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IIT
Colasanto L, Tsagarakis NG, Li Z, Caldwell DG. Internal Model Control for Improving the Gait tracking of a Compliant Humanoid Robot. In: IROS. IROS. ; 2012.
Tsagarakis NG, Li Z, Saglia JA, Caldwell DG. The Design of the Lower Body of the Compliant Humanoid Robot ’’cCub’’. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. Shanghai; 2011. Available from: http://goo.gl/uoZDO8
Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion. In: IEEE International Conference on Robotics and Biomimetics, 2010. IEEE International Conference on Robotics and Biomimetics, 2010. ; 2010. Available from: http://goo.gl/9447Yq
Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub. In: UKACC International Conference on CONTROL, 2010. UKACC International Conference on CONTROL, 2010. ; 2010. Available from: http://goo.gl/Elhzan
Li Z, Tsagarakis NG, Caldwell DG, Vanderborght B. Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub. In: International Conference Control and Automation, Robics and Vision , 2010. International Conference Control and Automation, Robics and Vision , 2010. ; 2010. Available from: http://goo.gl/q2Pm3A (755.57 KB)
Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Humanoid2012.pdf?attredirects=0&d=1
Li Z, Vanderborght B, Tsagarakis NG, Colasanto L, Caldwell DG. Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Stabilizer%20ICRA_V21_Correction.pdf?attredirects=0&d=1
Li Z, Tsagarakis NG, Caldwell DG. Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: http://goo.gl/Sj20Gk
Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012.
Li Z, Tsagarakis NG, Caldwell DG. Walking Pattern Generation for a Humanoid Robot with Compliant Joints. Autonomous Robots [Internet]. 2013 ;35(1). Available from: http://link.springer.com/article/10.1007/s10514-013-9330-7/fulltext.html
Tsagarakis NG, Morfey S, Cerda GM, Li Z, Caldwell DG. Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Contro. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. ; 2013. Available from: http://goo.gl/qYP3KH
Dallali H, Kormushev P, Li Z, Caldwell DG. On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning. Journal of Cybernetics and Information Technologies. 2012 ;vol. 12, no. 3:pp. 39-52.
Dallali H, Mosadeghzad M, Medrano-Cerda G, Docquier N, Kormushev P, Tsagarakis NG, Li Z, Caldwell DG. Development of a Dynamic Simulator for a Compliant Human-oid Robot Based on a Symbolic Multibody Approach. In: IEEE International Conference on Mechatronics. IEEE International Conference on Mechatronics. ; 2013. Available from: http://kormushev.com/papers/Dallali_ICM-2013.pdf
Calinon S, Li Z, Alizadeh T, Tsagarakis NG, Caldwell DG. Statistical dynamical systems for skills acquisition in humanoids. In: Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Osaka, Japan; 2012. Available from: http://www.researchgate.net/publication/234154957_Statistical_dynamical_systems_for_skills_acquisition_in_humanoids/file/32bfe50f99c7f06a98.pdf (1.63 MB)
Li Z, Tsagarakis NG, Caldwell DG. Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.
Mosadeghzad M, Li Z, Tsagarakis NG, Medrano-Cerda G, Dallali H, Caldwell DG. Optimal Ankle Compliance Regulation for Humanoid Balancing Control”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2013, pp 4118-4123. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.
WP2-Compliant-Systems
Colasanto L, Tsagarakis NG, Li Z, Caldwell DG. Internal Model Control for Improving the Gait tracking of a Compliant Humanoid Robot. In: IROS. IROS. ; 2012.
Tsagarakis NG, Li Z, Saglia JA, Caldwell DG. The Design of the Lower Body of the Compliant Humanoid Robot ’’cCub’’. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. Shanghai; 2011. Available from: http://goo.gl/uoZDO8
Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion. In: IEEE International Conference on Robotics and Biomimetics, 2010. IEEE International Conference on Robotics and Biomimetics, 2010. ; 2010. Available from: http://goo.gl/9447Yq
Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub. In: UKACC International Conference on CONTROL, 2010. UKACC International Conference on CONTROL, 2010. ; 2010. Available from: http://goo.gl/Elhzan
Li Z, Tsagarakis NG, Caldwell DG, Vanderborght B. Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub. In: International Conference Control and Automation, Robics and Vision , 2010. International Conference Control and Automation, Robics and Vision , 2010. ; 2010. Available from: http://goo.gl/q2Pm3A (755.57 KB)
Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Humanoid2012.pdf?attredirects=0&d=1
Li Z, Vanderborght B, Tsagarakis NG, Colasanto L, Caldwell DG. Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Stabilizer%20ICRA_V21_Correction.pdf?attredirects=0&d=1
Li Z, Tsagarakis NG, Caldwell DG. Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: http://goo.gl/Sj20Gk
Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012.
Li Z, Tsagarakis NG, Caldwell DG. Walking Pattern Generation for a Humanoid Robot with Compliant Joints. Autonomous Robots [Internet]. 2013 ;35(1). Available from: http://link.springer.com/article/10.1007/s10514-013-9330-7/fulltext.html
Tsagarakis NG, Morfey S, Cerda GM, Li Z, Caldwell DG. Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Contro. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. ; 2013. Available from: http://goo.gl/qYP3KH
Dallali H, Kormushev P, Li Z, Caldwell DG. On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning. Journal of Cybernetics and Information Technologies. 2012 ;vol. 12, no. 3:pp. 39-52.
Dallali H, Mosadeghzad M, Medrano-Cerda G, Docquier N, Kormushev P, Tsagarakis NG, Li Z, Caldwell DG. Development of a Dynamic Simulator for a Compliant Human-oid Robot Based on a Symbolic Multibody Approach. In: IEEE International Conference on Mechatronics. IEEE International Conference on Mechatronics. ; 2013. Available from: http://kormushev.com/papers/Dallali_ICM-2013.pdf
Calinon S, Li Z, Alizadeh T, Tsagarakis NG, Caldwell DG. Statistical dynamical systems for skills acquisition in humanoids. In: Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Osaka, Japan; 2012. Available from: http://www.researchgate.net/publication/234154957_Statistical_dynamical_systems_for_skills_acquisition_in_humanoids/file/32bfe50f99c7f06a98.pdf (1.63 MB)
Li Z, Tsagarakis NG, Caldwell DG. Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.
Mosadeghzad M, Li Z, Tsagarakis NG, Medrano-Cerda G, Dallali H, Caldwell DG. Optimal Ankle Compliance Regulation for Humanoid Balancing Control”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2013, pp 4118-4123. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.
WP4-Adaptive-Modules
Li Z, Tsagarakis NG, Caldwell DG. Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.

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