Ioannis Poulakakis

78 papers A* 10A 15C 4Journal 34Unranked 15

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics. CoRR Abhijeet Mangesh Kulkarni, Ioannis Poulakakis, Guoquan Huang
2025	A*	`conf`	Finite-Step Capturability and Recursive Feasibility for Bipedal Walking in Constrained Regions. ICRA Shubham S. Kumbhar, Abhijeet Mangesh Kulkarni, Ioannis Poulakakis
2025	J	`jnl`	Learning Neural Observer-Predictor Models for Limb-level Sampling-based Locomotion Planning. CoRR Abhijeet Mangesh Kulkarni, Ioannis Poulakakis, Guoquan Huang
2024	J	`jnl`	Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped. CoRR Michail Papadakis, Jørgen Anker Olsen, Ioannis Poulakakis, Kostas Alexis
2023	A	`conf`	Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control. IROS Kunal Sanjay Narkhede, Dhruv Ashwinkumar Thanki, Abhijeet Mangesh Kulkarni, Ioannis Poulakakis
2023	J	`jnl`	Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control. CoRR Kunal Sanjay Narkhede, Dhruv Ashwinkumar Thanki, Abhijeet Mangesh Kulkarni, Ioannis Poulakakis
2023	J	`jnl`	Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles. CoRR Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
2022	J	`jnl`	A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments. IEEE Robotics Autom. Lett. Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
2022	J	`jnl`	A Sequential MPC Approach to Reactive Planning for Bipedal Robots. CoRR Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
2022	J	`jnl`	Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees. IEEE Robotics Autom. Lett. Prem Chand, Sushant Veer, Ioannis Poulakakis
2022	—	`conf`	Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain. MED Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis K. Artemiadis
2022	J	`jnl`	Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain. CoRR Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis K. Artemiadis
2021	J	`jnl`	Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees. CoRR Prem Chand, Sushant Veer, Ioannis Poulakakis
2020	A*	`conf`	An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty. ICRA Prem Chand, Sushant Veer, Ioannis Poulakakis
2020	J	`jnl`	Switched Systems With Multiple Equilibria Under Disturbances: Boundedness and Practical Stability. IEEE Trans. Autom. Control. Sushant Veer, Ioannis Poulakakis
2019	J	`jnl`	Input-to-State Stability of Periodic Orbits of Systems With Impulse Effects via Poincaré Analysis. IEEE Trans. Autom. Control. Sushant Veer, Ioannis Poulakakis
2019	C	`conf`	Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances. ACC Sushant Veer, Ioannis Poulakakis
2019	—	`conf`	Robustness of Periodic Orbits of Impulsive Systems à la Poincaré. CDC Sushant Veer, Ioannis Poulakakis
2019	A*	`conf`	Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. ICRA Sushant Veer, Ioannis Poulakakis
2018	J	`jnl`	Information-sharing and decision-making in networks of radiation detectors. Auton. Robots Indrajeet Yadav, Chetan D. Pahlajani, Herbert G. Tanner, Ioannis Poulakakis
2018	J	`jnl`	Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. CoRR Sushant Veer, Ioannis Poulakakis
2018	J	`jnl`	Ultimate Boundedness for Switched Systems with Multiple Equilibria Under Disturbances. CoRR Sushant Veer, Ioannis Poulakakis
2017	J	`jnl`	A Navigation and Control Strategy for Miniature Legged Robots. IEEE Trans. Robotics Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
2017	A	`conf`	Adaptation of limit-cycle walkers for collaborative tasks: A supervisory switching control approach. IROS Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
2017	A	`conf`	Almost driftless navigation of 3D limit-cycle walking bipeds. IROS Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
2017	—	`conf`	Generation of and switching among limit-cycle bipedal walking gaits. CDC Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
2017	J	`jnl`	Poincaré Analysis for Hybrid Periodic Orbits of Systems with Impulse Effects under External Inputs. CoRR Sushant Veer, Rakesh, Ioannis Poulakakis
2017	A	`conf`	Steering a 3D limit-cycle walker for collaboration with a leader. IROS Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
2016	—	`conf`	Composing limit cycles for motion planning of 3D bipedal walkers. CDC Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
2016	—	`conf`	Decision-Making Accuracy for Sensor Networks with Inhomogeneous Poisson Observations. DARS Chetan D. Pahlajani, Indrajeet Yadav, Herbert G. Tanner, Ioannis Poulakakis
2016	—	`conf`	Experimental Validation of a Template for Navigation of Miniature Legged Robots. ISER Konstantinos Karydis, Adam Stager, Herbert G. Tanner, Ioannis Poulakakis
2016	J	`jnl`	Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks. IEEE Trans. Autom. Control. Ioannis Poulakakis, George Forrest Young, Luca Scardovi, Naomi Ehrich Leonard
2016	C	`conf`	Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics. ACC Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
2016	C	`conf`	On the stability of symmetric quadrupedal bounding gaits via factored Poincaré maps. ACC Xin Liu, Ioannis Poulakakis
2016	J	`jnl`	Quadrupedal running with a flexible torso: control and speed transitions with sums-of-squares verification. Artif. Life Robotics Qu Cao, Ioannis Poulakakis
2015	J	`jnl`	A template candidate for miniature legged robots in quasi-static motion. Auton. Robots Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner
2015	—	`conf`	Active compliance hybrid zero dynamics control of bounding on HyQ. ROBIO Xin Liu, Claudio Semini, Ioannis Poulakakis
2015	A*	`conf`	Active sensor networks for nuclear detection. ICRA Jianxin Sun, Herbert G. Tanner, Ioannis Poulakakis
2015	A	`conf`	Integrating dynamic walking and arm impedance control for cooperative transportation. IROS Mohamad Shafiee Motahar, Sushant Veer, Jian Huang, Ioannis Poulakakis
2015	—	`conf`	Navigation of miniature legged robots using a new template. MED Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner
2015	A	`conf`	On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control. IROS Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
2015	A	`conf`	On the control of gait transitions in quadrupedal running. IROS Qu Cao, Anthom T. van Rijn, Ioannis Poulakakis
2015	—	`conf`	On the effects of design parameters on quadruped robot gaits. ROBIO Dimitrios Myrisiotis, Ioannis Poulakakis, Evangelos Papadopoulos
2015	—	`conf`	On the energetics of a switchable parallel elastic actuator design for monopedal running. ROBIO Xin Liu, Ioannis Poulakakis
2015	J	`jnl`	Performance bounds for mismatched decision schemes with Poisson process observations. Syst. Control. Lett. Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
2015	J	`jnl`	Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty. Int. J. Robotics Res. Konstantinos Karydis, Ioannis Poulakakis, Jianxin Sun, Herbert G. Tanner
2015	A	`conf`	SPEAR: A monopedal robot with Switchable Parallel Elastic actuation. IROS Xin Liu, Anthony Rossi, Ioannis Poulakakis
2014	J	`jnl`	Error probability bounds for nuclear detection: Improving accuracy through controlled mobility. Autom. Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
2014	J	`jnl`	Networked Decision Making for Poisson Processes With Applications to Nuclear Detection. IEEE Trans. Autom. Control. Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
2014	A	`conf`	On the energetics of quadrupedal bounding with and without torso compliance. IROS Qu Cao, Ioannis Poulakakis
2014	A	`conf`	Planning with the STAR(s). IROS Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner
2013	—	`conf`	Decision making in sensor networks observing poisson processes. MED Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
2013	J	`jnl`	Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
2013	—	`conf`	Error probabilities and threshold selection in networked nuclear detection. CDC Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
2013	A	`conf`	Passive stability and control of quadrupedal bounding with a flexible torso. IROS Qu Cao, Ioannis Poulakakis
2013	A*	`conf`	Probabilistic validation of a stochastic kinematic model for an eight-legged robot. ICRA Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
2012	A	`conf`	A switching kinematic model for an octapedal robot. IROS Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
2012	J	`jnl`	Networked Decision Making for Poisson Processes: Application to nuclear detection CoRR Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
2012	J	`jnl`	Node Classification in Networks of Stochastic Evidence Accumulators CoRR Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
2012	—	`conf`	Node certainty in collective decision making. CDC Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
2012	A	`conf`	Passive quadrupedal bounding with a segmented flexible torso. IROS Qu Cao, Ioannis Poulakakis
2011	J	`jnl`	A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
2010	J	`jnl`	Bounding with Active Wheels and Liftoff Angle Velocity Adjustment. Int. J. Robotics Res. James Andrew Smith, Ioannis Poulakakis, Michael Trentini, Inna Sharf
2010	C	`conf`	Coupled stochastic differential equations and collective decision making in the Two-Alternative Forced-Choice task. ACC Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
2010	—	`conf`	Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle
2010	A*	`conf`	Spring Loaded Inverted Pendulum embedding: Extensions toward the control of compliant running robots. ICRA Ioannis Poulakakis
2009	A*	`conf`	Modeling and control of the monopedal robot Thumper. ICRA Ioannis Poulakakis, Jessy W. Grizzle
2009	J	`jnl`	The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. IEEE Trans. Autom. Control. Ioannis Poulakakis, Jessy W. Grizzle
2007	A	`conf`	Monopedal running control: SLIP embedding and virtual constraint controllers. IROS Ioannis Poulakakis, J. W. Grizzle
2006	J	`jnl`	On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait. Int. J. Robotics Res. Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
2005	J	`jnl`	Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot. Int. J. Robotics Res. Ioannis Poulakakis, James Andrew Smith, Martin Buehler
2005	J	`jnl`	Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems. Robotics Auton. Syst. Evangelos Papadopoulos, Iakovos Papadimitriou, Ioannis Poulakakis
2004	A*	`conf`	Experimentally Validated bounding Models for the Scout II Quadrupedal Robot. ICRA Ioannis Poulakakis, James Andrew Smith, Martin Buehler
2004	A	`conf`	Rotary gallop in the untethered quadrupedal robot scout II. IROS James Andrew Smith, Ioannis Poulakakis
2003	A*	`conf`	On the stable passive dynamics of quadrupedal running. ICRA Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
2002	J	`jnl`	On Path Planning and Obstacle Avoidance for Nonholonomic Platforms with Manipulators. Int. J. Robotics Res. Evangelos Papadopoulos, Ioannis Poulakakis, Iakovos Papadimitriou
2001	A*	`conf`	Planning and Obstacle Avoidance for Mobile Robots. ICRA Evangelos Papadopoulos, Ioannis Poulakakis
2000	—	`conf`	Quadruped Robot Running With a Bounding Gait. ISER S. Talebi, Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler