 2017
[128] Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi and Nikos G. Tsagarakis, “Robot Control for Dummies: Insights and Examples using OpenSoT“, IEEE-RAS International Conference on Humanoid Robots, 2017
[127] Malzahn, J. and Kashiri, N. and Roozing, W. and Tsagarakis, N. and Caldwell, D., “What Is the Torque Bandwidth of This Actuator?”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[126] Songyan Xin, Yangwei You, Chengxu Zhou , Cheng Fang, and Nikos Tsagarakis, “A torque-controlled humanoid robot riding on a two-wheeled mobile platform”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[125] Zeyu Ren, Chengxu Zhou, Songyan Xin, Nikos Tsagarakis, “HERI Hand: A Quasi Dexterous and Powerful Hand with Asymmetrical Finger Dimensions and Under Actuation”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[124] Baccelliere L., Kashiri N., Muratore L., Laurenzi A., Kamedula M., Margan A., Cordasco S., Malzahn J., Tsagarakis N.G., “Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks”,IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[123] Songyan Xin, Yangwei You, Chengxu Zhou, Cheng Fang, Nikos Tsagarakis, “A Torque-controlled Humanoid Robot Riding on a Two-wheeled Mobile Platform”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
[122] F.Negrello, M.Garabini, M.G.Catalano, M.Poggiani, D.G.Caldwell, N.G.Tsagarakis and A.Bicchi, “Design and Characterization of a Novel High-Compliance Spring for Robots with Soft Joints”, AIM 2017
[121] Cheng Fang, Jinoh Lee, Arash Ajoudani, Chengxu Zhou, Tsagarakis N.G., Caldwell D.G., “RRT-based Motion Planning with Sampling in Redundancy Space for Robots with Anthropomorphic Arms", AIM 2017
[120] Muratore L., Laurenzi A., Hoffman E. M., Rocchi A., Caldwell D.G., Tsagarakis N.G., “XBotCore: A real-time cross-robot software platform”, IRC 2017
[119] Bethge, Stefan and Malzahn, Jorn and Tsagarakis, Nikolaos and Caldwell, Darwin, “FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters”, RAAD 2017
[118] Songyan Xin, Yangwei You, Chengxu Zhou, Nikos Tsagarakis, “Humanoid Running Based on Centroidal Dynamics and Heuristic Foot Placement”, ROBIO 2017
[117] Yangwei You, Chengxu Zhou, Zhibin Li, and Nikos Tsagarakis, “A study of nonlinear forward models for dynamic walking”, IEEE International Conference on Robotics and Automation, 2017
[116] Dimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis, "Vision-Based Foothold Contact Reasoning using Curved Surface Patches", 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (2017). Best Interactive Paper Award Winner.
[115] Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis, "Object-Based Affordances Detection with Convolutional Neural Networks and Dense Conditional Random Fields", 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017).
2016
Books
[114] Arash Ajoudani, "Transferring Human Impedance Regulation Skills to Robots", Tracts in Advances Robotics Star, Springer (2016).
Journal Articles
[113] The iCub Software Architecture: Evolution and Lessons Learned, Natale, L., Paikan, A., Randazzo, M., Domenichelli, D.E., Frontiers in Robotics and AI, vol. 3, no.24, 2016
[112] T. Habra, H. Dallali, A. Cardellino, L. Natale, N. Tsagarakis, P. Fisette, R. Ronsse, “Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations”, Multibody Dynamics. Springer International Publishing (2016).
[111] Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Alberto Cardellino, Dimitrios Kanoulas, Corrado Pavan, Nikos G. Tsagarakis, Lorenzo Natale, and Lucia Pallottino, “The Walk-Man Robot Software Architecture”, Frontiers in Robotics and AI (2016).
[110] W. Roozing, Z. Li, D.G. Caldwell, and N.G. Tsagarakis, "Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency", IEEE Robotics and Automation Letters (RA-L), vol. 1, no. 2, pp. 1110–1117 (2016).
Conference Papers
[109] Dimitrios Kanoulas, Nikos G. Tsagarakis, and Marsette Vona, "Uncertainty Analysis for Curved Surface Contact Patches", 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (2016).
[108] Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, Tamim Asfour, "An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy", 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (2016).
[107] Krzysztof Walas, Dimitrios Kanoulas, Przemyslaw Kryczka, "Terrain Classification and Locomotion Parameters Adaptation for Humanoid Robots Using Force/Torque Sensing", 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (2016).
[106] Jinoh Lee, Wooseok Choi, Dimitrios Kanoulas, Rajesh Subburaman, Nikos G. Tsagarakis, and Darwin G. Caldwell, "An Active Compliant Impact Protection System for Humanoids: Application to WALK-MAN Hands", 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids) (2016).
[105] Enrico Mingo Hoffman, Alessio Rocchi and Nikos G. Tsagarakis, "On the Implementation of the Inverse Kinematics Solver Used in the WALK-MAN Humanoid Robot", 34th annual conference of the Robotics Society of Japan (RSJ) (2016).
[104] Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos Tsagarakis “Multi-Sensor Based Fall Prediction Method for Humanoid Robots”, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) (2016).
[103] Juan A. Castano, Chengxu Zhou, Zhibin Li, Nikos Tsagarakis, "Robust Model Predictive Control for Humanoids Standing Balancing", IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) (2016).
[102] C. Zhou, C. Fang, X. Wang, Z. Li, and N. Tsagarakis, “A Generic Optimization-based Framework for Reactive Collision Avoidance in Bipedal Locomotion”, IEEE Conference on Automation Science and Engineering (CASE) (2016).
[101] Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis, “Detecting Object A ordances with Convolutional Neural Networks”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[100] Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis, “Preparatory Object Reorientation for Task-Oriented Grasping”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[99] Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, and Nikos G. Tsagarakis, "Comparison of Open-Loop and Closed-Loop Disturbance Observers for Series Elastic Actuators", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[98] Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell, Nikos Tsagarakis, “Balance and Impedance Optimization Control for Compliant Humanoid Stepping“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[97] P. Kaiser, E. E. Aksoy, M. Grotz and T. Asfour, “Towards a Hierarchy of Whole-Body Loco-Manipulation Affordances“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[96] C. Mandery, J. Borràs, M. Jöchner and T. Asfour, “Using Language Models to Generate Whole-Body Multi-Contact Motions“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2016).
[95] S. Faraji and A. Ijspeert, “Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (2016).
[94] F. Heremans; N. Van der Noot; A. Ijspeert; R. Ronsse, “Bio-inspired balance controller for a humanoid robot”, 6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (2016).
[93] T. Habra; R. Ronsse, "Gaze Stabilization of a Humanoid Robot based on Virtual Linkage", 6th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (2016).
[92] Tamim Asfour, Júlia Borrás, Christian Mandery, Peter Kaiser, Eren Erdal Aksoy, and Markus Grotz, “On the dualities between grasping and whole-body loco-manipulation tasks“,International Symposium on Robotics Research (ISRR) (2016).
[91] P. Kaiser, M. Grotz, E. E. Aksoy, D. Kanoulas and T. Asfour, “Experimental Evaluation of a Perceptual Pipeline for the Hierarchical Extraction of Whole-Body Affordances “, International Symposium on Experimental Robotics (ISER) (2016).
[90] Mingo Hoffman Enrico, Rocchi Alessio, Tsagarakis Nikos G., Caldwell Darwin G., "Robot Dynamics Constraint for Inverse Kinematics", Advances in Robot Kinematics (ARK), Grasse, France (2016).
[89] S. Faraji and A. Ijspeert, “A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors”, Dynamic Walking, Holly, Michigan, USA, June 4-7 (2016).
[88] S. Faraji and A. Ijspeert, “Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online”, Dynamic Walking, Holly, Michigan, USA, June 4-7 (2016).
[87] S. Faraji and A. Ijspeert, “3LP: A linear model of locomotion including falling, swing and torso dynamics”, Dynamic Walking, Holly, Michigan, USA, June 4-7 (2016).
[86] F.Negrello, M.Garabini, M.G.Catalano, P.Kryczka, W. Choi, D.G.Caldwell, A.Bicchi and N.G.Tsagarakis, ”WALK-MAN Humanoid Lower body Design Optimization for Enhanced Physical Performance”, IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden (2016).
[85] Jinoh Lee, Houman Dallali, Maolin Jin, Darwin G. Caldwell, Nikos Tsagarakis. "Robust and Adaptive Whole-body Controller for Humanoids with Multiple Tasks under Uncertain Disturbances", IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden (2016).
[84] Wooseok Choi, Gustavo A. Medrano-Cerda, D. G. Caldwell, N. G. Tsagarakis, “Design of a Variable Compliant Humanoid Foot with a New Toe Mechanism”, IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden (2016).
2015
Patents
[83] Wooseok Choi, Nikos G. Tsagarakis, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, "Active variable stiffness mechanism, particularly for humanoid robot feet (Dispositivo di variazione attiva della rigidezza, particolarmente per piede di robot antropomorfo)", Ref. No: Italian Patent Application 102015000063795 (PT150279) (2015)
Journal Articles
[82] Diego Torricelli, Jose Gonzalez-Vargas, Jan F Veneman, Katja Mombaur, Nikos Tsagarakis, Antonio J del Ama, Angel Gil-Agudo, Juan C Moreno, Jose L Pons, "Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans", IEEE Robotics & Automation Magazine (RAM), Volume 22, Issue 3, Pages 103-115 (2015)
[81] Juan Alejandro Castano, Zhibin Li, Chengxu Zhou, Nikos Tsagarakis and Darwin Caldwell, "Dynamic and Reactive Walking for Humanoid Robots based on Foot Placement Control", International Journal of Humanoid Robotics (IJHR) (2015).
[80] Juan A. Castano, Andres Hernandez, Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell, Robin De Keyser, "Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach", Journal of Robotics and Autonomous Systems, vol. Volume 74, Part A (2015)
[79] C.Zhou, Z. Li, X. Wang, N. Tsagarakis, D. Caldwell, “Stabilization of bipedal walking based on compliance control”, Autonomous Robots, pp. 1–17, (2015).
[78] W. Roozing, Z. Li, G.A. Medrano-Cerda, D.G. Caldwell, and N.G. Tsagarakis, "Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient Mobility", IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 1080–1091 (2015).
[77] P. Kaiser, N. Vahrenkamp, F. Schültje, J. Borràs and T. Asfour, "Extraction of Whole-Body Affordances for Loco-Manipulation Tasks", International Journal of Humanoid Robotics 12(3) (2015)
[76] N. Vahrenkamp, M. Wächter, M. Kröhnert, K. Welke, T. Asfour, “The ArmarX Framework - Supporting high level robot programming through state disclosure”, Information Technology 57(2):99-111 (2015)
[75] N. Vahrenkamp, T. Asfour, “Representing the robot’s workspace through constrained manipulability analysis”, Autonomous Robots 38(1):17-30 (2015)
Conference Papers
[74] Yangwei You, Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell, "Foot Placement Control for Bipedal Walking on Uneven Terrain: an Online Linear Regrassion Analysis Approach", Assistive Robotics: Proceedings of the 18th International Conference on CLAWAR,Pages 478 (2015)
[73] Houman Dallali, Jinoh Lee, Nikolaos Tsagarakis, Darwin G. Caldwell, "Experimental Study on Linear State Feedback Control of Humanoid Robots with Elastic Joints", 11th IFAC Symposium on Robot Control (SYROCO), pp. 138-143, Salvador, Brazil (2015)
[72] Timothée Habra, Paul Fisette, Renaud Ronsse, "Robotran-Yarp interface: a framework for real-time controller development based on multibody dynamics simulation", ECCOMAS Thematic Conference Multibody Dynamics (2015)
[71] Alexandra Zobova, Timothée Habra, Nicolas Van der Noot, Houman Dallali, Nikolaos Tsagarakis, Paul Fisette, Renaud Ronsse, "Multi-physics Modelling of a Compliant Humanoid Robot", ECCOMAS Thematic Conference Multibody Dynamics (2015)
[70] A. Paikan, D. Schiebener, M. Wächter, T. Asfour, G. Metta and L. Natale, "Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms", 17th International Conference on Advanced Robotics (ICAR), Istanbul, Turkey (2015)
[69] Colasanto, Luca, Nicolas Van der Noot, and Auke J. Ijspeert, "Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control", IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015).
[68] E.Spyrakos-Papastavridis, Navvab Kashiri, Jinoh Lee, Nikos Tsagarakis, Darwin G. Caldwell "Online Impedance Parameter Tuning for Compliant Biped Balancing'', IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015). (Best Interactive Paper Award Finalist)
[67] Emmanouil Spyrakos-Papastavridis, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Darwin G. Caldwell, "Optically-Regulated Impedance-Based Balancing for Humanoid Robots", IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015).
[66] Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis and Darwin G. Caldwell, "Efficient Self-Collision Avoidance based on Focus of Interest for Humanoid Robots", IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015).
[65] F. Negrello, M.Garabini, M.G.Catalano, J.Malzahn, D.G.Caldwell, A.Bicchi and N.G.Tsagarakis, "A modular compliant actuator for emerging high performance and fall-resilient humanoids", IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, pp. 414-420 (2015).
[64] A. Velasco, M. Garabini, M. G. Catalano, and A. Bicchi, "Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015)
[63] C. Mandery, J. Borràs, M. Jöchner and T. Asfour, "Analyzing Whole-Body Pose Transitions in Multi-Contact Motions", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015)
[62] N. Vahrenkamp, D. Muth, P. Kaiser, and T. Asfour, "IK–MAP: An Enhanced Workspace Representation to Support Inverse Kinematics Solvers", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015)
[61] P. Kaiser, M. Grotz, E. E. Aksoy, M. Do, N. Vahrenkamp and T. Asfour, "Validation of Whole-Body Loco-Manipulation Affordances for Pushability and Liftability", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea (2015)
[60] Yangwei You, Zhibin Li, Darwin G Caldwell, Nikos G Tsagarakis, "From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis", in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4492-4497, Hamburg, Germany, (2015).
[59] Wooseok Choi, Chengxu Zhou, G. A. Medrano-Cerda, D. G. Caldwell and N. G. Tsagarakis, "A new foot sole design for humanoids robots based on viscous air damping mechanism", in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4498-4503, Hamburg, Germany, (2015).
[58] S. Faraji, L. Colasanto, A. Ijspeert, “Practical considerations in using inverse dynamics on a humanoid robot, torque tracking, sensor fusion and Cartesian control laws”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, (2015).
[57] L. Colasanto, N. Tsagarakis, A. Ijspeert, “A General Whole-Body Impedance Framework for Humanoid Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, (2015).
[56] C.Zhou, X. Wang, Z. Li, D. Caldwell, N. Tsagarakis, “Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 1599–1604 (2015).
[55] Kryczka, P. Kormushev, N. G. Tsagarakis, and D. G. Caldwell, "Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing" 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 3352-3357 (2015)
[54] M. Bonilla, D. Resasco, M. Gabiccini, and A. Bicchi, "Grasp Planning with Soft Hands using Bounding Box Object Decomposition", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 498-503 (2015)
[53] Nicolas Van der Noot, Luca Colasanto, Allan Barrea, Jesse van den Kieboom, Renaud Ronsse, Auke Jan Ijspeert, "Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 498-503 (2015)
[52] J. Borràs and T. Asfour, "A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 498-503 (2015)
[51] A. Paikan, U. Pattacini, D. Domenichelli, M. Randazzo, G. Metta, and L. Natale, "Best-Effort Approach for Run-Time Channel Prioritization in Real-Time Robotic Application", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 498-503 (2015)
[50] A. Paikan, D. Schiebener, M. Wacther, T. Asfour, G. Metta, L. Natale, "Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms", International Conference on Advanced Robotics (ICAR), Istanbul, Turkey (2015)
[49] A. Paikan, D. Domenichelli, L. Natale, "Communication channel prioritization in a publish-subscribe architecture", Software Engineering and Architectures for Realtime Interactive Systems, Arles, France (2015)
[48] A. Paikan, S. Traversaro, F. Nori, L. Natale, "A Generic Testing Framework for Test Driven Development of Robotic Systems", Modelling and Simulation for Autonomous Systems Workshop, Prague, Czech Republic (2015)
[47] M. Bonilla, E. Farnioli, L. Pallottino, A. Bicchi, “Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[46] E. Farnioli, M. Gabiccini, A. Bicchi, “Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks“, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[45] N. Kashiri, G. Medrano-Cerda, N.G. Tsagarakis, M. Laffranchi, D.G. Caldwell, “Damping Control of Variable
Damping Compliant Actuators”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[44] M. Bagheri, A. Ajoudani, J. Lee, D.G. Caldwell, N.G. Tsagarakis, “Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[43] A. Rocchi, E. Mingo Hoffman, D.G. Caldwell, N.G. Tsagarakis, “OpenSoT: A Whole-Body Control Library for the Compliant Humanoid Robot COMAN”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[42] A. Ajoudani, N.G. Tsagarakis, A. Bicchi , “On the Role of Robot Configuration in Cartesian Stiffness Control”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[41] Z. Li, C. Zhou, J.A. Castano, X. Wang, F. Negrello, N.G. Tsagarakis, D.G. Caldwell, “Fall Prediction of Legged Robots Based on Energy State and Its Implication of Balance Augmentation: A Study on the Humanoid”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[40] N. Van der Noot, A.J. Ijspeert, R. Ronsse, “Biped Gait Controller for Large Speed Variations, Combining Reflexes and a Central Pattern Generator in a Neuromuscular Model”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
[38] A.A. Zobova, T. Habra, N. Van der Noot, P. Fisette, R. Ronsse, “Multibody Simulations in Robotics: Key Requirements and Analysis of their Implementations in Open-Source Products”, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA (2015)
2014
Journal Articles
[37] A. Ijspeert, “Biorobotics: Using robots to emulate and investigate agile locomotion”, Science 346(6206):196-203 (2014).
[36] P. Fitzpatrick, E. Ceseracciu, D. Domenichelli, A. Paikan, G. Metta, L. Natale, “A middle way for robotics middleware”, Journal of Software Engineering for Robotics 5(2):42-49 (2014).
[35] N. Vahrenkamp and T. Asfour, “Representing the Robot's Workspace through Constrained Manipulability Analysis”, Autonomous Robots (2014).
[34] F. Dzeladini, J. van den Kieboom, A. Ijspeert, “The contribution of a central pattern generator in a reflex-based neuromuscular model”, Frontiers in Human Neuroscience 8 (2014).
[33] A. Paikan, P. Fitzpatrick, G. Metta, L. Natale, “Data Flow Port's Monitoring and Arbitration”, Journal of Software Engineering for Robotics 5(1):80-88 (2014).
Conference Papers
[32] P. Kaiser, D. Gonzalez-Aguirre, F. Schültje, J. Borràs, N. Vahrenkamp and T. Asfour, “Extracting Whole-Body Affordances from Multimodal Exploration", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[31] Z. Li, C. Zhou, H. Dallali, N. Tsagarakis, D.G. Caldwell , “Comparison Study of Two Inverted Pendulum Models for Balance Recovery”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[30] A. Ajoudani, J. Lee, A. Rocchi, M. Ferrati, E. Mingo, A. Settimi, D.G. Caldwell, A. Bicchi, N. Tsagarakis, “A Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[29] A. Parmiggiani, M. Inaba, N. Tsagarakis , “The Mechatronic Design of Humanoid Robots: Current and Future Trends”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[28] H. Dallali, P. Kormushev, N. Tsagarakis, D.G. Caldwell, “Can Active Impedance Protect Robots from Landing Impact?”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[27] J. Lee, A. Ajoudani, E. Mingo, A. Rocchi, A. Settimi, M. Ferrati, A. Bicchi, N. Tsagarakis, D.G. Caldwell, “Upper-Body Impedance Control with Variable Stiffness for a Door Opening Task”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[26] M. Mosadeghzad, N. Karavas, A. Ajoudani, E. Spyrakos-Papastavridis, N. Tsagarakis, D.G. Caldwell, “Optimal Human-Inspired Ankle Stiffness Regulation for Humanoid Balancing Control”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[25] N. Tsagarakis, H. Dallali, F. Negrello, W. Roozing, G. Medrano-Cerda, D.G. Caldwell, “Compliant Antagonistic Joint Tuning for Gravitational Load Cancellation and Improved Efficient Mobility”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[24] A. Brygo, I. Sarakoglou, N. Tsagarakis, D.G. Caldwell, “Tele-Manipulation with a Humanoid Robot under Autonomous Joint Impedance Regulation and Vibrotactile Balancing Feedback”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)
[23] N. Van der Noot, A. Barrea, “Zero-Moment Point on a bipedal robot under bio-inspired walking control”, IEEE Mediterranean Electrotechnical Conference (MELACON), Beirut, Lebanon (2014)
[22] A. Rocchi, E. Mingo Hoffman, E. Farnioli, N.G. Tsagarakis, “A Whole-Body Stack-of-Tasks compliant control for the Humanoid Robot COMAN”, Workshop on Whole-Body Control for Robots in the Real World at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA (2014)
[21] A. Paikan, V. Tikhanoff, G. Metta, L. Natale, “Enhancing software module reusability using port plug-ins: an experiment with the iCub robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA (2014)
[20] J.A. Castano, A. Hernandez, Z. Li, C. Zhou, N.G. Tsagarakis, D.G. Caldwell, R. De Keyser, “Implementation of Robust EPSAC on dynamic walking of COMAN Humanoid”, World Congress of the International Federation of Automatic Control (IFAC), Cape Town, South Africa (2014)
[19] S. Faraji, S. Pouya and A.J. Ijspeert, “Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach”, Robotics: Science and Systems (RSS), Berlin, Germany (2014)
[18] S. Faraji, S. Pouya and A.J. Ijspeert, “Robust 3D Walking Using Inverse Dynamics And Footstep Planning With Model Predictive Control”, Dynamic Walking, Zurich, Switzerland (2014)
[17] N. Van der Noot, F. Dzeladini, A.J. Ijspeert, and R. Ronsse , “Simplification of the Hill Muscle Model Computation for Real-TimeWalking Controllers with Large Time Steps”, Dynamic Walking, Zurich, Switzerland (2014)
[16] D. Gonzalez-Aguirre, M. Vollert, T. Asfour and R. Dillmann, “Robust Real-time 6D Active-visual Localization for Humanoid Robots”, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[15] S. Faraji, S. Pouya, C.G. Atkeson and A.J. Ijspeert, “Versatile and Robust 3D Walking with a Simulated Humanoid Robot (Atlas): a Model Predictive Control Approach”, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[14] N. Kashiri, M. Laffranchi, N. Tsagarakis, A. Margan, D.G. Caldwell, "Compliant/Rigid mode control of Compliant Manipulators using Friction Clutches", IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[13] C.Zhou, Z. Li, J. Castano, H. Dallali, N. Tsagarakis, D. Caldwell, “A Passivity Based Compliance Stabilizer for Humanoid Robots”, in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp.1487–1492 (2014).
[12] A. Ajoudani, N.G. Tsagarakis, J. Lee, M. Gabiccini, A. Bicchi, "Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control", IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[11] L. Colasanto, N.Y. Perrin, N.G. Tsagarakis, D.G. Caldwell, “Dynamically Transitioning between Surfaces of Varying Inclinations to Achieve Uneven-Terrain Walking”, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[10] M. Mosadeghzad, N.G. Tsagarakis, G. Medrano-Cerda, D.G. Caldwell, "Power Efficient Balancing Control for Humanoids based on Approximate Optimal Ankle Compliance Regulation", IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China (2014)
[9] A. Settimi, C. Pavan, V. Varricchio, M. Ferrati, E. Mingo Hoffman, A. Rocchi, K. Melo, N.G. Tsagarakis, A. Bicchi, “A modular approach for remote operation of humanoid robots in search and rescue scenarios”, Modelling and Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy (2014)
[8] E. Mingo, S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi, F. Romano, L. Natale, A. Bicchi, G. Greco, F. Nori, N.G. Tsagarakis, “Yarp Based Plugins for Gazebo Simulator”, Modelling and Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy (2014)
2013
Conference Papers
[7] N.G. Tsagarakis, S. Morfey, G. Medrano-Cerda, H. Dallali, D.G. Caldwell, “An Asymmetric Compliant Antagonistic Joint Design for High Performance Mobility“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5512-5517, Tokyo Big Sight, Japan (2013)
[6] Z. Li, N.G. Tsagarakis, D.G. Caldwell, “Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4124-4129, Tokyo Big Sight, Japan (2013)
[5] M. Mosadeghzad, Z. Li, N.G. Tsagarakis, G. Medrano-Cerda, H. Dallali, D.G. Caldwell, “Optimal Ankle Compliance Regulation for Humanoid Balancing Control”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4118-4123, Tokyo Big Sight, Japan (2013)
[4] N. Perrin, N.G. Tsagarakis, D.G. Caldwell, “Compliant Attitude Control and Stepping Strategy for Balance Recovery with the Humanoid COMAN”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4145-4151, Tokyo Big Sight, Japan (2013)
[3] H. Dallali, M. Mosadeghzad, G. Medrano-Cerda, V.-G. Loc, N. Tsagarakis, D. Caldwell, M. Gesino, "Designing a High Performance Humanoid Robot Based on Dynamic Simulation", European Modelling Symposium (EMS), pp. 338-343, Manchester, UK (2013)
[2] E. Mingo Hoffman, N. Perrin, N.G. Tsagarakis, D.G. Caldwell, "Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, USA (2013)
[1] F.L. Moro, M. Gienger, A. Goswami, N.G. Tsagarakis, D.G. Caldwell, "An Attractor-based Whole-Body Motion Control (WBMC) System for Humanoid Robots”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 42-49, Atlanta, Georgia, USA (2013)