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ORCIDNikolaos G. Tsagarakis
Nikos G. Tsagarakis
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- affiliation: Istituto Italiano di Tecnologia, Genoa, Italy
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Journal Articles
- 2023
[j108]Luca Muratore, Nikolaos G. Tsagarakis:
XBot2D: towards a robotics hybrid cloud architecture for field robotics. Frontiers Robotics AI 10 (2023)- [j107]Davide Torielli
, Liana Bertoni, Fabio Fusaro, Nikos G. Tsagarakis, Luca Muratore:
ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors. J. Intell. Robotic Syst. 108(4): 70 (2023) - [j106]Emir Mobedi, Sebastian Hjorth, Wansoo Kim, Elena De Momi, Nikos G. Tsagarakis, Arash Ajoudani:
A Power-Aware Control Strategy for an Elbow Effort-Compensation Device. IEEE Robotics Autom. Lett. 8(7): 4330-4337 (2023) - [j105]Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis:
Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees. IEEE Robotics Autom. Lett. 8(10): 6803-6810 (2023) - [j104]Arturo Laurenzi, Davide Antonucci, Nikos G. Tsagarakis, Luca Muratore:
The XBot2 real-time middleware for robotics. Robotics Auton. Syst. 163: 104379 (2023) - [j103]Gaofeng Li, Fernando Caponetto, Vasiliki Katsageorgiou, Nikos G. Tsagarakis, Ioannis Sagakoglou:
A telerobotic system enabling online switching among various architectures and controllers. Robotics Auton. Syst. 166: 104402 (2023) - [j102]Rajesh Subburaman, Dimitrios Kanoulas, Nikos G. Tsagarakis, Jinoh Lee:
A survey on control of humanoid fall over. Robotics Auton. Syst. 166: 104443 (2023) - [j101]Paolo Ferrari, Luca Rossini, Francesco Ruscelli, Arturo Laurenzi, Giuseppe Oriolo, Nikos G. Tsagarakis, Enrico Mingo Hoffman:
Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. Robotics Auton. Syst. 166: 104448 (2023) - [j100]Luca Muratore, Arturo Laurenzi, Alessio De Luca, Liana Bertoni, Davide Torielli, Lorenzo Baccelliere, Edoardo Del Bianco, Nikos G. Tsagarakis:
A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot. Sensors 23(18): 7735 (2023) - [j99]Gaofeng Li, Shan Xu, Dezhen Song, Fernando Caponetto, Ioannis Sarakoglou, Jingtai Liu, Nikos G. Tsagarakis:
On Perpendicular Curve-Based Task Space Trajectory Tracking Control With Incomplete Orientation Constraint. IEEE Trans Autom. Sci. Eng. 20(2): 1244-1261 (2023) - [j98]Gaofeng Li, Fernando Caponetto, Xinyu Wu, Ioannis Sarakoglou, Nikos G. Tsagarakis:
A Haptic Shared Autonomy With Partial Orientation Regulation for DoF Deficiency in Remote Side. IEEE Trans. Haptics 16(1): 86-95 (2023) - 2022
- [j97]Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles. IEEE Access 10: 2429-2445 (2022) - [j96]Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman:
Horizon: A Trajectory Optimization Framework for Robotic Systems. Frontiers Robotics AI 9 (2022) - [j95]Xinyuan Zhao, Yuqiang Wu, Yangwei You, Arturo Laurenzi, Nikolaos G. Tsagarakis:
Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains. Frontiers Robotics AI 9 (2022) - [j94]Yisoo Lee, Nikos G. Tsagarakis, Christian Ott, Jinoh Lee:
A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure. IEEE Robotics Autom. Lett. 7(2): 1486-1493 (2022) - [j93]Davide Torielli, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis:
TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface. IEEE Robotics Autom. Lett. 7(2): 2479-2486 (2022) - 2021
- [j92]Yisoo Lee, Sanghyun Kim, Jaeheung Park, Nikos G. Tsagarakis, Jinoh Lee:
A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization. IEEE Access 9: 39813-39826 (2021) - [j91]Jiatao Ding, Chengxu Zhou, Songyan Xin, Xiaohui Xiao, Nikolaos G. Tsagarakis:
Nonlinear model predictive control for robust bipedal locomotion: exploring angular momentum and CoM height changes. Adv. Robotics 35(18): 1079-1097 (2021) - [j90]Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. Frontiers Robotics AI 8: 660004 (2021) - [j89]Luca Rossini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis:
NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. Frontiers Robotics AI 8: 715325 (2021) - [j88]Alessio De Luca, Luca Muratore, Vignesh Sushrutha Raghavan, Davide Antonucci, Nikolaos G. Tsagarakis:
Autonomous Obstacle Crossing Strategies for the Hybrid Wheeled-Legged Robot Centauro. Frontiers Robotics AI 8: 721001 (2021) - [j87]Enrico Mingo Hoffman, Nikos G. Tsagarakis:
The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. Int. J. Humanoid Robotics 18(3): 2150008:1-2150008:22 (2021) - [j86]Wesley Roozing, Zeyu Ren, Nikos G. Tsagarakis:
An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg. Int. J. Robotics Res. 40(1) (2021) - [j85]Vishnu Dev Amara, Jörn Malzahn, Wesley Roozing, Nikolaos G. Tsagarakis:
Blending of Series-Parallel Compliant Actuation With Field Weakening Control for Explosive Motion Generation. IEEE Robotics Autom. Lett. 6(2): 2076-2083 (2021) - [j84]Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis:
A Workspace Limit Approach for Teleoperation Based on Signed Distance Function. IEEE Robotics Autom. Lett. 6(3): 5589-5596 (2021) - [j83]Yifang Zhang, Arash Ajoudani, Nikos G. Tsagarakis:
Exo-Muscle: A Semi-Rigid Assistive Device for the Knee. IEEE Robotics Autom. Lett. 6(4): 8514-8521 (2021) - 2020
- [j82]Pietro Balatti, Dimitrios Kanoulas, Nikolaos G. Tsagarakis, Arash Ajoudani:
A method for autonomous robotic manipulation through exploratory interactions with uncertain environments. Auton. Robots 44(8): 1395-1410 (2020) - [j81]Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini:
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI 7: 528473 (2020) - [j80]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, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul Selvam Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke:
Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. J. Field Robotics 37(5): 889-919 (2020) - [j79]Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis:
A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. IEEE Robotics Autom. Lett. 5(1): 235-242 (2020) - [j78]Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis:
An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. IEEE Robotics Autom. Lett. 5(2): 508-515 (2020) - [j77]Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli, Nikos G. Tsagarakis:
Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. IEEE Robotics Autom. Lett. 5(2): 859-866 (2020) - [j76]Malgorzata Kamedula, Nikos G. Tsagarakis:
Reactive Support Polygon Adaptation for the Hybrid Legged-Wheeled CENTAURO Robot. IEEE Robotics Autom. Lett. 5(2): 1734-1741 (2020) - [j75]Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis:
Incomplete Orientation Mapping for Teleoperation With One DoF Master-Slave Asymmetry. IEEE Robotics Autom. Lett. 5(4): 5167-5174 (2020) - [j74]Luca Paparusso, Navvab Kashiri, Nikos G. Tsagarakis:
A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control. IEEE Robotics Autom. Lett. 5(4): 5779-5786 (2020) - [j73]Arash Ajoudani, Philipp Albrecht, Matteo Bianchi, Andrea Cherubini, Simona Del Ferraro, Philippe Fraisse, Lars Fritzsche, Manolo Garabini, Alberto Ranavolo, Patricia Helen Rosen, Massimo Sartori, Nikos G. Tsagarakis, Bram Vanderborght, Sascha Wischniewski:
Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]. IEEE Robotics Autom. Mag. 27(2): 169-176 (2020) - [j72]Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. IEEE Robotics Autom. Mag. 27(3): 133-143 (2020) - [j71]Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis:
Wheeled motion kinematics and control of a hybrid mobility CENTAURO robot. Robotics Auton. Syst. 128: 103482 (2020) - 2019
- [j70]Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, Nikos G. Tsagarakis:
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. Auton. Robots 43(1): 79-95 (2019) - [j69]Jinoh Lee, Houman Dallali, Maolin Jin, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
Robust and adaptive dynamic controller for fully-actuated robots in operational space under uncertainties. Auton. Robots 43(4): 1023-1040 (2019) - [j68]Jörn Malzahn, Navvab Kashiri, Monica A. Daley, Nikolaos G. Tsagarakis:
Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation. Frontiers Robotics AI 6: 19 (2019) - [j67]Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis:
Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. IEEE Robotics Autom. Lett. 4(2): 1117-1124 (2019) - [j66]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, Nikos G. Tsagarakis:
CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. 4(2): 1595-1602 (2019) - [j65]Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis:
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples. IEEE Robotics Autom. Mag. 26(3): 52-63 (2019) - [j64]Enrico Mingo Hoffman, Stéphane Caron, Francesco Ferro, Luis Sentis, Nikos G. Tsagarakis:
Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. IEEE Robotics Autom. Mag. 26(4): 17-19 (2019) - [j63]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, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Lorenzo Baccelliere, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist:
Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. IEEE Robotics Autom. Mag. 26(4): 59-72 (2019) - [j62]Pouya Mohammadi, Enrico Mingo Hoffman, Niels Dehio, Milad S. Malekzadeh, Martin A. Giese, Nikos G. Tsagarakis, Jochen J. Steil:
Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. IEEE Robotics Autom. Mag. 26(4): 83-93 (2019) - [j61]Cheng Fang, Xilun Ding, Chengxu Zhou, Nikolaos G. Tsagarakis:
A2ML: A general human-inspired motion language for anthropomorphic arms based on movement primitives. Robotics Auton. Syst. 111: 145-161 (2019) - [j60]Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona:
Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement. Robotics Auton. Syst. 119: 13-30 (2019) - [j59]Rajesh Subburaman, Dimitrios Kanoulas, Luca Muratore, Nikos G. Tsagarakis, Jinoh Lee:
Human inspired fall prediction method for humanoid robots. Robotics Auton. Syst. 121 (2019) - [j58]Luka Peternel, Cheng Fang, Nikolaos G. Tsagarakis, Arash Ajoudani:
A selective muscle fatigue management approach to ergonomic human-robot co-manipulation. Robotics Comput. Integr. Manuf. 58: 69-79 (2019) - [j57]Spandan Roy, Indra Narayan Kar, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell:
Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback. IEEE Trans. Control. Syst. Technol. 27(2): 603-615 (2019) - 2018
- [j56]Luka Peternel, Nikos G. Tsagarakis, Darwin G. Caldwell, Arash Ajoudani:
Robot adaptation to human physical fatigue in human-robot co-manipulation. Auton. Robots 42(5): 1011-1021 (2018) - [j55]Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
A mixed real-time robot hardware abstraction layer (R-HAL). Encycl. Semantic Comput. Robotic Intell. 2(1): 1850010:1-1850010:7 (2018) - [j54]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, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis:
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5: 129 (2018) - [j53]Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing. Int. J. Humanoid Robotics 15(4): 1850013:1-1850013:25 (2018) - [j52]Arash Ajoudani, Cheng Fang, Nikolaos G. Tsagarakis, Antonio Bicchi:
Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation. Int. J. Robotics Res. 37(1): 155-167 (2018) - [j51]Wansoo Kim, Jinoh Lee, Luka Peternel, Nikolaos G. Tsagarakis, Arash Ajoudani:
Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration. IEEE Robotics Autom. Lett. 3(1): 68-75 (2018) - [j50]Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis:
Online Model Based Estimation of Complete Joint Stiffness of Human Arm. IEEE Robotics Autom. Lett. 3(1): 84-91 (2018) - [j49]Francesco Chinello, Claudio Pacchierotti, João Bimbo, Nikos G. Tsagarakis, Domenico Prattichizzo:
Design and Evaluation of a Wearable Skin Stretch Device for Haptic Guidance. IEEE Robotics Autom. Lett. 3(1): 524-531 (2018) - [j48]Jinoh Lee, Chan Lee, Nikolaos G. Tsagarakis, Sehoon Oh:
Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach. IEEE Robotics Autom. Lett. 3(2): 1442-1449 (2018) - [j47]Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikolaos G. Tsagarakis, Arash Ajoudani:
Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness. IEEE Robotics Autom. Lett. 3(4): 3952-3959 (2018) - [j46]Francesca Negrello, Alessandro Settimi, Danilo Caporale, Gianluca Lentini, Mattia Poggiani, Dimitrios Kanoulas, Luca Muratore, Emanuele Luberto, Gaspare Santaera, Luca Ciarleglio, Leonardo Ermini, Lucia Pallottino, Darwin G. Caldwell, Nikolaos G. Tsagarakis, Antonio Bicchi, Manolo Garabini, Manuel G. Catalano:
Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario. IEEE Robotics Autom. Mag. 25(3): 8-22 (2018) - [j45]Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Peter R. N. Childs, Nikos G. Tsagarakis:
Online impedance regulation techniques for compliant humanoid balancing. Robotics Auton. Syst. 104: 85-98 (2018) - [j44]Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff:
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. IEEE Trans. Robotics 34(6): 1461-1471 (2018) - 2017
- [j43]Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alberto Cardellino, Alessio Rocchi, Enrico Mingo Hoffman, Corrado Pavan, Dimitrios Kanoulas, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino:
Corrigendum: The Walk-Man Robot Software Architecture. Frontiers Robotics AI 4: 44 (2017) - [j42]Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Visual Grasp Affordance Localization in Point Clouds Using Curved Contact Patches. Int. J. Humanoid Robotics 14(1): 1650028:1-1650028:21 (2017) - [j41]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, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani:
WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. J. Field Robotics 34(7): 1225-1259 (2017) - [j40]Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles. IEEE Robotics Autom. Lett. 2(2): 1186-1194 (2017) - [j39]Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators. IEEE Robotics Autom. Lett. 2(4): 2255-2262 (2017) - [j38]Maolin Jin, Jinoh Lee, Nikolaos G. Tsagarakis:
Model-Free Robust Adaptive Control of Humanoid Robots With Flexible Joints. IEEE Trans. Ind. Electron. 64(2): 1706-1715 (2017) - [j37]Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi:
Choosing Poses for Force and Stiffness Control. IEEE Trans. Robotics 33(6): 1483-1490 (2017) - 2016
- [j36]Zhibin Li, Chengxu Zhou, Nikos G. Tsagarakis, Darwin G. Caldwell:
Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation. Auton. Robots 40(6): 955-971 (2016) - [j35]Chengxu Zhou, Zhibin Li, Xin Wang, Nikos G. Tsagarakis, Darwin G. Caldwell:
Stabilization of bipedal walking based on compliance control. Auton. Robots 40(6): 1041-1057 (2016) - [j34]Mirko Ferrati, Alessandro Settimi, Luca Muratore, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino:
The Walk-Man Robot Software Architecture. Frontiers Robotics AI 3: 25 (2016) - [j33]Juan Alejandro Castano, Zhibin Li, Chengxu Zhou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control. Int. J. Humanoid Robotics 13(2): 1550041:1-1550041:44 (2016) - [j32]Wesley Roozing, Zhibin Li, Darwin G. Caldwell, Nikos G. Tsagarakis:
Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency. IEEE Robotics Autom. Lett. 1(2): 1110-1117 (2016) - [j31]Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell:
Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments. Robotics Auton. Syst. 75: 398-408 (2016) - 2015
- [j30]Giorgio Grioli, Sebastian Wolf, Manolo Garabini, Manuel G. Catalano, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Werner Friedl, Markus Grebenstein, Matteo Laffranchi, Dirk Lefeber, Stefano Stramigioli, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi:
Variable stiffness actuators: The user's point of view. Int. J. Robotics Res. 34(6): 727-743 (2015) - [j29]Amir Jafari, Nikos G. Tsagarakis, Darwin G. Caldwell:
Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism. Ind. Robot 42(3): 242-251 (2015) - [j28]Diego Torricelli, José González-Vargas, Jan F. Veneman, Katja D. Mombaur, Nikos G. Tsagarakis, Antonio J. del Ama, Ángel Gil-Agudo, Juan C. Moreno, José Luis Pons Rovira:
Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans. IEEE Robotics Autom. Mag. 22(3): 103-115 (2015) - [j27]Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Jody Alessandro Saglia, Antonio Bicchi, Darwin G. Caldwell:
Tele-impedance based assistive control for a compliant knee exoskeleton. Robotics Auton. Syst. 73: 78-90 (2015) - [j26]Juan Alejandro 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. Robotics Auton. Syst. 74: 283-295 (2015) - 2014
- [j25]Federico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell:
Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs). Auton. Robots 36(4): 331-347 (2014) - [j24]Matteo Laffranchi, Lisha Chen, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell:
Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots. Robotics Auton. Syst. 62(12): 1827-1836 (2014) - [j23]Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Stephen Morfey, Darwin G. Caldwell:
Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. IEEE Trans. Ind. Electron. 61(10): 5431-5443 (2014) - [j22]Arash Ajoudani, Sasha B. Godfrey, Matteo Bianchi, Manuel G. Catalano, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi:
Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand. IEEE Trans. Haptics 7(2): 203-215 (2014) - [j21]Nadia Vanessa Garcia-Hernandez, Federica Bertolotto, Ferdinando Cannella, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks. IEEE Trans. Haptics 7(3): 356-366 (2014) - 2013
- [j20]Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell:
Walking pattern generation for a humanoid robot with compliant joints. Auton. Robots 35(1): 1-14 (2013) - [j19]Federico L. Moro, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani, Nikos G. Tsagarakis, Auke Jan Ijspeert, Darwin G. Caldwell:
Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot. Biol. Cybern. 107(3): 309-320 (2013) - [j18]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, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: A review. Robotics Auton. Syst. 61(12): 1601-1614 (2013) - [j17]Nikos G. Tsagarakis, Darwin G. Caldwell:
Improving Mouse-Based Computer Interaction in Users With Weak Upper Limb Motion Control Using a Haptic Assistive System. IEEE Trans. Hum. Mach. Syst. 43(2): 177-187 (2013) - [j16]Irene Sardellitti, Gustavo A. Medrano-Cerda, Nikolaos G. Tsagarakis, Amir Jafari, Darwin G. Caldwell:
Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms. IEEE Trans. Robotics 29(3): 791-798 (2013) - 2012
- [j15]Federico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell:
On the Kinematic Motion Primitives (kMPs) - Theory and Application. Frontiers Neurorobotics 6: 10 (2012) - [j14]Alberto Parmiggiani, Marco Maggiali, Lorenzo Natale, Francesco Nori, Alexander Schmitz, Nikos G. Tsagarakis, José Santos-Victor, Francesco Becchi, Giulio Sandini, Giorgio Metta:
The Design of the iCub humanoid Robot. Int. J. Humanoid Robotics 9(4) (2012) - [j13]Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Darwin G. Caldwell:
Yaw moment compensation for bipedal Robots via Intrinsic angular momentum Constraint. Int. J. Humanoid Robotics 9(4) (2012) - [j12]Fabrizio Flacco, Alessandro De Luca, Irene Sardellitti, Nikos G. Tsagarakis:
On-line estimation of variable stiffness in flexible robot joints. Int. J. Robotics Res. 31(13): 1556-1577 (2012) - [j11]Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi:
Tele-impedance: Teleoperation with impedance regulation using a body-machine interface. Int. J. Robotics Res. 31(13): 1642-1656 (2012) - [j10]Ioannis Sarakoglou, Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A High Performance Tactile Feedback Display and Its Integration in Teleoperation. IEEE Trans. Haptics 5(3): 252-263 (2012) - 2011
- [j9]Bram Vanderborght, Nikolaos G. Tsagarakis, Ronald Van Ham, Ivar Thorson, Darwin G. Caldwell:
MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D. Auton. Robots 31(1): 55-65 (2011) - [j8]Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Feeling through Tactile Displays: A Study on the Effect of the Array Density and Size on the Discrimination of Tactile Patterns. IEEE Trans. Haptics 4(2): 100-110 (2011) - 2009
- [j7]Jody Alessandro Saglia, Nikolaos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
A High-performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation. Int. J. Robotics Res. 28(9): 1216-1227 (2009) - 2007
- [j6]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:
iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robotics 21(10): 1151-1175 (2007) - [j5]Darwin G. Caldwell, Nikolaos G. Tsagarakis, Sophia Kousidou, Nelson Costa, Ioannis Sarakoglou:
"Soft" Exoskeletons for Upper and Lower Body Rehabilitation - Design, Control and Testing. Int. J. Humanoid Robotics 4(3): 549-573 (2007) - 2006
- [j4]Nikolaos G. Tsagarakis, John O. Gray, Darwin G. Caldwell, Cinzia Zannoni, Marco Petrone, Debora Testi, Marco Viceconti:
Haptic-Enabled Multimodal Interface for the Planning of Hip Arthroplasty. IEEE Multim. 13(3): 40-48 (2006) - 2003
- [j3]Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Development and Control of a 'Soft-Actuated' Exoskeleton for Use in Physiotherapy and Training. Auton. Robots 15(1): 21-33 (2003) - [j2]Steve Davis, Nikolaos G. Tsagarakis, J. Canderle, Darwin G. Caldwell:
Enhanced Modelling and Performance in Braided Pneumatic Muscle Actuators. Int. J. Robotics Res. 22(3-4): 213-228 (2003) - [j1]M. Brown, Nikos G. Tsagarakis, Darwin G. Caldwell:
Exoskeletons for human force augmentation. Ind. Robot 30(6): 592-602 (2003)
Conference and Workshop Papers
- 2023
- [c284]Federico Rollo, Andrea Zunino, Gennaro Raiola, Fabio Amadio, Arash Ajoudani, Nikolaos G. Tsagarakis:
FollowMe: a Robust Person Following Framework Based on Visual Re-Identification and Gestures. ARSO 2023: 84-89 - [c283]Edoardo Romiti, Francesco Iacobelli, Marco Ruzzon, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design. CASE 2023: 1-8 - [c282]Federico Rollo, Gennaro Raiola, Andrea Zunino, Nikolaos G. Tsagarakis, Arash Ajoudani:
Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization. ECMR 2023: 1-8 - [c281]Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis:
Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. Humanoids 2023: 1-8 - [c280]Andrea Patrizi, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis:
Optimal Design of Agile Jumping Maneuvers for a Single Leg System. Humanoids 2023: 1-8 - [c279]Luca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis, Nikos G. Tsagarakis:
A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. Humanoids 2023: 1-8 - [c278]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, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis:
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. ICRA 2023: 11887-11893 - [c277]Jingcheng Jiang, Yifang Zhang, Nikos G. Tsagarakis:
Modelling and Compensation for Transmission Error of Timing Belt in Legged Robots. ROBIO 2023: 1-6 - 2022
- [c276]Xinyuan Zhao, Yuqiang Wu, Arturo Laurenzi, Nikos G. Tsagarakis:
Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots. AIM 2022: 1489-1496 - [c275]Luca Rossini, Nikos G. Tsagarakis:
From Offline to Online: A Perception-Based Local Planner for Dynamic Obstacle Avoidance. Humanoids 2022: 163-170 - [c274]Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis:
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. Humanoids 2022: 291-298 - [c273]Liang Lu, Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis:
An Optimal Frontier Enhanced "Next Best View" Planner For Autonomous Exploration. Humanoids 2022: 397-404 - [c272]Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis:
An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. Humanoids 2022: 594-601 - [c271]Davide Torielli, Luca Muratore, Alessio De Luca, Nikos G. Tsagarakis:
A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass. Humanoids 2022: 738-745 - [c270]Liana Bertoni, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis:
Task Driven Online Impedance Modulation. Humanoids 2022: 865-872 - [c269]Davide Torielli, Luca Muratore, Nikos G. Tsagarakis:
Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators. IROS 2022: 6205-6212 - [c268]Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis:
A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO. IROS 2022: 7904-7911 - 2021
- [c267]Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis:
A Compliant Mechanism with Progressive Stiffness for Robotic Actuation. AIM 2021: 774-780 - [c266]Eamon Barrett, Enrico Mingo Hoffman, Lorenzo Baccelliere, Nikos G. Tsagarakis:
Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. AIM 2021: 1255-1261 - [c265]Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis:
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. HUMANOIDS 2021: 41-46 - [c264]Davide Torielli, Liana Bertoni, Nikos G. Tsagarakis, Luca Muratore:
Towards an Open-Source Hardware Agnostic Framework for Robotic End-Effectors Control. ICAR 2021: 688-694 - [c263]Liana Bertoni, Davide Torielli, Yifang Zhang, Nikos G. Tsagarakis, Luca Muratore:
Towards a Generic Grasp Planning Pipeline using End-Effector Specific Primitive Grasping Actions. ICAR 2021: 722-729 - [c262]Akash Singh, Navvab Kashiri, Nikos G. Tsagarakis:
Thermal Control for Peak Operation of Electric Robotic actuators. ICAR 2021: 763-770 - [c261]Xinyuan Zhao, Yangwei You, Arturo Laurenzi, Navvab Kashiri, Nikos G. Tsagarakis:
Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO. ICRA 2021: 5028-5034 - [c260]Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis:
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. ICRA 2021: 8359-8365 - [c259]Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis:
Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. ICRA 2021: 9826-9832 - [c258]Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots. ICRA 2021: 9891-9897 - [c257]Éamon Barrett, Zeyu Ren, Nikos G. Tsagarakis:
Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology. IROS 2021: 6131-6138 - [c256]Emir Mobedi, Wansoo Kim, Elena De Momi, Nikos G. Tsagarakis, Arash Ajoudani:
A Soft Assistive Device for Elbow Effort-Compensation. IROS 2021: 9540-9547 - 2020
- [c255]Luka Peternel, Cheng Fang, Marco Laghi, Antonio Bicchi, Nikos G. Tsagarakis, Arash Ajoudani:
Human Arm Posture Optimisation in Bilateral Teleoperation Through Interface Reconfiguration. BioRob 2020: 1102-1108 - [c254]Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis:
On the efficient control of series-parallel compliant articulated robots. ICRA 2020: 385-391 - [c253]Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot. ICRA 2020: 1424-1430 - [c252]Gaofeng Li, Edoardo Del Bianco, Fernando Caponetto, Vasiliki Katsageorgiou, Nikos G. Tsagarakis, Ioannis Sarakoglou:
A Novel Orientability Index and the Kinematic Design of the RemoT-ARM: A Haptic Master with Large and Dexterous Workspace. ICRA 2020: 11319-11325 - [c251]Jiatao Ding, Xiaohui Xiao, Nikos G. Tsagarakis, Yanlong Huang:
Robust Gait Synthesis Combining Constrained Optimization and Imitation Learning. IROS 2020: 3473-3480 - [c250]Francesco Ruscelli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. IROS 2020: 3869-3876 - 2019
- [c249]Anh Nguyen, Thanh-Toan Do, Darwin G. Caldwell, Nikos G. Tsagarakis:
Real-Time 6DOF Pose Relocalization for Event Cameras With Stacked Spatial LSTM Networks. CVPR Workshops 2019: 1638-1645 - [c248]Vivekanandan Suryamurthy, Vignesh Sushrutha Raghavan, Arturo Laurenzi, Nikos G. Tsagarakis, Dimitrios Kanoulas:
Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot. Humanoids 2019: 1-8 - [c247]Mobin Mohammadnia, Navvab Kashiri, Francesco Braghin, Nikos G. Tsagarakis:
Flux Regulation for Torque-controlled Robotics Actuators. ICAR 2019: 93-98 - [c246]Anh Nguyen, Quang D. Tran, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis:
Object Captioning and Retrieval with Natural Language. ICCV Workshops 2019: 2584-2592 - [c245]Jiatao Ding, Chengxu Zhou, Zhao Guo, Xiaohui Xiao, Nikos G. Tsagarakis:
Versatile Reactive Bipedal Locomotion Planning Through Hierarchical Optimization. ICRA 2019: 256-262 - [c244]Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis:
CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. ICRA 2019: 591-596 - [c243]Pouya Mohammadi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis, Jochen J. Steil:
Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. ICRA 2019: 4991-4997 - [c242]Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis:
A Self-Modulated Impedance Multimodal Interaction Framework for Human-Robot Collaboration. ICRA 2019: 4998-5004 - [c241]Francesca Negrello, Manolo Garabini, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi, Manuel G. Catalano:
Benchmarking Resilience of Artificial Hands. ICRA 2019: 8374-8380 - [c240]Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis:
A Rolling Flexure Mechanism for Progressive Stiffness Actuators. ICRA 2019: 8415-8421 - [c239]Cheng Fang, Navvab Kashiri, Giuseppe Francesco Rigano, Arash Ajoudani, Nikos G. Tsagarakis:
Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm. ICRA 2019: 9502-9508 - [c238]Pietro Balatti, Dimitrios Kanoulas, Nikos G. Tsagarakis, Arash Ajoudani:
Towards Robot Interaction Autonomy: Explore, Identify, and Interact. ICRA 2019: 9523-9529 - [c237]Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikolaos G. Tsagarakis:
Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. IRC 2019: 445-446 - [c236]Songyan Xin, Romeo Orsolino, Nikos G. Tsagarakis:
Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control. IROS 2019: 513-520 - [c235]Stylianos Piperakis, Dimitrios Kanoulas, Nikos G. Tsagarakis, Panos E. Trahanias:
Outlier-Robust State Estimation for Humanoid Robots*. IROS 2019: 706-713 - [c234]Jiatao Ding, Xiaohui Xiao, Nikolaos G. Tsagarakis:
Nonlinear optimization of Step Duration and Step Location. IROS 2019: 2259-2265 - [c233]Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. IROS 2019: 3876-3881 - [c232]Yisoo Lee, Nikolaos G. Tsagarakis, Jinoh Lee:
Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency. IROS 2019: 4652-4659 - [c231]Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, Nikos G. Tsagarakis:
Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot. IROS 2019: 4738-4745 - [c230]João Bimbo, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo:
Collision Detection and Isolation on a Robot using Joint Torque Sensing. IROS 2019: 7604-7609 - [c229]Juan Alejandro Castano, Chengxu Zhou, Nikos G. Tsagarakis:
Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space. ROBIO 2019: 41-46 - 2018
- [c228]Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis:
An analysis of the effect of gravity compensation on compliant biped walking controllers. AMC 2018: 417-422 - [c227]Roel Djajadiningrat, Wesley Roozing, Nikolaos G. Tsagarakis:
Explosive Motions with Compliant Actuation Arrangements in Articulated Robots. BioRob 2018: 1309-1314 - [c226]Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Chengxu Zhou, Darwin G. Caldwell, Nikos G. Tsagarakis:
A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion. Humanoids 2018: 1-8 - [c225]Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis:
The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles. Humanoids 2018: 1-9 - [c224]Rajesh Subburaman, Nikos G. Tsagarakis, Jinoh Lee:
Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts. Humanoids 2018: 1-7 - [c223]Songyan Xin, Chengxu Zhou, Nikos G. Tsagarakis:
New Cross-Step Enabled Configurations for Humanoid Robot. Humanoids 2018: 1-9 - [c222]Juan Alejandro Castano, Chengxu Zhou, Nikos G. Tsagarakis:
From Non-Reactive to Reactive Walking in Humanoid Robots. Humanoids 2018: 280-283 - [c221]Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis:
Balancing Control Through Post-Optimization of Contact Forces. Humanoids 2018: 320-326 - [c220]Luigo Penco, Brice Clement, Valerio Modugno, Enrico Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos G. Tsagarakis, Jean-Baptiste Mourert, Serena Ivaldi:
Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. Humanoids 2018: 425-432 - [c219]Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona:
rxKinFu: Moving Volume KinectFusion for 3D Perception and Robotics. Humanoids 2018: 1002-1009 - [c218]Emily-Jane Rolley-Parnell, Dimitrios Kanoulas, Arturo Laurenzi, Brian Delhaisse, Leonel Dario Rozo, Darwin G. Caldwell, Nikos G. Tsagarakis:
Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor. ICARCV 2018: 298-304 - [c217]Dimitrios Kanoulas, Alexander Stumpf, Vignesh Sushrutha Raghavan, Chengxu Zhou, Alexia Toumpa, Oskar von Stryk, Darwin G. Caldwell, Nikos G. Tsagarakis:
Footstep Planning in Rough Terrain for Bipedal Robots Using Curved Contact Patches. ICRA 2018: 1-9 - [c216]Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. ICRA 2018: 1-5 - [c215]Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos G. Tsagarakis:
Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks. ICRA 2018: 1-9 - [c214]Wesley Roozing, Zeyu Ren, Nikos G. Tsagarakis:
Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots. ICRA 2018: 1-8 - [c213]Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell:
Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. ICRA 2018: 309-315 - [c212]Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Online Falling-Over Control of Humanoids Exploiting Energy Shaping and Distribution Methods. ICRA 2018: 448-454 - [c211]Juan Alejandro Castano, Przemyslaw Kryczka, Brian Delhaisse, Chengxu Zhou, Nikos G. Tsagarakis:
Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users. ICRA 2018: 543-549 - [c210]Juan Alejandro Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos G. Tsagarakis:
A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. ICRA 2018: 706-712 - [c209]Jörn Malzahn, Vishnu Dev Amara, Nikolaos G. Tsagarakis:
Continuously Controllable Series Clutches for Efficient Robot Actuation. ICRA 2018: 7735-7741 - [c208]Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. IRC 2018: 175-176 - [c207]Luca Muratore, Barry Lennox, Nikos G. Tsagarakis:
XBotCloud: A Scalable Cloud Computing Infrastructure for XBot Powered Robots. IROS 2018: 1-9 - [c206]Wesley Roozing, Navvab Kashiri, Nikos G. Tsagarakis:
Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control. IROS 2018: 1-8 - [c205]Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. IROS 2018: 1-9 - [c204]Lorenzo Saccares, Ioannis Sarakoglou, Nikos G. Tsagarakis:
A Novel Joint Torque Estimation Method and Sensory System for Assistive Lower Limb Exoskeletons. IROS 2018: 1-9 - [c203]Luka Peternel, Cheng Fang, Nikos G. Tsagarakis, Arash Ajoudani:
Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation. IROS 2018: 1340-1346 - [c202]Zeyu Ren, Navvab Kashiri, Chengxu Zhou, Nikos G. Tsagarakis:
HERI II: A Robust and Flexible Robotic Hand based on Modular Finger design and Under Actuation Principles. IROS 2018: 1449-1455 - [c201]Songyan Xin, Brian Delhaisse, Yangwei You, Chengxu Zhou, Mohammad Shahbazi, Nikos G. Tsagarakis:
Neural-Network-Controlled Spring Mass Template for Humanoid Running. IROS 2018: 1725-1731 - [c200]Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis:
Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. IROS 2018: 2267-2273 - [c199]Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis:
On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO robot. IROS 2018: 2426-2433 - [c198]Luka Peternel, Nikos G. Tsagarakis, Arash Ajoudani:
A Method for Robot Motor Fatigue Management in Physical Interaction and Human-Robot Collaboration Tasks. IROS 2018: 2850-2856 - [c197]Pietro Balatti, Dimitrios Kanoulas, Giuseppe Francesco Rigano, Luca Muratore, Nikos G. Tsagarakis, Arash Ajoudani:
A Self-Tuning Impedance Controller for Autonomous Robotic Manipulation. IROS 2018: 5885-5891 - [c196]Mohammad Shahbazi, Navvab Kashiri, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints. IROS 2018: 7033-7038 - [c195]Dennis Leroy Wigand, Pouya Mohammadi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Jochen J. Steil, Sebastian Wrede:
An open-source architecture for simulation, execution and analysis of real-time robotics systems. SIMPAR 2018: 93-100 - [c194]Cheng Fang, Giuseppe Francesco Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis:
Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm. SMC 2018: 1457-1464 - [c193]Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis:
A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm. SMC 2018: 3472-3479 - 2017
- [c192]Francesca Negrello, Manuel G. Catalano, Manolo Garabini, Mattia Poggiani, Darwin G. Caldwell, Nikos G. Tsagarakis, Antonio Bicchi:
Design and characterization of a novel high-compliance spring for robots with soft joints. AIM 2017: 271-278 - [c191]Cheng Fang, Jinoh Lee, Arash Ajoudani, Chengxu Zhou, Nikos G. Tsagarakis, Darwin G. Caldwell:
RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms. AIM 2017: 1612-1618 - [c190]Virginia Ruiz Garate, Nikos G. Tsagarakis, Antonio Bicchi, Arash Ajoudani:
On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands. Humanoids 2017: 113-120 - [c189]Dimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Vision-based foothold contact reasoning using curved surface patches. Humanoids 2017: 121-128 - [c188]Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis:
Variable impedance walking using Time-Varying Lyapunov Stability Margins. Humanoids 2017: 318-323 - [c187]Francesco Cursi, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
An online interactive method for guided calibration of multi-dimensional force/torque transducers. Humanoids 2017: 398-405 - [c186]Juan Alejandro Castano, Chengxu Zhou, Przemyslaw Kryczka, Nikos G. Tsagarakis:
MPC strategy for dynamic stabilization of preplanned walking gaits. Humanoids 2017: 618-623 - [c185]Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis:
Robot control for dummies: Insights and examples using OpenSoT. Humanoids 2017: 736-741 - [c184]Chan Lee, Jinoh Lee, Jörn Malzahn, Nikolaos G. Tsagarakis, Sehoon Oh:
A two-staged residual for resilient external torque estimation with series elastic actuators. Humanoids 2017: 817-823 - [c183]Nikos G. Tsagarakis:
Actuation principles for robots with high power and enhance physical interaction capabilities. ICARSC 2017: 3 - [c182]Wansoo Kim, Jinoh Lee, Nikos G. Tsagarakis, Arash Ajoudani:
A real-time and reduced-complexity approach to the detection and monitoring of static joint overloading in humans. ICORR 2017: 828-834 - [c181]Lorenzo Saccares, Anais Brygo, Ioannis Sarakoglou, Nikos G. Tsagarakis:
A novel human effort estimation method for knee assistive exoskeletons. ICORR 2017: 1266-1272 - [c180]Navvab Kashiri, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
A self-adaptive variable impedance actuator based on intrinsic non-linear compliance and damping principles. ICRA 2017: 1248-1254 - [c179]Yangwei You, Chengxu Zhou, Zhibin Li, Nikos G. Tsagarakis:
A study of nonlinear forward models for dynamic walking. ICRA 2017: 3491-3496 - [c178]Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff:
Combined inverse-dynamics/passivity-based control for robots with elastic joints. ICRA 2017: 5281-5288 - [c177]Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G. Caldwell, Nikos G. Tsagarakis:
XBotCore: A Real-Time Cross-Robot Software Platform. IRC 2017: 77-80 - [c176]Zeyu Ren, Chengxu Zhou, Songyan Xin, Nikos G. Tsagarakis:
HERI hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation. IROS 2017: 322-328 - [c175]Songyan Xin, Yangwei You, Chengxu Zhou, Cheng Fang, Nikos G. Tsagarakis:
A torque-controlled humanoid robot riding on a two-wheeled mobile platform. IROS 2017: 1435-1442 - [c174]João Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos G. Tsagarakis, Domenico Prattichizzo:
Teleoperation in cluttered environments using wearable haptic feedback. IROS 2017: 3401-3408 - [c173]Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell:
What is the torque bandwidth of this actuator? IROS 2017: 4762-4768 - [c172]Mohammad Shahbazi, Jinoh Lee, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
Inverse dynamics control of bimanual object manipulation using orthogonal decomposition: An analytic approach. IROS 2017: 4791-4796 - [c171]Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis:
Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. IROS 2017: 5594-5601 - [c170]Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Object-based affordances detection with Convolutional Neural Networks and dense Conditional Random Fields. IROS 2017: 5908-5915 - [c169]Navvab Kashiri, Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell, Nikos G. Tsagarakis:
Exploiting the natural dynamics of compliant joint robots for cyclic motions. MMAR 2017: 676-681 - [c168]Stefan Bethge, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters. RAAD 2017: 156-165 - [c167]Mohammad Shahbazi, Navvab Kashiri, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
Orientation planning in task space using quaternion polynomials. ROBIO 2017: 2343-2348 - [c166]Songyan Xin, Yangwei You, Chengxu Zhou, Nikos G. Tsagarakis:
Humanoid running based on centroidal dynamics and heuristic foot placement. ROBIO 2017: 2584-2590 - 2016
- [c165]Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell:
Robot Dynamics Constraint for Inverse Kinematics. ARK 2016: 275-283 - [c164]Chengxu Zhou, Cheng Fang, Xin Wang, Zhibin Li, Nikos G. Tsagarakis:
A generic optimization-based framework for reactive collision avoidance in bipedal locomotion. CASE 2016: 1026-1033 - [c163]Francesco Chinello, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo:
Design of a wearable skin stretch cutaneous device for the upper limb. HAPTICS 2016: 14-20 - [c162]Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona:
Uncertainty analysis for curved surface contact patches. Humanoids 2016: 359-365 - [c161]Luka Peternel, Nikos G. Tsagarakis, Darwin G. Caldwell, Arash Ajoudani:
Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation. Humanoids 2016: 489-494 - [c160]Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Tamim Asfour:
An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. Humanoids 2016: 621-628 - [c159]Jinoh Lee, Wooseok Choi, Dimitrios Kanoulas, Rajesh Subburaman, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
An active compliant impact protection system for humanoids: Application to WALK-MAN hands. Humanoids 2016: 778-785 - [c158]Juan Alejandro Castano, Chengxu Zhou, Zhibin Li, Nikos G. Tsagarakis:
Robust Model Predictive Control for humanoids standing balancing. ICARM 2016: 147-152 - [c157]Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, Nikos G. Tsagarakis:
Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg. ICINCO (1) 2016: 205-212 - [c156]Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot. ICINCO (2) 2016: 485-491 - [c155]Wooseok Choi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Nikos G. Tsagarakis:
Design of a variable compliant humanoid foot with a new toe mechanism. ICRA 2016: 642-647 - [c154]Francesca Negrello, Manolo Garabini, Manuel G. Catalano, Przemyslaw Kryczka, Wooseok Choi, Darwin G. Caldwell, Antonio Bicchi, Nikolaos G. Tsagarakis:
WALK-MAN humanoid lower body design optimization for enhanced physical performance. ICRA 2016: 1817-1824 - [c153]Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos G. Tsagarakis, Antonio Bicchi:
Reflex control of the Pisa/IIT SoftHand during object slippage. ICRA 2016: 1972-1979 - [c152]Anais Brygo, Ioannis Sarakoglou, Arash Ajoudani, Nadia Vanessa Garcia-Hernandez, Giorgio Grioli, Manuel G. Catalano, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries. ICRA 2016: 4859-4865 - [c151]Jinoh Lee, Houman Dallali, Maolin Jin, Darwin G. Caldwell, Nikolaos G. Tsagarakis:
Robust and adaptive whole-body controller for humanoids with multiple tasks under uncertain disturbances. ICRA 2016: 5683-5689 - [c150]Lorenzo Saccares, Ioannis Sarakoglou, Nikos G. Tsagarakis:
iT-Knee: An exoskeleton with ideal torque transmission interface for ergonomic power augmentation. IROS 2016: 780-786 - [c149]Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Preparatory object reorientation for task-oriented grasping. IROS 2016: 893-899 - [c148]Ioannis Sarakoglou, Anais Brygo, Dario Mazzanti, Nadia Vanessa Garcia-Hernandez, Darwin G. Caldwell, Nikos G. Tsagarakis:
HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback. IROS 2016: 1033-1040 - [c147]Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell, Nikos G. Tsagarakis:
Balance and impedance optimization control for COmpliant huMANoid stepping. IROS 2016: 1349-1355 - [c146]Luka Peternel, Nikos G. Tsagarakis, Arash Ajoudani:
Towards multi-modal intention interfaces for human-robot co-manipulation. IROS 2016: 2663-2669 - [c145]Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis:
Detecting object affordances with Convolutional Neural Networks. IROS 2016: 2765-2770 - [c144]Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis:
Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. IROS 2016: 3842-3847 - [c143]Peter Kaiser, Eren Erdal Aksoy, Markus Grotz, Dimitrios Kanoulas, Nikos G. Tsagarakis, Tamim Asfour:
Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction. ISER 2016: 136-146 - [c142]Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Multi-sensor based fall prediction method for humanoid robots. MFI 2016: 102-108 - [c141]Yangwei You, Songyan Xin, Chengxu Zhou, Nikos G. Tsagarakis:
Straight leg walking strategy for torque-controlled humanoid robots. ROBIO 2016: 2014-2019 - 2015
- [c140]Emmanouil Spyrakos-Papastavridis, Dimitrios Kanoulas, Nikos G. Tsagarakis, Darwin G. Caldwell:
Optically-regulated impedance-based balancing for humanoid robots. Humanoids 2015: 41-46 - [c139]Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell:
Online impedance parameter tuning for compliant biped balancing. Humanoids 2015: 210-216 - [c138]Francesca Negrello, Manolo Garabini, Manuel G. Catalano, Jörn Malzahn, Darwin G. Caldwell, Antonio Bicchi, Nikolaos G. Tsagarakis:
A modular compliant actuator for emerging high performance and fall-resilient humanoids. Humanoids 2015: 414-420 - [c137]Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Darwin G. Caldwell:
Efficient self-collision avoidance based on focus of interest for humanoid robots. Humanoids 2015: 1060-1066 - [c136]Navvab Kashiri, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell:
Damping control of variable damping compliant actuators. ICRA 2015: 850-856 - [c135]Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi:
On the role of robot configuration in Cartesian stiffness control. ICRA 2015: 1010-1016 - [c134]Mostafa Bagheri, Arash Ajoudani, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders. ICRA 2015: 2710-2715 - [c133]Zhibin Li, Chengxu Zhou, Juan Alejandro Castano, Xin Wang, Francesca Negrello, Nikos G. Tsagarakis, Darwin G. Caldwell:
Fall Prediction of legged robots based on energy state and its implication of balance augmentation: A study on the humanoid. ICRA 2015: 5094-5100 - [c132]Alessio Rocchi, Enrico Mingo Hoffman, Darwin G. Caldwell, Nikos G. Tsagarakis:
OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. ICRA 2015: 6248-6253 - [c131]Zhibin Li, Chengxu Zhou, Qiuguo Zhu, Rong Xiong, Nikos G. Tsagarakis, Darwin G. Caldwell:
Active control of under-actuated foot tilting for humanoid push recovery. IROS 2015: 977-982 - [c130]Arash Ajoudani, Cheng Fang, Nikos G. Tsagarakis, Antonio Bicchi:
A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control. IROS 2015: 1017-1023 - [c129]Chengxu Zhou, Xin Wang, Zhibin Li, Darwin G. Caldwell, Nikos G. Tsagarakis:
Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle. IROS 2015: 1599-1604 - [c128]Przemyslaw Kryczka, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell:
Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing. IROS 2015: 3352-3357 - [c127]Luca Colasanto, Nikos G. Tsagarakis, Auke Jan Ijspeert:
A general whole-body compliance framework for humanoid robots. IROS 2015: 3962-3968 - [c126]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. IROS 2015: 4492-4497 - [c125]Wooseok Choi, Chengxu Zhou, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Nikos G. Tsagarakis:
A new foot sole design for humanoids robots based on viscous air damping mechanism. IROS 2015: 4498-4503 - [c124]Houman Dallali, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell:
Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints. SyRoCo 2015: 130-135 - 2014
- [c123]Houman Dallali, Gustavo A. Medrano-Cerda, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell:
Decentralized Feedback Design for a Compliant Robot Arm. EMS 2014: 269-274 - [c122]Anais Brygo, Ioannis Sarakoglou, Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis:
Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback. EuroHaptics (2) 2014: 266-275 - [c121]Zhibin Li, Chengxu Zhou, Houman Dallali, Nikos G. Tsagarakis, Darwin G. Caldwell:
Comparison study of two inverted pendulum models for balance recovery. Humanoids 2014: 67-72 - [c120]Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin G. Caldwell, Antonio Bicchi, Nikos G. Tsagarakis:
A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. Humanoids 2014: 664-670 - [c119]Jinoh Lee, Arash Ajoudani, Enrico Mingo Hoffman, Alessio Rocchi, Alessandro Settimi, Mirko Ferrati, Antonio Bicchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Upper-body impedance control with variable stiffness for a door opening task. Humanoids 2014: 713-719 - [c118]Anais Brygo, Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback. Humanoids 2014: 862-867 - [c117]Mohamad Mosadeghzad, Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell:
Optimal human-inspired ankle stiffness regulation for humanoid balancing control. Humanoids 2014: 902-907 - [c116]Nikolaos G. Tsagarakis, Houman Dallali, Francesca Negrello, Wesley Roozing, Gustavo A. Medrano-Cerda, Darwin G. Caldwell:
Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. Humanoids 2014: 924-929 - [c115]Houman Dallali, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell:
Can active impedance protect robots from landing impact? Humanoids 2014: 1022-1027 - [c114]Navvab Kashiri, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell:
Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control. ICINCO (2) 2014: 175-183 - [c113]Navvab Kashiri, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell:
Proxy-Based Sliding Mode Control of Compliant Joint Manipulators. ICINCO (Selected Papers) 2014: 241-257 - [c112]Luca Colasanto, Nicolas Perrin, Nikos G. Tsagarakis, Darwin G. Caldwell:
Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking. ICRA 2014: 210-215 - [c111]Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Alessio Margan, Darwin G. Caldwell:
Physical interaction detection and control of compliant manipulators equipped with friction clutches. ICRA 2014: 1066-1071 - [c110]Navvab Kashiri, Matteo Laffranchi, Jinoh Lee, Nikos G. Tsagarakis, Lisha Chen, Darwin G. Caldwell:
Real-time damping estimation for variable impedance actuators. ICRA 2014: 1072-1077 - [c109]Ioannis Sarakoglou, Nikos G. Tsagarakis, Darwin G. Caldwell:
Development of a hybrid actuator with controllable mechanical damping. ICRA 2014: 1078-1083 - [c108]Arash Ajoudani, Nikos G. Tsagarakis, Jinoh Lee, Marco Gabiccini, Antonio Bicchi:
Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control. ICRA 2014: 1480-1486 - [c107]Chengxu Zhou, Zhibin Li, Juan Alejandro Castano, Houman Dallali, Nikos G. Tsagarakis, Darwin G. Caldwell:
A passivity based compliance stabilizer for humanoid robots. ICRA 2014: 1487-1492 - [c106]Jinoh Lee, Matteo Laffranchi, Navvab Kashiri, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Model-free force tracking control of piezoelectric actuators: Application to variable damping actuator. ICRA 2014: 2283-2289 - [c105]Mohamad Mosadeghzad, Nikos G. Tsagarakis, Gustavo A. Medrano-Cerda, Darwin G. Caldwell:
Power efficient balancing control for humanoids based on approximate optimal ankle compliance regulation. ICRA 2014: 5103-5108 - [c104]Emmanouil Spyrakos-Papastavridis, Nicolas Perrin, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
Lyapunov Stability Margins for humanoid robot balancing. IROS 2014: 945-951 - [c103]Alessandro Serio, Emanuele Riccomini, Vincenzo Tartaglia, Ioannis Sarakoglou, Marco Gabiccini, Nikos G. Tsagarakis, Antonio Bicchi:
The patched intrinsic tactile object: A tool to investigate human grasps. IROS 2014: 1261-1268 - [c102]Jinoh Lee, Maolin Jin, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system. IROS 2014: 2407-2413 - [c101]Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos G. Tsagarakis, Antonio Bicchi:
A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. MESAS 2014: 192-205 - [c100]Enrico Mingo Hoffman, Silvio Traversaro, Alessio Rocchi, Mirko Ferrati, Alessandro Settimi, Francesco Romano, Lorenzo Natale, Antonio Bicchi, Francesco Nori, Nikos G. Tsagarakis:
Yarp Based Plugins for Gazebo Simulator. MESAS 2014: 333-346 - [c99]Wooseok Choi, Houman Dallali, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Darwin G. Caldwell:
How leg/foot compliance and posture affects impact forces during landing. ROBIO 2014: 961-967 - [c98]Vo-Gia Loc, Navvab Kashiri, Francesca Negrello, Nikos G. Tsagarakis, Darwin G. Caldwell:
Development of a 7DOF soft manipulator arm for the compliant humanoid robot COMAN. ROBIO 2014: 1106-1111 - [c97]Anais Brygo, Ioannis Sarakoglou, Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis:
Bio-inspired impedance controller and balancing feedback for the effective teleoperation of a bipedal robot. ROBIO 2014: 2398-2403 - 2013
- [c96]Navvab Kashiri, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell:
On the stiffness design of intrinsic compliant manipulators. AIM 2013: 1306-1311 - [c95]Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Vo-Gia Loc, Nikos G. Tsagarakis, Darwin G. Caldwell, Michele Gesino:
Designing a High Performance Humanoid Robot Based on Dynamic Simulation. EMS 2013: 359-364 - [c94]Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. ICM 2013: 464-470 - [c93]Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell:
Dynamic modeling and adaptable control of the CompAct™ arm. ICM 2013: 477-482 - [c92]Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell:
Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach. ICM 2013: 598-603 - [c91]Lisha Chen, Manolo Garabini, Matteo Laffranchi, Navvab Kashiri, Nikos G. Tsagarakis, Antonio Bicchi, Darwin G. Caldwell:
Optimal control for maximizing velocity of the CompAct™ compliant actuator. ICRA 2013: 516-522 - [c90]Nikos G. Tsagarakis, Stephen Morfey, Gustavo A. Medrano-Cerda, Zhibin Li, Darwin G. Caldwell:
COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control. ICRA 2013: 673-678 - [c89]Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Jody Alessandro Saglia, Antonio Bicchi, Darwin G. Caldwell:
Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device. ICRA 2013: 2194-2200 - [c88]Arash Ajoudani, Marco Gabiccini, Nikos G. Tsagarakis, Antonio Bicchi:
Human-like impedance and minimum effort control for natural and efficient manipulation. ICRA 2013: 4499-4505 - [c87]Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
Gravity compensation control of compliant joint systems with multiple drives. ICRA 2013: 4960-4966 - [c86]Arash Ajoudani, Sasha B. Godfrey, Manuel G. Catalano, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi:
Teleimpedance control of a synergy-driven anthropomorphic hand. IROS 2013: 1985-1991 - [c85]Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers. IROS 2013: 3630-3636 - [c84]Lisha Chen, Matteo Laffranchi, Jinoh Lee, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell:
Link position control of a compliant actuator with unknown transmission friction torque. IROS 2013: 4058-4064 - [c83]Mohamad Mosadeghzad, Zhibin Li, Nikos G. Tsagarakis, Gustavo A. Medrano-Cerda, Houman Dallali, Darwin G. Caldwell:
Optimal ankle compliance regulation for humanoid balancing control. IROS 2013: 4118-4123 - [c82]Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell:
Stabilizing humanoids on slopes using terrain inclination estimation. IROS 2013: 4124-4129 - [c81]Nicolas Perrin, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN. IROS 2013: 4145-4151 - [c80]Nikolaos G. Tsagarakis, Stephen Morfey, Houman Dallali, Gustavo A. Medrano-Cerda, Darwin G. Caldwell:
An asymmetric compliant antagonistic joint design for high performance mobility. IROS 2013: 5512-5517 - [c79]Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Darwin G. Caldwell:
Human-inspired balancing assistance: Application to a knee exoskeleton. ROBIO 2013: 292-297 - [c78]Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Darwin G. Caldwell:
Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation. ROBIO 2013: 1497-1502 - [c77]Jorhabib Eljaik, Zhibin Li, Marco Randazzo, Alberto Parmiggiani, Giorgio Metta, Nikos G. Tsagarakis, Francesco Nori:
Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators. Robotics: Science and Systems 2013 - [c76]Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi:
Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. URAI 2013: 475-480 - 2012
- [c75]Matteo Laffranchi, Nikos G. Tsagarakis, Darwin G. Caldwell:
Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems. AMC 2012: 1-6 - [c74]Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell:
A passivity based admittance control for stabilizing the compliant humanoid COMAN. Humanoids 2012: 43-49 - [c73]Sylvain Calinon, Zhibin Li, Tohid Alizadeh, Nikos G. Tsagarakis, Darwin G. Caldwell:
Statistical dynamical systems for skills acquisition in humanoids. Humanoids 2012: 323-329 - [c72]Arash Ajoudani, Marco Gabiccini, Nikolaos G. Tsagarakis, Alin Albu-Schäffer, Antonio Bicchi:
TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness. Humanoids 2012: 363-369 - [c71]Alberto Parmiggiani, Giorgio Metta, Nikos G. Tsagarakis:
The mechatronic design of the new legs of the iCub robot. Humanoids 2012: 481-486 - [c70]Arash Ajoudani, Nikolaos G. Tsagarakis, Antonio Bicchi:
Tele-impedance: Towards transferring human impedance regulation skills to robots. ICRA 2012: 382-388 - [c69]Zhibin Li, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid. ICRA 2012: 836-841 - [c68]Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A compact tactile display suitable for integration in VR and teleoperation. ICRA 2012: 1018-1024 - [c67]Barkan Ugurlu, Jody Alessandro Saglia, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints. ICRA 2012: 1436-1443 - [c66]Zhibin Li, Bram Vanderborght, Nikolaos G. Tsagarakis, Luca Colasanto, Darwin G. Caldwell:
Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance. ICRA 2012: 2000-2006 - [c65]Federico L. Moro, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs). ICRA 2012: 2007-2014 - [c64]Manuel G. Catalano, Giorgio Grioli, Manolo Garabini, Felipe Augusto Weilemann Belo, Andrea di Basco, Nikolaos G. Tsagarakis, Antonio Bicchi:
A Variable Damping module for Variable Impedance Actuation. ICRA 2012: 2666-2672 - [c63]Irene Sardellitti, Gustavo A. Medrano-Cerda, Nikolaos G. Tsagarakis, Amir Jafari, Darwin G. Caldwell:
A position and stiffness control strategy for variable stiffness actuators. ICRA 2012: 2785-2791 - [c62]Amir Jafari, Nikolaos G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell:
How design can affect the energy required to regulate the stiffness in variable stiffness actuators. ICRA 2012: 2792-2797 - [c61]Ioannis Sarakoglou, Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Integration of a tactile display in teleoperation of a soft robotic finger using model based tactile feedback. IROS 2012: 46-51 - [c60]Matteo Laffranchi, Lisha Chen, Nikos G. Tsagarakis, Darwin G. Caldwell:
The role of physical damping in compliant actuation systems. IROS 2012: 3079-3085 - [c59]Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans. IROS 2012: 3706-3713 - [c58]Efi Psomopoulou, Zoe Doulgeri, George A. Rovithakis, Nikos G. Tsagarakis:
A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees. IROS 2012: 5071-5076 - [c57]Luca Colasanto, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell:
Internal model control for improving the gait tracking of a compliant humanoid robot. IROS 2012: 5347-5352 - [c56]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, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: Moving the robots of tomorrow. IROS 2012: 5454-5455 - [c55]Matteo Laffranchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
CompAct Arm™: a Compliant Manipulator with Intrinsic Variable Physical Damping. Robotics: Science and Systems 2012 - [c54]Nadia Vanessa Garcia-Hernandez, Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Exploration of virtual surface features with a high performance tactile and force feedback interface. SMC 2012: 2998-3003 - 2011
- [c53]Jamshed Iqbal, Nikos G. Tsagarakis, Darwin G. Caldwell:
A multi-DOF robotic exoskeleton interface for hand motion assistance. EMBC 2011: 1575-1578 - [c52]Nadia Vanessa Garcia-Hernandez, Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Orientation discrimination of patterned surfaces through an actuated and non-actuated tactile display. World Haptics 2011: 599-604 - [c51]Nadia Vanessa Garcia-Hernandez, Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Effectiveness of a Tactile Display for Providing Orientation Information of 3d-patterned Surfaces. HCI (14) 2011: 327-332 - [c50]Federico L. Moro, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives. Humanoids 2011: 364-370 - [c49]Nikolaos G. Tsagarakis, Zhibin Li, Jody Alessandro Saglia, Darwin G. Caldwell:
The design of the lower body of the compliant humanoid robot "cCub". ICRA 2011: 2035-2040 - [c48]Amir Jafari, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS). ICRA 2011: 4632-4637 - [c47]Amir Jafari, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
AwAS-II: A new Actuator with Adjustable Stiffness based on the novel principle of adaptable pivot point and variable lever ratio. ICRA 2011: 4638-4643 - [c46]Matteo Laffranchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A compact compliant actuator (CompAct™) with variable physical damping. ICRA 2011: 4644-4650 - [c45]Manuel G. Catalano, Giorgio Grioli, Manolo Garabini, Fabio Bonomo, Michele Mancini, Nikolaos G. Tsagarakis, Antonio Bicchi:
VSA-CubeBot: A modular variable stiffness platform for multiple degrees of freedom robots. ICRA 2011: 5090-5095 - [c44]Alessandro Serio, Giorgio Grioli, Irene Sardellitti, Nikolaos G. Tsagarakis, Antonio Bicchi:
A decoupled impedance observer for a variable stiffness robot. ICRA 2011: 5548-5553 - [c43]Petar Kormushev, Barkan Ugurlu, Sylvain Calinon, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. IROS 2011: 318-324 - [c42]Nikolaos G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell:
A new variable stiffness actuator (CompAct-VSA): Design and modelling. IROS 2011: 378-383 - [c41]Fabrizio Flacco, Alessandro De Luca, Irene Sardellitti, Nikolaos G. Tsagarakis:
Robust estimation of variable stiffness in flexible joints. IROS 2011: 4026-4033 - [c40]Arash Ajoudani, Nikolaos G. Tsagarakis, Antonio Bicchi:
Tele-Impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots. ROBIO 2011: 216-222 - [c39]Arash Ajoudani, Nikolaos G. Tsagarakis, Antonio Bicchi:
Tele-Impedance based teleoperation: Peg-in-hole experimental results. ROBIO 2011: 2239-2240 - 2010
- [c38]Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Human Tactile Ability to Discriminate Variations in Small Ridge Patterns thorugh a Portable-Wearable Tactile Display. ACHI 2010: 38-43 - [c37]Nadia Vanessa Garcia-Hernandez, Nikolaos G. Tsagarakis, Ioannis Sarakoglou, Darwin G. Caldwell:
Psychophysical Evaluation of a Low Density and Portable Tactile Device Displaying Small-Scale Surface Features. EuroHaptics (2) 2010: 50-57 - [c36]Zhibin Li, Nikolaos G. Tsagarakis, Darwin G. Caldwell, Bram Vanderborght:
Trajectory generation of straightened knee walking for humanoid robot iCub. ICARCV 2010: 2355-2360 - [c35]Matteo Laffranchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A variable physical damping actuator (VPDA) for compliant robotic joints. ICRA 2010: 1668-1674 - [c34]Jody Alessandro Saglia, Nikolaos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
Control strategies for ankle rehabilitation using a high performance ankle exerciser. ICRA 2010: 2221-2227 - [c33]Irene Sardellitti, Gianluca Palli, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Antagonistically actuated compliant joint: Torque and stiffness control. IROS 2010: 1909-1914 - [c32]Michele Focchi, Emanuele Guglielmino, Claudio Semini, Alberto Parmiggiani, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell:
Water/air performance analysis of a fluidic muscle. IROS 2010: 2194-2199 - [c31]Emanuele Guglielmino, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
An octopus anatomy-inspired robotic arm. IROS 2010: 3091-3096 - [c30]Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell:
Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. IROS 2010: 3640-3645 - [c29]Amir Jafari, Nikolaos G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell:
A novel actuator with adjustable stiffness (AwAS). IROS 2010: 4201-4206 - [c28]Zhibin Li, Bram Vanderborght, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Fast bipedal walk using large strides by modulating hip posture and toe-heel motion. ROBIO 2010: 13-18 - [c27]Jamshed Iqbal, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A human hand compatible optimised exoskeleton system. ROBIO 2010: 685-690 - 2009
- [c26]Nadia Vanessa Garcia-Hernandez, Nikos G. Tsagarakis, Darwin G. Caldwell:
Effect of the tactile array density on the discrimination of edge patterns: Implications for tactile systems design. ICAR 2009: 1-6 - [c25]Bram Vanderborght, Nikolaos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell:
MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping. ICRA 2009: 544-549 - [c24]Jody Alessandro Saglia, Nikolaos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell:
A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation. ICRA 2009: 2180-2186 - [c23]Nikolaos G. Tsagarakis, Matteo Laffranchi, Bram Vanderborght, Darwin G. Caldwell:
A compact soft actuator unit for small scale human friendly robots. ICRA 2009: 4356-4362 - [c22]Matteo Laffranchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Safe human robot interaction via energy regulation control. IROS 2009: 35-41 - [c21]Yousheng Yang, Claudio Semini, Nikolaos G. Tsagarakis, Emanuele Guglielmino, Darwin G. Caldwell:
Leg mechanisms for hydraulically actuated robots. IROS 2009: 4669-4675 - [c20]Nikolaos G. Tsagarakis, Bram Vanderborght, Matteo Laffranchi, Darwin G. Caldwell:
The mechanical design of the new lower body for the child humanoid robot 'iCub'. IROS 2009: 4962-4968 - [c19]Matteo Laffranchi, Nikolaos G. Tsagarakis, Ferdinando Cannella, Darwin G. Caldwell:
Antagonistic and series elastic actuators: a comparative analysis on the energy consumption. IROS 2009: 5678-5684 - 2008
- [c18]Steve Davis, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
The initial design and manufacturing process of a low cost hand for the robot iCub. Humanoids 2008: 40-45 - [c17]Nikolaos G. Tsagarakis, Martin Gube, Darwin G. Caldwell:
2D motion coordination enhancement for 'Ataxia' impaired users using a haptic device. IROS 2008: 729-734 - 2007
- [c16]Nikolaos G. Tsagarakis, Francesco Becchi, Ludovic Righetti, Auke Jan Ijspeert, Darwin G. Caldwell:
Lower body realization of the baby humanoid - 'iCub'. IROS 2007: 3616-3622 - 2006
- [c15]Nikolaos G. Tsagarakis, Martin Sinclair, Francesco Becchi, Giorgio Metta, Giulio Sandini, Darwin G. Caldwell:
Lower Body Design of the 'iCub' a Human-baby like Crawling Robot. Humanoids 2006: 450-455 - [c14]Ioannis Sarakoglou, Milan Bezdicek, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Free to Touch: A Portable Tactile Display For 3D Surface Texture Exploration. IROS 2006: 3587-3592 - [c13]William M. Hinojosa, Nikolaos G. Tsagarakis, Giorgio Metta, Francesco Becchi, Giulio Sandini, Darwin G. Caldwell:
Performance Assessment of a 3 DOF Differential Based Waist joint for the "iCub" Baby Humanoid Robot. RO-MAN 2006: 195-201 - 2005
- [c12]Nikolaos G. Tsagarakis, T. Horne, Darwin G. Caldwell:
SLIP AESTHEASIS: A Portable 2D Slip/Skin Stretch Display for the Fingertip. WHC 2005: 214-219 - [c11]Silvano Imboden, Marco Petrone, Paolo Quadrani, Cinzia Zannoni, R. Mayoral, Gordon Clapworthy, Debora Testi, Marco Viceconti, D. Neiberg, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A Haptic Enabled Multimodal Pre-operative Planner for Hip Arthroplasty. WHC 2005: 503-504 - [c10]Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A 5 dof Haptic Interface for Pre-operative Planning of Surgical Access in Hip Arthroplasty. WHC 2005: 519-520 - [c9]Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
A Portable Fingertip Tactile Feedback Array -- Transmission System Reliability and Modelling. WHC 2005: 547-548 - 2004
- [c8]Ioannis Sarakoglou, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Occupational and physical therapy using a hand exoskeleton based exerciser. IROS 2004: 2973-2978 - 2002
- [c7]Steve Davis, J. Canderle, P. Artrit, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Enhanced Dynamic Performance in Pneumatic Muscle Actuators. ICRA 2002: 2836-2841 - 2000
- [c6]Nikolaos G. Tsagarakis, Darwin G. Caldwell:
Improved Modelling and Assessment of Pneumatic Muscle Actuators. ICRA 2000: 3641-3646 - 1999
- [c5]Darwin G. Caldwell, Nikolaos G. Tsagarakis, C. Giesler:
An Integrated Tactile/Shear Feedback Array for Stimulation of Finger Mechanoreceptor. ICRA 1999: 287-292 - [c4]Darwin G. Caldwell, Nikolaos G. Tsagarakis, Gustavo A. Medrano-Cerda, J. Schofield, S. Brown:
Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations. ICRA 1999: 525-530 - 1998
- [c3]Darwin G. Caldwell, C. Favede, Nikolaos G. Tsagarakis:
Dextrous Exploration of a Virtual World for Improved Prototyping. ICRA 1998: 298-303 - [c2]Darwin G. Caldwell, Nikolaos G. Tsagarakis, D. Badihi, Gustavo A. Medrano-Cerda:
Pneumatic Muscle Actuator Technology a Light Weight Power System for a Humanoid Robot. ICRA 1998: 3053-3058 - 1997
- [c1]Darwin G. Caldwell, Nikos G. Tsagarakis, Andrew Wardle:
Mechano thermo and proprioceptor feedback for integrated haptic feedback. ICRA 1997: 2491-2496
Parts in Books or Collections
- 2016
- [p2]Arash Ajoudani, Sasha B. Godfrey, Nikos G. Tsagarakis, Antonio Bicchi:
Teleimpedance Control: Overview and Application. Human and Robot Hands 2016: 151-169 - 2014
- [p1]Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo, Alessandro Serio, Edoardo Farnioli, Marco Gabiccini, Antonio Bicchi, Ioannis Sarakoglou, Nikos G. Tsagarakis, Darwin G. Caldwell:
HANDS.DVI: A Device-Independent Programming and Control Framework for Robotic Hands. Technology Transfer Experiments from the ECHORD Project 2014: 197-215
Informal and Other Publications
- 2023
- [i23]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, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis:
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. CoRR abs/2301.09863 (2023) - [i22]Federico Rollo, Gennaro Raiola, Andrea Zunino, Nikolaos G. Tsagarakis, Arash Ajoudani:
Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization. CoRR abs/2307.01121 (2023) - [i21]Dehao Wei, Guokang Sun, Zeyu Ren, Shuang Li, Zhufeng Shao, Xiang Li, Nikos G. Tsagarakis, Shaohua Ma:
In-Hand Re-grasp Manipulation with Passive Dynamic Actions via Imitation Learning. CoRR abs/2309.15455 (2023) - [i20]Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis:
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped. CoRR abs/2310.02907 (2023) - [i19]Federico Rollo, Andrea Zunino, Nikolaos G. Tsagarakis, Enrico Mingo Hoffman, Arash Ajoudani:
CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance. CoRR abs/2310.19413 (2023) - [i18]Federico Rollo, Andrea Zunino, Gennaro Raiola, Fabio Amadio, Arash Ajoudani, Nikolaos G. Tsagarakis:
FollowMe: a Robust Person Following Framework Based on Re-Identification and Gestures. CoRR abs/2311.12992 (2023) - [i17]Federico Rollo, Gennaro Raiola, Nikolaos G. Tsagarakis, Marco Roveri, Enrico Mingo Hoffman, Arash Ajoudani:
Semantic-based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. CoRR abs/2312.14487 (2023) - 2022
- [i16]Luca Rossini, Paolo Ferrari, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman:
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. CoRR abs/2205.10277 (2022) - [i15]Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman:
Prototyping fast and agile motions for legged robots with Horizon. CoRR abs/2206.08587 (2022) - [i14]Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis:
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. CoRR abs/2210.06803 (2022) - 2021
- [i13]Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis:
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. CoRR abs/2103.07183 (2021) - [i12]Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis:
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. CoRR abs/2107.07507 (2021) - 2020
- [i11]Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona:
Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement. CoRR abs/2004.03405 (2020) - 2019
- [i10]Jiatao Ding, Chengxu Zhou, Songyan Xin, Xiaohui Xiao, Nikolaos G. Tsagarakis:
Nonlinear Model Predictive Control for Robust Bipedal Locomotion Exploring CoM Height and Angular Momentum Changes. CoRR abs/1902.06770 (2019) - [i9]Anh Nguyen, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis:
V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation. CoRR abs/1903.10869 (2019) - [i8]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, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul Selvam Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke:
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance. CoRR abs/1908.01617 (2019) - [i7]Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke:
Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System. CoRR abs/1909.08812 (2019) - 2018
- [i6]Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis:
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing. CoRR abs/1802.06392 (2018) - [i5]Anh Nguyen, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis:
Object Captioning and Retrieval with Natural Language. CoRR abs/1803.06152 (2018) - 2017
- [i4]Anh Nguyen, Thanh-Toan Do, Darwin G. Caldwell, Nikos G. Tsagarakis:
Real-Time Pose Estimation for Event Cameras with Stacked Spatial LSTM Networks. CoRR abs/1708.09011 (2017) - [i3]Thanh-Toan Do, Anh Nguyen, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis:
AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection. CoRR abs/1709.07326 (2017) - [i2]Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos G. Tsagarakis:
Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks. CoRR abs/1710.00290 (2017) - [i1]Spandan Roy, Indra Narayan Kar, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell:
Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback. CoRR abs/1711.01246 (2017)
Coauthor Index
[j106] [j83] [j82] [j73] [j58] [j56] [j52] [j51] [j50] [j47] [j41] [j37] [j27] [j22] [j11] [c284] [c282] [c256] [c255] [c239] [c238] [c203] [c198] [c197] [c194] [c193] [c191] [c190] [c182] [c161] [c157] [c153] [c152] [c146] [c135] [c134] [c130] [c120] [c119] [c117] [c108] [c89] [c88] [c86] [c79] [c72] [c70] [c40] [c39] [p2] [i22] [i19] [i18] [i17]
[j97] [j70] [j69] [j57] [j56] [j53] [j46] [j42] [j41] [j39] [j36] [j35] [j33] [j32] [j31] [j30] [j29] [j27] [j26] [j25] [j24] [j23] [j21] [j20] [j19] [j18] [j17] [j16] [j15] [j13] [j10] [j9] [j8] [j7] [j6] [j5] [j4] [j3] [j2] [j1] [c253] [c249] [c246] [c231] [c226] [c218] [c217] [c216] [c215] [c213] [c212] [c196] [c192] [c191] [c189] [c187] [c180] [c177] [c173] [c172] [c170] [c169] [c168] [c167] [c165] [c161] [c159] [c157] [c156] [c155] [c154] [c152] [c151] [c149] [c148] [c147] [c145] [c144] [c142] [c140] [c139] [c138] [c137] [c136] [c134] [c133] [c132] [c131] [c129] [c128] [c126] [c125] [c124] [c123] [c121] [c120] [c119] [c118] [c117] [c116] [c115] [c114] [c113] [c112] [c111] [c110] [c109] [c107] [c106] [c105] [c104] [c102] [c99] [c98] [c96] [c95] [c94] [c93] [c92] [c91] [c90] [c89] [c87] [c85] [c84] [c83] [c82] [c81] [c80] [c79] [c78] [c76] [c75] [c74] [c73] [c69] [c68] [c67] [c66] [c65] [c63] [c62] [c61] [c60] [c59] [c57] [c56] [c55] [c54] [c53] [c52] [c51] [c50] [c49] [c48] [c47] [c46] [c43] [c42] [c38] [c37] [c36] [c35] [c34] [c33] [c32] [c31] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [c18] [c17] [c16] [c15] [c14] [c13] [c12] [c11] [c10] [c9] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [c1] [p1] [i9] [i6] [i5] [i4] [i3] [i2] [i1]
[j101] [j96] [j90] [j89] [j87] [j81] [j79] [j78] [j77] [j72] [j67] [j66] [j64] [j63] [j62] [j55] [j43] [j41] [c279] [c278] [c266] [c265] [c260] [c259] [c250] [c244] [c243] [c237] [c233] [c221] [c220] [c216] [c213] [c210] [c208] [c205] [c200] [c195] [c185] [c177] [c165] [c160] [c137] [c132] [c120] [c119] [c101] [c100] [i23] [i19] [i17] [i16] [i15] [i13] [i12] [i7]
[j80] [j74] [j71] [j68] [j66] [j63] [j54] [j45] [j41] [j40] [j39] [j31] [j24] [c283] [c262] [c261] [c258] [c247] [c239] [c216] [c206] [c202] [c199] [c196] [c194] [c180] [c173] [c171] [c169] [c167] [c157] [c156] [c139] [c136] [c123] [c114] [c113] [c111] [c110] [c106] [c98] [c96] [c93] [c91] [c84] [i8] [i7]
[j104] [j101] [j100] [j96] [j95] [j93] [j90] [j89] [j80] [j79] [j78] [j77] [j72] [j67] [j66] [j63] [j55] [c281] [c280] [c278] [c276] [c274] [c272] [c270] [c265] [c261] [c260] [c259] [c250] [c248] [c244] [c242] [c237] [c233] [c231] [c221] [c218] [c216] [c213] [c210] [c208] [c205] [c200] [c185] [c177] [c171] [i23] [i20] [i16] [i15] [i14] [i13] [i12] [i8] [i7]
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