Publications

Selected Journals

  1. Multi-expert learning of adaptive legged locomotion, Science Robotics, Vol 5 (49), 2020, full-text of paper here, see BBC News report and Youtube videos.
  2. An analytic solution for the force distribution based on Cartesian compliance models, International Journal of Advanced Robotic Systems (IJARS), 2019.
  3. Bayesian Optimisation for Whole-Body Control of High Degree of Freedom Robots through Reduction of Dimensionality, IEEE Robotics and Automation Letters (RA-L), 2018.
  4. HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Environments, IEEE Robotics and Automation Letters (RA-L), 2017.
  5. Humanoid Balance Recovery with Actively Controlled Underactuation, IEEE Transactions on Robotics, 2017.
  6. Overview of Gait Synthesis for the Humanoid COMAN, Journal of Bionic Engineering, Elsevier, 2017.
  7. Intensity Weighted Subtraction Microscopy Approach for Image Contrast and Resolution Enhancement, Scientific Reports, Nature, 2016.
  8. Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency, IEEE Robotics and Automation Letters (RA-L), 2016.
  9. Compliance Control for Stabilizing a Humanoid on the Changing Slope Based on Terrain Inclination Estimation, Autonomous Robots, Springer, 2015.
  10. Development and Control of a Compliant Asymmetric Antagonistic Joint for Efficient Mobility, IEEE/ASME Transactions on Mechatronics, 2015.
  11. Stabilization of Bipedal Walking Based on Compliance Control, Autonomous Robots, Springer, 2015.
  12. Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control, International Journal of Humanoid Robotics, 2016.
  13. Enhancing the Robustness of the EPSAC Predictive Control Using A Singular Value Decomposition Approach, Robotics and Autonomous Systems, Elsevier, 2015.
  14. Walking Pattern Generation for a Humanoid Robot with Compliant Joints, Autonomous Robots, Springer, 2013.
  15. Quasi-Straightened Knee Walking for the Humanoid Robot, Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs, Springer, 2013.
  16. On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning, Journal of Cybernetics and Information Technologies, 2012.

Selected Conference Publications

  1. Model Predictive Control for Motion Planning of Quadrupedal Locomotion, IEEE-RAS International Conference on Advanced Robotics and Mechatronics (ICARM), 2019. (Best conference paper finalist)
  2. Learning Whole-body Motor Skills for Humanoids, IEEE-RAS International Conference on Humanoid Robots, 2018.
  3. Nonlinear Optimization using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper, IEEE-RAS International Conference on Humanoid Robots, 2018.
  4. Recurrent Deterministic Policy Gradient Method for Bipedal Locomotion on Rough Terrain Challenge, 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018.
  5. An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
  6. Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking, IEEE International Conference on Robotics and Automation (ICRA), 2018.
  7. Emergence of Human-comparable Balancing Behaviours by Deep Reinforcement Learning, IEEE-RAS International Conference on Humanoid Robots, 2017.
  8. Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation, IEEE-RAS International Conference on Humanoid Robots, 2017.
  9. A Novel 3D-Printing Repair of Surface Cracks for Improving the Mechanical Strength, IEEE/SICE International Symposium on System Integration, 2017.
  10. A Study of Nonlinear Forward Models for Dynamic Walking, IEEE International Conference on Robotics and Automation (ICRA), 2017.
  11. iDRM: Humanoid Motion Planning with Real–Time End–Pose Selection in Complex Environments, IEEE-RAS International Conference on Humanoid Robots, 2016.
  12. A Generic Optimization-based Framework for Reactive Collision Avoidance in Bipedal Locomotion, IEEE International Conference on Automation Science and Engineering (CASE), 2016. [Video]
  13. Robust Model Predictive Control for Humanoids Standing Balancing, IEEE International Conference on Advanced Robotics and Mechatronics (ARM), 2016.
  14. Active Control of Under-actuated Foot Tilting for Humanoid Push Recovery, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
  15. From One-legged Hopping to Bipedal Running and Walking: A Unified Foot Placement Control Based On Regression Analysis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
  16. Exploiting the Redundancy for Humanoid Robots to Dynamically Step Over A Large Obstacle, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
  17. Fall Prediction of Legged Robots Based on Energy State and its Implication of Balance Augmentation: A Study on the Humanoid, IEEE International Conference on Robotics and Automation (ICRA), 2015.
  18. Foot Placement Control for Bipedal Walking on Uneven Terrain: An Online LInear Regression Analysis Approach, International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 2015.
  19. Comparison Study of Two Inverted Pendulum Models for Balance Recovery, IEEE-RAS International Conference on Humanoid Robots, 2014. [Video]
  20. Powered Dynamic Walking Based on the Passive Dynamic Principles: A Virtual Slope Walking Approach, IEEE-RAS International Conference on Humanoid Robots, 2014. [Video]
  21. A Passivity Based Compliance Stabilizer for Humanoid Robots, IEEE International Conference on Robotics and Automation (ICRA), 2014.
  22. Implementation of Robust EPSAC on dynamic walking of COMAN Humanoid, 19th World Congress: The International Federation of Automatic Control (IFAC), 2014.
  23. Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [Video 1, Video 2]
  24. Optimal Ankle Compliance Regulation for Humanoid Balancing Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
  25. Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Control, IEEE International Conference on Robotics and Automation (ICRA), 2013.
  26. Development of A Dynamic Simulator for A Compliant Humanoid Robot Based on A Symbolic Multi-body Approach, IEEE International Conference on Mechatronics (ICM), 2013.
  27. Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators, Robotics: Science and Systems (RSS), 2013.
  28. Internal Model Control for Improving the Gait Tracking of a Compliant Humanoid Robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
  29. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN, IEEE-RAS International Conference on Humanoid Robots, 2012. (Award for Best Paper Nomination Finalist) [Video]
  30. Statistical Dynamical Systems for Skills Acquisition in Humanoids, IEEE-RAS International Conference on Humanoid Robots, 2012.
  31. The Design of the Lower Body of the Compliant Humanoid Robot cCub, IEEE International Conference on Robotics and Automation (ICRA), 2011.
  32. Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid, IEEE International Conference on Robotics and Automation (ICRA), 2012. [Video]
  33. Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance, IEEE International Conference on Robotics and Automation (ICRA), 2012.
  34. Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2010. [Video]
  35. Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub, International Conference on Control Automation Robotics Vision (ICARCV), 2010. [Video]
  36. Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub, UKACC International Conference on Control, 2010. [Video]