Nikos G. Tsagarakis

313 papers A* 48A 54B 2C 1Misc 2Journal 111Unranked 93

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Muscle Fatigue-Aware Controller for a Semi-Rigid Knee Exoskeleton. IEEE Trans Autom. Sci. Eng. Yifang Zhang, Jingcheng Jiang, Arash Ajoudani, Nikos G. Tsagarakis
2026	J	`jnl`	RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion. CoRR Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Nikos G. Tsagarakis
2026	J	`jnl`	RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion. IEEE Robotics Autom. Lett. Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Nikos G. Tsagarakis
2025	J	`jnl`	A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. CoRR Edoardo Del Bianco, Davide Torielli, Federico Rollo, Damiano Gasperini, Arturo Laurenzi, Lorenzo Baccelliere, Luca Muratore, Marco Roveri, Nikos G. Tsagarakis
2025	J	`jnl`	A Proximity-Based Framework for Human-Robot Seamless Close Interactions. IEEE Robotics Autom. Lett. Liana Bertoni, Lorenzo Baccelliere, Luca Muratore, Nikos G. Tsagarakis
2025	J	`jnl`	Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. IEEE Robotics Autom. Mag. Francesco Ruscelli, Luca Rossini, Enrico Mingo Hoffman, Lorenzo Baccelliere, Arturo Laurenzi, Luca Muratore, Davide Antonucci, Stefano Cordasco, Nikos G. Tsagarakis
2025	J	`jnl`	Door-to-Door Parcel Delivery From Supply Point to User's Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon. IEEE Robotics Autom. Mag. Alejandro Suárez, Rainer Kartmann, Daniel Leidner, Luca Rossini, Johann Huber, Carlos Azevedo, Quentin Rouxel, Marko Bjelonic, Antonio González-Morgado, Christian R. G. Dreher, Peter Schmaus, Arturo Laurenzi, François Hélénon, Rodrigo Serra, Jean-Baptiste Mouret, Lorenz Wellhausen, Vicente Perez-Sanchez, Jianfeng Gao, Adrian Simon Bauer, Alessio De Luca, Mouad Abrini, Rui Bettencourt, Olivier Rochel, Joonho Lee, Pablo Viana, Christoph Pohl, Nesrine Batti, Diego Vedelago, Vamsi Krishna Guda, Alexander Reske, Carlos Álvarez-Cía, Fabian Reister, Werner Friedl, Corrado Burchielli, Aline Baudry, Fabian Peller-Konrad, Thomas Gumpert, Luca Muratore, Philippe Gauthier, Franziska Krebs, Sebastian Jung, Lorenzo Baccelliere, Hippolyte Watrelot, André Meixner, Anne Köpken, Mohamed Chetouani, Pascal Weiner, Florian Lay, Felix Hundhausen, Anne E. Reichert, Noémie Jaquier, Florian Schmidt, Marco Sewtz, Freek Stulp, Lioba Suchenwirth, Rudolph Triebel, Xuwei Wu, Begoña C. Arrue, Rebecca Schedl-Warpup, Marco Hutter, Serena Ivaldi, Pedro U. Lima, Stéphane Doncieux, Nikos G. Tsagarakis, Tamim Asfour, Aníbal Ollero, Alin Albu-Schäffer
2025	A*	`conf`	Dynamic Object Goal Pushing with Mobile Manipulators Through Model-Free Constrained Reinforcement Learning. ICRA Ioannis Dadiotis, Mayank Mittal, Nikos G. Tsagarakis, Marco Hutter
2025	J	`jnl`	Exo-muscle: A semi-rigid assistive device for the knee. CoRR Yifang Zhang, Arash Ajoudani, Nikos G. Tsagarakis
2025	—	`conf`	Intention: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM. Humanoids Jin Wang, Weijie Wang, Boyuan Deng, Heng Zhang, Rui Dai, Nikos G. Tsagarakis
2025	J	`jnl`	Robust Humanoid Locomotion via Sequential Stepping and Angular Momentum Optimization. IEEE Trans. Ind. Electron. Jiatao Ding, Cosimo Della Santina, Tin Lun Lam, Jianxin Pang, Xiaohui Xiao, Nikos G. Tsagarakis, Yanlong Huang
2025	J	`jnl`	The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. IEEE Robotics Autom. Mag. Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2025	—	`conf`	Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. CDC Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Cheng Zhou, Wanli Xing, Liang Lu, Nikos G. Tsagarakis
2025	J	`jnl`	Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies. CoRR Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Cheng Zhou, Wanli Xing, Liang Lu, Nikos G. Tsagarakis
2024	—	`conf`	A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping. Humanoids Edoardo Del Bianco, Davide Torielli, Federico Rollo, Damiano Gasperini, Arturo Laurenzi, Lorenzo Baccelliere, Luca Muratore, Marco Roveri, Nikos G. Tsagarakis
2024	J	`jnl`	A Laser-Guided Interaction Interface for Providing Effective Robot Assistance to People With Upper Limbs Impairments. IEEE Robotics Autom. Lett. Davide Torielli, Liana Bertoni, Luca Muratore, Nikos G. Tsagarakis
2024	J	`jnl`	A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots. IEEE Robotics Autom. Lett. Yifang Zhang, Jingcheng Jiang, Nikos G. Tsagarakis
2024	A	`conf`	Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model. IROS Jin Wang, Arturo Laurenzi, Nikos G. Tsagarakis
2024	J	`jnl`	Grounding Language Models in Autonomous Loco-manipulation Tasks. CoRR Jin Wang, Nikos G. Tsagarakis
2024	Misc	`conf`	HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation. CoRL Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos G. Tsagarakis
2024	J	`jnl`	HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation. CoRR Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos G. Tsagarakis
2024	J	`jnl`	Hybrid Sensor Fusion Mixed with Reinforcement Learning in Autonomous Dual-Arm Lifting Tasks Performed by Humanoid Robots. Robotics Juan Hernandez-Vicen, Bartek Lukawski, Santiago Martínez de la Casa Díaz, Nikos G. Tsagarakis, Carlos Balaguer
2024	—	`conf`	Mechanical Design of an Agile Quadruped Robot. ERF (1) Edoardo Del Bianco, Navvab Kashiri, Marco Roveri, Nikos G. Tsagarakis
2024	J	`jnl`	On the Calibration, Fault Detection and Recovery of a Force Sensing Device. IEEE Robotics Autom. Lett. Yifang Zhang, Arash Ajoudani, Nikos G. Tsagarakis
2024	—	`conf`	Smart Drill: an Autonomous Drilling End-Effector with Embedded Sensing and Intelligence for Mobile and Collaborative Robots. CASE Edoardo Del Bianco, Federico Rollo, Marco Roveri, Nikos G. Tsagarakis
2024	A	`conf`	Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. IROS Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Nikos G. Tsagarakis
2024	J	`jnl`	Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators. CoRR Maolin Lei, Edoardo Romiti, Arturo Laurenzi, Nikos G. Tsagarakis
2024	A*	`conf`	The Joint-Space Reconstruction of Human Fingers by using a Highly Under-Actuated Exoskeleton. ICRA Yuan Su, Gaofeng Li, Yongsheng Deng, Ioannis Sarakoglou, Nikos G. Tsagarakis, Jiming Chen
2024	A*	`conf`	Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems. ICRA Davide Torielli, Leonardo Franco, Maria Pozzi, Luca Muratore, Monica Malvezzi, Nikos G. Tsagarakis, Domenico Prattichizzo
2023	J	`jnl`	A Haptic Shared Autonomy With Partial Orientation Regulation for DoF Deficiency in Remote Side. IEEE Trans. Haptics Gaofeng Li, Fernando Caponetto, Xinyu Wu, Ioannis Sarakoglou, Nikos G. Tsagarakis
2023	J	`jnl`	A Power-Aware Control Strategy for an Elbow Effort-Compensation Device. IEEE Robotics Autom. Lett. Emir Mobedi, Sebastian Hjorth, Wansoo Kim, Elena De Momi, Nikos G. Tsagarakis, Arash Ajoudani
2023	—	`conf`	A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. Humanoids Luca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis, Nikos G. Tsagarakis
2023	J	`jnl`	A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot. Sensors Luca Muratore, Arturo Laurenzi, Alessio De Luca, Liana Bertoni, Davide Torielli, Lorenzo Baccelliere, Edoardo Del Bianco, Nikos G. Tsagarakis
2023	J	`jnl`	A survey on control of humanoid fall over. Robotics Auton. Syst. Rajesh Subburaman, Dimitrios Kanoulas, Nikos G. Tsagarakis, Jinoh Lee
2023	J	`jnl`	A telerobotic system enabling online switching among various architectures and controllers. Robotics Auton. Syst. Gaofeng Li, Fernando Caponetto, Vasiliki Katsageorgiou, Nikos G. Tsagarakis, Ioannis Sagakoglou
2023	—	`conf`	An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design. CASE Edoardo Romiti, Francesco Iacobelli, Marco Ruzzon, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2023	J	`jnl`	Autonomous Navigation With Online Replanning and Recovery Behaviors for Wheeled-Legged Robots Using Behavior Trees. IEEE Robotics Autom. Lett. Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis
2023	A*	`conf`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. ICRA 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
2023	J	`jnl`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. CoRR 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
2023	J	`jnl`	In-Hand Re-grasp Manipulation with Passive Dynamic Actions via Imitation Learning. CoRR Dehao Wei, Guokang Sun, Zeyu Ren, Shuang Li, Zhufeng Shao, Xiang Li, Nikos G. Tsagarakis, Shaohua Ma
2023	—	`conf`	Modelling and Compensation for Transmission Error of Timing Belt in Legged Robots. ROBIO Jingcheng Jiang, Yifang Zhang, Nikos G. Tsagarakis
2023	J	`jnl`	Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. Robotics Auton. Syst. Paolo Ferrari, Luca Rossini, Francesco Ruscelli, Arturo Laurenzi, Giuseppe Oriolo, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2023	J	`jnl`	On Perpendicular Curve-Based Task Space Trajectory Tracking Control With Incomplete Orientation Constraint. IEEE Trans Autom. Sci. Eng. Gaofeng Li, Shan Xu, Dezhen Song, Fernando Caponetto, Ioannis Sarakoglou, Jingtai Liu, Nikos G. Tsagarakis
2023	—	`conf`	Optimal Design of Agile Jumping Maneuvers for a Single Leg System. Humanoids Andrea Patrizi, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis
2023	J	`jnl`	ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors. J. Intell. Robotic Syst. Davide Torielli, Liana Bertoni, Fabio Fusaro, Nikos G. Tsagarakis, Luca Muratore
2023	J	`jnl`	The XBot2 real-time middleware for robotics. Robotics Auton. Syst. Arturo Laurenzi, Davide Antonucci, Nikos G. Tsagarakis, Luca Muratore
2023	—	`conf`	Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. Humanoids Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2023	J	`jnl`	Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped. CoRR Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure. IEEE Robotics Autom. Lett. Yisoo Lee, Nikos G. Tsagarakis, Christian Ott, Jinoh Lee
2022	A	`conf`	A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO. IROS Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis
2022	—	`conf`	A Shared Telemanipulation Interface to Facilitate Bimanual Grasping and Transportation of Objects of Unknown Mass. Humanoids Davide Torielli, Luca Muratore, Alessio De Luca, Nikos G. Tsagarakis
2022	—	`conf`	An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. Humanoids Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis
2022	—	`conf`	An Optimal Frontier Enhanced "Next Best View" Planner For Autonomous Exploration. Humanoids Liang Lu, Alessio De Luca, Luca Muratore, Nikos G. Tsagarakis
2022	—	`conf`	From Offline to Online: A Perception-Based Local Planner for Dynamic Obstacle Avoidance. Humanoids Luca Rossini, Nikos G. Tsagarakis
2022	J	`jnl`	Horizon: A Trajectory Optimization Framework for Robotic Systems. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. CoRR Luca Rossini, Paolo Ferrari, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	A	`conf`	Manipulability-Aware Shared Locomanipulation Motion Generation for Teleoperation of Mobile Manipulators. IROS Davide Torielli, Luca Muratore, Nikos G. Tsagarakis
2022	—	`conf`	Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots. AIM Xinyuan Zhao, Yuqiang Wu, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	Prototyping fast and agile motions for legged robots with Horizon. CoRR Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles. IEEE Access Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2022	—	`conf`	Task Driven Online Impedance Modulation. Humanoids Liana Bertoni, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface. IEEE Robotics Autom. Lett. Davide Torielli, Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2022	—	`conf`	Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. Humanoids Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2022	J	`jnl`	Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload. CoRR Ioannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis
2021	—	`conf`	A Compliant Mechanism with Progressive Stiffness for Robotic Actuation. AIM Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis
2021	A	`conf`	A Soft Assistive Device for Elbow Effort-Compensation. IROS Emir Mobedi, Wansoo Kim, Elena De Momi, Nikos G. Tsagarakis, Arash Ajoudani
2021	J	`jnl`	A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization. IEEE Access Yisoo Lee, Sanghyun Kim, Jaeheung Park, Nikos G. Tsagarakis, Jinoh Lee
2021	J	`jnl`	A Workspace Limit Approach for Teleoperation Based on Signed Distance Function. IEEE Robotics Autom. Lett. Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis
2021	A*	`conf`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. ICRA Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. CoRR Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg. Int. J. Robotics Res. Wesley Roozing, Zeyu Ren, Nikos G. Tsagarakis
2021	J	`jnl`	Exo-Muscle: A Semi-Rigid Assistive Device for the Knee. IEEE Robotics Autom. Lett. Yifang Zhang, Arash Ajoudani, Nikos G. Tsagarakis
2021	A	`conf`	Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology. IROS Éamon Barrett, Zeyu Ren, Nikos G. Tsagarakis
2021	A*	`conf`	Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO. ICRA Xinyuan Zhao, Yangwei You, Arturo Laurenzi, Navvab Kashiri, Nikos G. Tsagarakis
2021	—	`conf`	Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. AIM Eamon Barrett, Enrico Mingo Hoffman, Lorenzo Baccelliere, Nikos G. Tsagarakis
2021	A*	`conf`	Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots. ICRA Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2021	A*	`conf`	Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. ICRA Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. Frontiers Robotics AI Luca Rossini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2021	J	`jnl`	The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. Int. J. Humanoid Robotics Enrico Mingo Hoffman, Nikos G. Tsagarakis
2021	—	`conf`	Thermal Control for Peak Operation of Electric Robotic actuators. ICAR Akash Singh, Navvab Kashiri, Nikos G. Tsagarakis
2021	—	`conf`	Towards a Generic Grasp Planning Pipeline using End-Effector Specific Primitive Grasping Actions. ICAR Liana Bertoni, Davide Torielli, Yifang Zhang, Nikos G. Tsagarakis, Luca Muratore
2021	—	`conf`	Towards an Open-Source Hardware Agnostic Framework for Robotic End-Effectors Control. ICAR Davide Torielli, Liana Bertoni, Nikos G. Tsagarakis, Luca Muratore
2020	J	`jnl`	A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control. IEEE Robotics Autom. Lett. Luca Paparusso, Navvab Kashiri, Nikos G. Tsagarakis
2020	A	`conf`	A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. IROS Francesco Ruscelli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2020	A*	`conf`	A Novel Orientability Index and the Kinematic Design of the RemoT-ARM: A Haptic Master with Large and Dexterous Workspace. ICRA Gaofeng Li, Edoardo Del Bianco, Fernando Caponetto, Vasiliki Katsageorgiou, Nikos G. Tsagarakis, Ioannis Sarakoglou
2020	J	`jnl`	A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini
2020	J	`jnl`	A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. IEEE Robotics Autom. Lett. Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2020	A*	`conf`	Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot. ICRA Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2020	J	`jnl`	An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. IEEE Robotics Autom. Lett. Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2020	J	`jnl`	Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement. CoRR Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
2020	—	`conf`	Human Arm Posture Optimisation in Bilateral Teleoperation Through Interface Reconfiguration. BioRob Luka Peternel, Cheng Fang, Marco Laghi, Antonio Bicchi, Nikos G. Tsagarakis, Arash Ajoudani
2020	J	`jnl`	Incomplete Orientation Mapping for Teleoperation With One DoF Master-Slave Asymmetry. IEEE Robotics Autom. Lett. Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis
2020	J	`jnl`	Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli, Nikos G. Tsagarakis
2020	A*	`conf`	On the efficient control of series-parallel compliant articulated robots. ICRA Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis
2020	J	`jnl`	Reactive Support Polygon Adaptation for the Hybrid Legged-Wheeled CENTAURO Robot. IEEE Robotics Autom. Lett. Malgorzata Kamedula, Nikos G. Tsagarakis
2020	J	`jnl`	Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. J. Field Robotics 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
2020	A	`conf`	Robust Gait Synthesis Combining Constrained Optimization and Imitation Learning. IROS Jiatao Ding, Xiaohui Xiao, Nikos G. Tsagarakis, Yanlong Huang
2020	J	`jnl`	Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]. IEEE Robotics Autom. Mag. 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
2020	J	`jnl`	The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. IEEE Robotics Autom. Mag. Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2020	J	`jnl`	Wheeled motion kinematics and control of a hybrid mobility CENTAURO robot. Robotics Auton. Syst. Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis
2019	A*	`conf`	A Rolling Flexure Mechanism for Progressive Stiffness Actuators. ICRA Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis
2019	A*	`conf`	A Self-Modulated Impedance Multimodal Interaction Framework for Human-Robot Collaboration. ICRA Luca Muratore, Arturo Laurenzi, Nikos G. Tsagarakis
2019	J	`jnl`	Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback. IEEE Trans. Control. Syst. Technol. Spandan Roy, Indra Narayan Kar, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell
2019	A*	`conf`	Benchmarking Resilience of Artificial Hands. ICRA Francesca Negrello, Manolo Garabini, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi, Manuel G. Catalano
2019	J	`jnl`	CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. 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
2019	A*	`conf`	CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. ICRA Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis
2019	A	`conf`	Collision Detection and Isolation on a Robot using Joint Torque Sensing. IROS João Bimbo, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo
2019	J	`jnl`	Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. IEEE Robotics Autom. Mag. Pouya Mohammadi, Enrico Mingo Hoffman, Niels Dehio, Milad S. Malekzadeh, Martin A. Giese, Nikos G. Tsagarakis, Jochen J. Steil
2019	J	`jnl`	Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement. Robotics Auton. Syst. Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
2019	—	`conf`	Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space. ROBIO Juan Alejandro Castano, Chengxu Zhou, Nikos G. Tsagarakis
2019	J	`jnl`	Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. IEEE Robotics Autom. Mag. Enrico Mingo Hoffman, Stéphane Caron, Francesco Ferro, Luis Sentis, Nikos G. Tsagarakis
2019	A*	`conf`	Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm. ICRA Cheng Fang, Navvab Kashiri, Giuseppe Francesco Rigano, Arash Ajoudani, Nikos G. Tsagarakis
2019	J	`jnl`	Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System. CoRR 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
2019	J	`jnl`	Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. IEEE Robotics Autom. Mag. 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
2019	—	`conf`	Flux Regulation for Torque-controlled Robotics Actuators. ICAR Mobin Mohammadnia, Navvab Kashiri, Francesco Braghin, Nikos G. Tsagarakis
2019	J	`jnl`	Human inspired fall prediction method for humanoid robots. Robotics Auton. Syst. Rajesh Subburaman, Dimitrios Kanoulas, Luca Muratore, Nikos G. Tsagarakis, Jinoh Lee
2019	J	`jnl`	Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. Auton. Robots Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	—	`conf`	Object Captioning and Retrieval with Natural Language. ICCV Workshops Anh Nguyen, Quang D. Tran, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	A	`conf`	Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control. IROS Songyan Xin, Romeo Orsolino, Nikos G. Tsagarakis
2019	A	`conf`	Outlier-Robust State Estimation for Humanoid Robots IROS Stylianos Piperakis, Dimitrios Kanoulas, Nikos G. Tsagarakis, Panos E. Trahanias
2019	A*	`conf`	Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. ICRA Pouya Mohammadi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis, Jochen J. Steil
2019	—	`conf`	Real-Time 6DOF Pose Relocalization for Event Cameras With Stacked Spatial LSTM Networks. CVPR Workshops Anh Nguyen, Thanh-Toan Do, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	J	`jnl`	Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance. CoRR 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
2019	J	`jnl`	Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2019	A	`conf`	Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2019	—	`conf`	Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot. Humanoids Vivekanandan Suryamurthy, Vignesh Sushrutha Raghavan, Arturo Laurenzi, Nikos G. Tsagarakis, Dimitrios Kanoulas
2019	J	`jnl`	The Compliant Joint Toolbox for MATLAB: An Introduction With Examples. IEEE Robotics Autom. Mag. Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis
2019	A*	`conf`	Towards Robot Interaction Autonomy: Explore, Identify, and Interact. ICRA Pietro Balatti, Dimitrios Kanoulas, Nikos G. Tsagarakis, Arash Ajoudani
2019	J	`jnl`	V2CNet: A Deep Learning Framework to Translate Videos to Commands for Robotic Manipulation. CoRR Anh Nguyen, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	A	`conf`	Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot. IROS Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, Nikos G. Tsagarakis
2019	A*	`conf`	Versatile Reactive Bipedal Locomotion Planning Through Hierarchical Optimization. ICRA Jiatao Ding, Chengxu Zhou, Zhao Guo, Xiaohui Xiao, Nikos G. Tsagarakis
2018	A	`conf`	A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	A	`conf`	A Method for Robot Motor Fatigue Management in Physical Interaction and Human-Robot Collaboration Tasks. IROS Luka Peternel, Nikos G. Tsagarakis, Arash Ajoudani
2018	A	`conf`	A Novel Joint Torque Estimation Method and Sensory System for Assistive Lower Limb Exoskeletons. IROS Lorenzo Saccares, Ioannis Sarakoglou, Nikos G. Tsagarakis
2018	B	`conf`	A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm. SMC Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis
2018	A	`conf`	A Self-Tuning Impedance Controller for Autonomous Robotic Manipulation. IROS Pietro Balatti, Dimitrios Kanoulas, Giuseppe Francesco Rigano, Luca Muratore, Nikos G. Tsagarakis, Arash Ajoudani
2018	—	`conf`	A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion. Humanoids Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Chengxu Zhou, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. ICRA Juan Alejandro Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos G. Tsagarakis
2018	J	`jnl`	A mixed real-time robot hardware abstraction layer (R-HAL). Encycl. Semantic Comput. Robotic Intell. Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	—	`conf`	An analysis of the effect of gravity compensation on compliant biped walking controllers. AMC Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis
2018	—	`conf`	An open-source architecture for simulation, execution and analysis of real-time robotics systems. SIMPAR Dennis Leroy Wigand, Pouya Mohammadi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Jochen J. Steil, Sebastian Wrede
2018	—	`conf`	Balancing Control Through Post-Optimization of Contact Forces. Humanoids Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2018	C	`conf`	Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor. ICARCV Emily-Jane Rolley-Parnell, Dimitrios Kanoulas, Arturo Laurenzi, Brian Delhaisse, Leonel Dario Rozo, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	J	`jnl`	Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing. CoRR Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	J	`jnl`	Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing. Int. J. Humanoid Robotics Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	Ctrl-MORE: A Framework to Integrate Controllers of Multi-DoF Robot for Developers and Users. ICRA Juan Alejandro Castano, Przemyslaw Kryczka, Brian Delhaisse, Chengxu Zhou, Nikos G. Tsagarakis
2018	J	`jnl`	Design and Evaluation of a Wearable Skin Stretch Device for Haptic Guidance. IEEE Robotics Autom. Lett. Francesco Chinello, Claudio Pacchierotti, João Bimbo, Nikos G. Tsagarakis, Domenico Prattichizzo
2018	A*	`conf`	Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots. ICRA Wesley Roozing, Zeyu Ren, Nikos G. Tsagarakis
2018	A	`conf`	Enhanced Explosive Motion for Torque Controlled Actuators Through Field Weakening Control. IROS Wesley Roozing, Navvab Kashiri, Nikos G. Tsagarakis
2018	A*	`conf`	Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. ICRA Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	Footstep Planning in Rough Terrain for Bipedal Robots Using Curved Contact Patches. ICRA Dimitrios Kanoulas, Alexander Stumpf, Vignesh Sushrutha Raghavan, Chengxu Zhou, Alexia Toumpa, Oskar von Stryk, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	—	`conf`	From Non-Reactive to Reactive Walking in Humanoid Robots. Humanoids Juan Alejandro Castano, Chengxu Zhou, Nikos G. Tsagarakis
2018	A	`conf`	HERI II: A Robust and Flexible Robotic Hand based on Modular Finger design and Under Actuation Principles. IROS Zeyu Ren, Navvab Kashiri, Chengxu Zhou, Nikos G. Tsagarakis
2018	A*	`conf`	Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. ICRA Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell
2018	A	`conf`	Neural-Network-Controlled Spring Mass Template for Humanoid Running. IROS Songyan Xin, Brian Delhaisse, Yangwei You, Chengxu Zhou, Mohammad Shahbazi, Nikos G. Tsagarakis
2018	—	`conf`	New Cross-Step Enabled Configurations for Humanoid Robot. Humanoids Songyan Xin, Chengxu Zhou, Nikos G. Tsagarakis
2018	J	`jnl`	Object Captioning and Retrieval with Natural Language. CoRR Anh Nguyen, Thanh-Toan Do, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A	`conf`	On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO robot. IROS Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis
2018	A*	`conf`	Online Falling-Over Control of Humanoids Exploiting Energy Shaping and Distribution Methods. ICRA Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A	`conf`	Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation. IROS Luka Peternel, Cheng Fang, Nikos G. Tsagarakis, Arash Ajoudani
2018	B	`conf`	Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm. SMC Cheng Fang, Giuseppe Francesco Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis
2018	J	`jnl`	Online Model Based Estimation of Complete Joint Stiffness of Human Arm. IEEE Robotics Autom. Lett. Cheng Fang, Arash Ajoudani, Antonio Bicchi, Nikos G. Tsagarakis
2018	—	`conf`	Online Rolling Motion Generation for Humanoid Falls Based on Active Energy Control Concepts. Humanoids Rajesh Subburaman, Nikos G. Tsagarakis, Jinoh Lee
2018	J	`jnl`	Online impedance regulation techniques for compliant humanoid balancing. Robotics Auton. Syst. Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Peter R. N. Childs, Nikos G. Tsagarakis
2018	A	`conf`	Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. IROS Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	J	`jnl`	Robot adaptation to human physical fatigue in human-robot co-manipulation. Auton. Robots Luka Peternel, Nikos G. Tsagarakis, Darwin G. Caldwell, Arash Ajoudani
2018	—	`conf`	Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. Humanoids Luigi Penco, Brice Clement, Valerio Modugno, Enrico Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos G. Tsagarakis, Jean-Baptiste Mourert, Serena Ivaldi
2018	—	`conf`	The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles. Humanoids Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis
2018	—	`conf`	Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. IRC Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	A*	`conf`	Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks. ICRA Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A	`conf`	XBotCloud: A Scalable Cloud Computing Infrastructure for XBot Powered Robots. IROS Luca Muratore, Barry Lennox, Nikos G. Tsagarakis
2018	—	`conf`	rxKinFu: Moving Volume KinectFusion for 3D Perception and Robotics. Humanoids Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
2017	—	`conf`	A novel human effort estimation method for knee assistive exoskeletons. ICORR Lorenzo Saccares, Anais Brygo, Ioannis Sarakoglou, Nikos G. Tsagarakis
2017	—	`conf`	A real-time and reduced-complexity approach to the detection and monitoring of static joint overloading in humans. ICORR Wansoo Kim, Jinoh Lee, Nikos G. Tsagarakis, Arash Ajoudani
2017	A*	`conf`	A study of nonlinear forward models for dynamic walking. ICRA Yangwei You, Chengxu Zhou, Zhibin Li, Nikos G. Tsagarakis
2017	A	`conf`	A torque-controlled humanoid robot riding on a two-wheeled mobile platform. IROS Songyan Xin, Yangwei You, Chengxu Zhou, Cheng Fang, Nikos G. Tsagarakis
2017	—	`conf`	Actuation principles for robots with high power and enhance physical interaction capabilities. ICARSC Nikos G. Tsagarakis
2017	J	`jnl`	AffordanceNet: An End-to-End Deep Learning Approach for Object Affordance Detection. CoRR Thanh-Toan Do, Anh Nguyen, Ian D. Reid, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	J	`jnl`	Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback. CoRR Spandan Roy, Indra Narayan Kar, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell
2017	J	`jnl`	Choosing Poses for Force and Stiffness Control. IEEE Trans. Robotics Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi
2017	J	`jnl`	Corrigendum: The Walk-Man Robot Software Architecture. Frontiers Robotics AI Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alberto Cardellino, Alessio Rocchi, Enrico Mingo Hoffman, Corrado Pavan, Dimitrios Kanoulas, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino
2017	—	`conf`	Design and characterization of a novel high-compliance spring for robots with soft joints. AIM Francesca Negrello, Manuel G. Catalano, Manolo Garabini, Mattia Poggiani, Darwin G. Caldwell, Nikos G. Tsagarakis, Antonio Bicchi
2017	A	`conf`	Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. IROS Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis
2017	Misc	`conf`	Exploiting the natural dynamics of compliant joint robots for cyclic motions. MMAR Navvab Kashiri, Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	A	`conf`	HERI hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation. IROS Zeyu Ren, Chengxu Zhou, Songyan Xin, Nikos G. Tsagarakis
2017	—	`conf`	Humanoid running based on centroidal dynamics and heuristic foot placement. ROBIO Songyan Xin, Yangwei You, Chengxu Zhou, Nikos G. Tsagarakis
2017	—	`conf`	MPC strategy for dynamic stabilization of preplanned walking gaits. Humanoids Juan Alejandro Castano, Chengxu Zhou, Przemyslaw Kryczka, Nikos G. Tsagarakis
2017	A	`conf`	Object-based affordances detection with Convolutional Neural Networks and dense Conditional Random Fields. IROS Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	J	`jnl`	On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles. IEEE Robotics Autom. Lett. Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2017	J	`jnl`	On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators. IEEE Robotics Autom. Lett. Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	—	`conf`	On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands. Humanoids Virginia Ruiz Garate, Nikos G. Tsagarakis, Antonio Bicchi, Arash Ajoudani
2017	—	`conf`	RRT-based motion planning with sampling in Redundancy space for robots with anthropomorphic arms. AIM Cheng Fang, Jinoh Lee, Arash Ajoudani, Chengxu Zhou, Nikos G. Tsagarakis, Darwin G. Caldwell
2017	J	`jnl`	Real-Time Pose Estimation for Event Cameras with Stacked Spatial LSTM Networks. CoRR Anh Nguyen, Thanh-Toan Do, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	—	`conf`	Robot control for dummies: Insights and examples using OpenSoT. Humanoids Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis
2017	A	`conf`	Teleoperation in cluttered environments using wearable haptic feedback. IROS João Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos G. Tsagarakis, Domenico Prattichizzo
2017	J	`jnl`	Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks. CoRR Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	—	`conf`	Variable impedance walking using Time-Varying Lyapunov Stability Margins. Humanoids Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis
2017	—	`conf`	Vision-based foothold contact reasoning using curved surface patches. Humanoids Dimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	J	`jnl`	Visual Grasp Affordance Localization in Point Clouds Using Curved Contact Patches. Int. J. Humanoid Robotics Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2017	A	`conf`	What is the torque bandwidth of this actuator? IROS Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell
2017	—	`conf`	XBotCore: A Real-Time Cross-Robot Software Platform. IRC Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot. ICINCO (2) Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	A generic optimization-based framework for reactive collision avoidance in bipedal locomotion. CASE Chengxu Zhou, Cheng Fang, Xin Wang, Zhibin Li, Nikos G. Tsagarakis
2016	—	`conf`	Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation. Humanoids Luka Peternel, Nikos G. Tsagarakis, Darwin G. Caldwell, Arash Ajoudani
2016	—	`conf`	An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. Humanoids Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Tamim Asfour
2016	A	`conf`	Balance and impedance optimization control for COmpliant huMANoid stepping. IROS Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	A	`conf`	Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. IROS Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	J	`jnl`	Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation. Auton. Robots Zhibin Li, Chengxu Zhou, Nikos G. Tsagarakis, Darwin G. Caldwell
2016	J	`jnl`	Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency. IEEE Robotics Autom. Lett. Wesley Roozing, Zhibin Li, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	A*	`conf`	Design of a variable compliant humanoid foot with a new toe mechanism. ICRA Wooseok Choi, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	Design of a wearable skin stretch cutaneous device for the upper limb. HAPTICS Francesco Chinello, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo
2016	A	`conf`	Detecting object affordances with Convolutional Neural Networks. IROS Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg. ICINCO (1) Navvab Kashiri, Arash Ajoudani, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction. ISER Peter Kaiser, Eren Erdal Aksoy, Markus Grotz, Dimitrios Kanoulas, Nikos G. Tsagarakis, Tamim Asfour
2016	A	`conf`	HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback. IROS Ioannis Sarakoglou, Anais Brygo, Dario Mazzanti, Nadia Vanessa Garcia-Hernandez, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	Multi-sensor based fall prediction method for humanoid robots. MFI Rajesh Subburaman, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	A	`conf`	Preparatory object reorientation for task-oriented grasping. IROS Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	J	`jnl`	Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments. Robotics Auton. Syst. Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell
2016	A*	`conf`	Reflex control of the Pisa/IIT SoftHand during object slippage. ICRA Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos G. Tsagarakis, Antonio Bicchi
2016	—	`conf`	Robot Dynamics Constraint for Inverse Kinematics. ARK Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell
2016	—	`conf`	Robust Model Predictive Control for humanoids standing balancing. ICARM Juan Alejandro Castano, Chengxu Zhou, Zhibin Li, Nikos G. Tsagarakis
2016	J	`jnl`	Stabilization of bipedal walking based on compliance control. Auton. Robots Chengxu Zhou, Zhibin Li, Xin Wang, Nikos G. Tsagarakis, Darwin G. Caldwell
2016	—	`conf`	Straight leg walking strategy for torque-controlled humanoid robots. ROBIO Yangwei You, Songyan Xin, Chengxu Zhou, Nikos G. Tsagarakis
2016	—	`ch.`	Teleimpedance Control: Overview and Application. Human and Robot Hands Arash Ajoudani, Sasha B. Godfrey, Nikos G. Tsagarakis, Antonio Bicchi
2016	J	`jnl`	The Walk-Man Robot Software Architecture. Frontiers Robotics AI Mirko Ferrati, Alessandro Settimi, Luca Muratore, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino
2016	A	`conf`	Towards multi-modal intention interfaces for human-robot co-manipulation. IROS Luka Peternel, Nikos G. Tsagarakis, Arash Ajoudani
2016	—	`conf`	Uncertainty analysis for curved surface contact patches. Humanoids Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
2016	A	`conf`	iT-Knee: An exoskeleton with ideal torque transmission interface for ergonomic power augmentation. IROS Lorenzo Saccares, Ioannis Sarakoglou, Nikos G. Tsagarakis
2015	A	`conf`	A general whole-body compliance framework for humanoid robots. IROS Luca Colasanto, Nikos G. Tsagarakis, Auke Jan Ijspeert
2015	A	`conf`	A new foot sole design for humanoids robots based on viscous air damping mechanism. IROS Wooseok Choi, Chengxu Zhou, Gustavo A. Medrano-Cerda, Darwin G. Caldwell, Nikos G. Tsagarakis
2015	A	`conf`	A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control. IROS Arash Ajoudani, Cheng Fang, Nikos G. Tsagarakis, Antonio Bicchi
2015	A	`conf`	Active control of under-actuated foot tilting for humanoid push recovery. IROS Zhibin Li, Chengxu Zhou, Qiuguo Zhu, Rong Xiong, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	J	`jnl`	Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans. IEEE Robotics Autom. Mag. 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
2015	A*	`conf`	Damping control of variable damping compliant actuators. ICRA Navvab Kashiri, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell
2015	—	`conf`	Efficient self-collision avoidance based on focus of interest for humanoid robots. Humanoids Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	J	`jnl`	Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism. Ind. Robot Amir Jafari, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	J	`jnl`	Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach. Robotics Auton. Syst. Juan Alejandro Castano, Andres Hernandez, Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell, Robin De Keyser
2015	—	`conf`	Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints. SyRoCo Houman Dallali, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	A	`conf`	Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle. IROS Chengxu Zhou, Xin Wang, Zhibin Li, Darwin G. Caldwell, Nikos G. Tsagarakis
2015	A*	`conf`	Fall Prediction of legged robots based on energy state and its implication of balance augmentation: A study on the humanoid. ICRA Zhibin Li, Chengxu Zhou, Juan Alejandro Castano, Xin Wang, Francesca Negrello, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	A	`conf`	From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis. IROS Yangwei You, Zhibin Li, Darwin G. Caldwell, Nikos G. Tsagarakis
2015	A*	`conf`	Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders. ICRA Mostafa Bagheri, Arash Ajoudani, Jinoh Lee, Darwin G. Caldwell, Nikos G. Tsagarakis
2015	A*	`conf`	On the role of robot configuration in Cartesian stiffness control. ICRA Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi
2015	—	`conf`	Online impedance parameter tuning for compliant biped balancing. Humanoids Emmanouil Spyrakos-Papastavridis, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	A	`conf`	Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing. IROS Przemyslaw Kryczka, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	A*	`conf`	OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. ICRA Alessio Rocchi, Enrico Mingo Hoffman, Darwin G. Caldwell, Nikos G. Tsagarakis
2015	—	`conf`	Optically-regulated impedance-based balancing for humanoid robots. Humanoids Emmanouil Spyrakos-Papastavridis, Dimitrios Kanoulas, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	J	`jnl`	Tele-impedance based assistive control for a compliant knee exoskeleton. Robotics Auton. Syst. Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Jody Alessandro Saglia, Antonio Bicchi, Darwin G. Caldwell
2015	J	`jnl`	Variable stiffness actuators: The user's point of view. Int. J. Robotics Res. 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
2014	—	`conf`	A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. MESAS Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos G. Tsagarakis, Antonio Bicchi
2014	—	`conf`	A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. Humanoids Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin G. Caldwell, Antonio Bicchi, Nikos G. Tsagarakis
2014	A*	`conf`	A passivity based compliance stabilizer for humanoid robots. ICRA Chengxu Zhou, Zhibin Li, Juan Alejandro Castano, Houman Dallali, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	J	`jnl`	Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. IEEE Trans. Ind. Electron. Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Stephen Morfey, Darwin G. Caldwell
2014	—	`conf`	Can active impedance protect robots from landing impact? Humanoids Houman Dallali, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Comparison study of two inverted pendulum models for balance recovery. Humanoids Zhibin Li, Chengxu Zhou, Houman Dallali, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Decentralized Feedback Design for a Compliant Robot Arm. EMS Houman Dallali, Gustavo A. Medrano-Cerda, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	J	`jnl`	Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots. Robotics Auton. Syst. Matteo Laffranchi, Lisha Chen, Navvab Kashiri, Jinoh Lee, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Development of a 7DOF soft manipulator arm for the compliant humanoid robot COMAN. ROBIO Vo-Gia Loc, Navvab Kashiri, Francesca Negrello, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	A*	`conf`	Development of a hybrid actuator with controllable mechanical damping. ICRA Ioannis Sarakoglou, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	A*	`conf`	Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking. ICRA Luca Colasanto, Nicolas Perrin, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control. ICINCO (2) Navvab Kashiri, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell
2014	J	`jnl`	Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand. IEEE Trans. Haptics Arash Ajoudani, Sasha B. Godfrey, Matteo Bianchi, Manuel G. Catalano, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi
2014	—	`ch.`	HANDS.DVI: A Device-Independent Programming and Control Framework for Robotic Hands. Technology Transfer Experiments from the ECHORD Project Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo, Alessandro Serio, Edoardo Farnioli, Marco Gabiccini, Antonio Bicchi, Ioannis Sarakoglou, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	How leg/foot compliance and posture affects impact forces during landing. ROBIO Wooseok Choi, Houman Dallali, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	A	`conf`	Lyapunov Stability Margins for humanoid robot balancing. IROS Emmanouil Spyrakos-Papastavridis, Nicolas Perrin, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
2014	A*	`conf`	Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control. ICRA Arash Ajoudani, Nikos G. Tsagarakis, Jinoh Lee, Marco Gabiccini, Antonio Bicchi
2014	—	`conf`	Optimal human-inspired ankle stiffness regulation for humanoid balancing control. Humanoids Mohamad Mosadeghzad, Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Emmanouil Spyrakos-Papastavridis, Darwin G. Caldwell
2014	A*	`conf`	Physical interaction detection and control of compliant manipulators equipped with friction clutches. ICRA Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Alessio Margan, Darwin G. Caldwell
2014	A*	`conf`	Power efficient balancing control for humanoids based on approximate optimal ankle compliance regulation. ICRA Mohamad Mosadeghzad, Nikos G. Tsagarakis, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
2014	—	`conf`	Proxy-Based Sliding Mode Control of Compliant Joint Manipulators. ICINCO (Selected Papers) Navvab Kashiri, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Darwin G. Caldwell
2014	A*	`conf`	Real-time damping estimation for variable impedance actuators. ICRA Navvab Kashiri, Matteo Laffranchi, Jinoh Lee, Nikos G. Tsagarakis, Lisha Chen, Darwin G. Caldwell
2014	A	`conf`	The patched intrinsic tactile object: A tool to investigate human grasps. IROS Alessandro Serio, Emanuele Riccomini, Vincenzo Tartaglia, Ioannis Sarakoglou, Marco Gabiccini, Nikos G. Tsagarakis, Antonio Bicchi
2014	J	`jnl`	Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs). Auton. Robots Federico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Yarp Based Plugins for Gazebo Simulator. MESAS Enrico Mingo Hoffman, Silvio Traversaro, Alessio Rocchi, Mirko Ferrati, Alessandro Settimi, Francesco Romano, Lorenzo Natale, Antonio Bicchi, Francesco Nori, Nikos G. Tsagarakis
2013	A	`conf`	A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers. IROS Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
2013	—	`conf`	A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. ICM Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
2013	A*	`conf`	COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control. ICRA Nikos G. Tsagarakis, Stephen Morfey, Gustavo A. Medrano-Cerda, Zhibin Li, Darwin G. Caldwell
2013	—	`conf`	Designing a High Performance Humanoid Robot Based on Dynamic Simulation. EMS Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Vo-Gia Loc, Nikos G. Tsagarakis, Darwin G. Caldwell, Michele Gesino
2013	—	`conf`	Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach. ICM Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell
2013	—	`conf`	Dynamic modeling and adaptable control of the CompAct™ arm. ICM Navvab Kashiri, Matteo Laffranchi, Nikos G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell
2013	A*	`conf`	Gravity compensation control of compliant joint systems with multiple drives. ICRA Emmanouil Spyrakos-Papastavridis, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
2013	J	`jnl`	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. Federico L. Moro, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani, Nikos G. Tsagarakis, Auke Jan Ijspeert, Darwin G. Caldwell
2013	—	`conf`	Human-inspired balancing assistance: Application to a knee exoskeleton. ROBIO Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Darwin G. Caldwell
2013	A*	`conf`	Human-like impedance and minimum effort control for natural and efficient manipulation. ICRA Arash Ajoudani, Marco Gabiccini, Nikos G. Tsagarakis, Antonio Bicchi
2013	—	`conf`	Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. URAI Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi
2013	—	`conf`	Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation. ROBIO Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nikos G. Tsagarakis, Darwin G. Caldwell
2013	J	`jnl`	Improving Mouse-Based Computer Interaction in Users With Weak Upper Limb Motion Control Using a Haptic Assistive System. IEEE Trans. Hum. Mach. Syst. Nikos G. Tsagarakis, Darwin G. Caldwell
2013	A	`conf`	Link position control of a compliant actuator with unknown transmission friction torque. IROS Lisha Chen, Matteo Laffranchi, Jinoh Lee, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell
2013	—	`conf`	On the stiffness design of intrinsic compliant manipulators. AIM Navvab Kashiri, Nikos G. Tsagarakis, Matteo Laffranchi, Darwin G. Caldwell
2013	A	`conf`	Optimal ankle compliance regulation for humanoid balancing control. IROS Mohamad Mosadeghzad, Zhibin Li, Nikos G. Tsagarakis, Gustavo A. Medrano-Cerda, Houman Dallali, Darwin G. Caldwell
2013	A*	`conf`	Optimal control for maximizing velocity of the CompAct™ compliant actuator. ICRA Lisha Chen, Manolo Garabini, Matteo Laffranchi, Navvab Kashiri, Nikos G. Tsagarakis, Antonio Bicchi, Darwin G. Caldwell
2013	—	`conf`	Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators. Robotics: Science and Systems Jorhabib Eljaik, Zhibin Li, Marco Randazzo, Alberto Parmiggiani, Giorgio Metta, Nikos G. Tsagarakis, Francesco Nori
2013	A	`conf`	Stabilizing humanoids on slopes using terrain inclination estimation. IROS Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell
2013	A*	`conf`	Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device. ICRA Nikos Karavas, Arash Ajoudani, Nikos G. Tsagarakis, Jody Alessandro Saglia, Antonio Bicchi, Darwin G. Caldwell
2013	A	`conf`	Teleimpedance control of a synergy-driven anthropomorphic hand. IROS Arash Ajoudani, Sasha B. Godfrey, Manuel G. Catalano, Giorgio Grioli, Nikos G. Tsagarakis, Antonio Bicchi
2013	J	`jnl`	Walking pattern generation for a humanoid robot with compliant joints. Auton. Robots Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	—	`conf`	A passivity based admittance control for stabilizing the compliant humanoid COMAN. Humanoids Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	A	`conf`	A simple controller for a variable stiffness joint with uncertain dynamics and prescribed performance guarantees. IROS Efi Psomopoulou, Zoe Doulgeri, George A. Rovithakis, Nikos G. Tsagarakis
2012	A	`conf`	Internal model control for improving the gait tracking of a compliant humanoid robot. IROS Luca Colasanto, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell
2012	J	`jnl`	On the Kinematic Motion Primitives (kMPs) - Theory and Application. Frontiers Neurorobotics Federico L. Moro, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	J	`jnl`	On-line estimation of variable stiffness in flexible robot joints. Int. J. Robotics Res. Fabrizio Flacco, Alessandro De Luca, Irene Sardellitti, Nikos G. Tsagarakis
2012	—	`conf`	Statistical dynamical systems for skills acquisition in humanoids. Humanoids Sylvain Calinon, Zhibin Li, Tohid Alizadeh, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	J	`jnl`	Tele-impedance: Teleoperation with impedance regulation using a body-machine interface. Int. J. Robotics Res. Arash Ajoudani, Nikos G. Tsagarakis, Antonio Bicchi
2012	J	`jnl`	The Design of the iCub humanoid Robot. Int. J. Humanoid Robotics Alberto Parmiggiani, Marco Maggiali, Lorenzo Natale, Francesco Nori, Alexander Schmitz, Nikos G. Tsagarakis, José Santos-Victor, Francesco Becchi, Giulio Sandini, Giorgio Metta
2012	—	`conf`	The mechatronic design of the new legs of the iCub robot. Humanoids Alberto Parmiggiani, Giorgio Metta, Nikos G. Tsagarakis
2012	A	`conf`	The role of physical damping in compliant actuation systems. IROS Matteo Laffranchi, Lisha Chen, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	—	`conf`	Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems. AMC Matteo Laffranchi, Nikos G. Tsagarakis, Darwin G. Caldwell
2012	J	`jnl`	Yaw moment compensation for bipedal Robots via Intrinsic angular momentum Constraint. Int. J. Humanoid Robotics Barkan Ugurlu, Jody Alessandro Saglia, Nikos G. Tsagarakis, Darwin G. Caldwell
2011	—	`conf`	A multi-DOF robotic exoskeleton interface for hand motion assistance. EMBC Jamshed Iqbal, Nikos G. Tsagarakis, Darwin G. Caldwell
2009	—	`conf`	Effect of the tactile array density on the discrimination of edge patterns: Implications for tactile systems design. ICAR Nadia Vanessa Garcia-Hernandez, Nikos G. Tsagarakis, Darwin G. Caldwell
2003	J	`jnl`	Exoskeletons for human force augmentation. Ind. Robot M. Brown, Nikos G. Tsagarakis, Darwin G. Caldwell
1997	A*	`conf`	Mechano thermo and proprioceptor feedback for integrated haptic feedback. ICRA Darwin G. Caldwell, Nikos G. Tsagarakis, Andrew Wardle