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Ioannis Poulakakis
Ioannis Poulakakis
Associate Professor of Mechanical Engineering, University of Delaware
Verifisert e-postadresse på udel.edu - Startside
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A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 30 (9), 1170-1193, 2011
4852011
Modeling and experiments of untethered quadrupedal running with a bounding gait: The Scout II robot
I Poulakakis, JA Smith, M Buehler
The International Journal of Robotics Research 24 (4), 239-256, 2005
3552005
The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper
I Poulakakis, JW Grizzle
IEEE Transactions on Automatic Control 54 (8), 1779-1793, 2009
3312009
On the stability of the passive dynamics of quadrupedal running with a bounding gait
I Poulakakis, E Papadopoulos, M Buehler
The International Journal of Robotics Research 25 (7), 669-687, 2006
2132006
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 32 (3), 324-345, 2013
1982013
Planning and model-based control for mobile manipulators
E Papadopoulos, J Poulakakis
Proceedings. 2000 IEEE/RSJ international conference on intelligent robots …, 2000
1432000
On path planning and obstacle avoidance for nonholonomic platforms with manipulators: A polynomial approach
E Papadopoulos, I Poulakakis, I Papadimitriou
the International Journal of Robotics research 21 (4), 367-383, 2002
962002
Quadruped robot running with a bounding gait
S Talebi, I Poulakakis, E Papadopoulos, M Buehler
Experimental Robotics VII, 281-289, 2001
822001
On the dynamics of bounding and extensions towards the half-bound and the gallop gaits
I Poulakakis, JA Smith, M Buehler
In Proceedings of the 2nd International Symposium on Adaptive Motion of …, 2003
812003
Rotary gallop in the untethered quadrupedal robot scout II
JA Smith, I Poulakakis
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2004
722004
On the stable passive dynamics of quadrupedal running
I Poulakakis, E Papadopoulos, M Buehler
2003 IEEE International Conference on Robotics and Automation (Cat. No …, 2003
712003
Switched systems with multiple equilibria under disturbances: Boundedness and practical stability
S Veer, I Poulakakis
IEEE Transactions on Automatic Control 65 (6), 2371-2386, 2019
622019
Composing limit cycles for motion planning of 3D bipedal walkers
MS Motahar, S Veer, I Poulakakis
2016 IEEE 55th conference on decision and control (CDC), 6368-6374, 2016
622016
Information centrality and ordering of nodes for accuracy in noisy decision-making networks
I Poulakakis, GF Young, L Scardovi, NE Leonard
IEEE Transactions on Automatic Control 61 (4), 1040-1045, 2015
62*2015
Experimentally validated bounding models for the Scout II quadrupedal robot
I Poulakakis, JA Smith, M Buchler
IEEE International Conference on Robotics and Automation, 2004. Proceedings …, 2004
612004
Formal embedding of the spring loaded inverted pendulum in an asymmetric hopper
I Poulakakis, JW Grizzle
2007 European Control Conference (ECC), 3159-3166, 2007
602007
A switchable parallel elastic actuator and its application to leg design for running robots
X Liu, A Rossi, I Poulakakis
IEEE/ASME Transactions on Mechatronics 23 (6), 2681-2692, 2018
592018
Quadrupedal bounding with a segmented flexible torso: passive stability and feedback control
Q Cao, I Poulakakis
Bioinspiration & biomimetics 8 (4), 046007, 2013
542013
Modeling and control of the monopedal robot thumper
I Poulakakis, JW Grizzle
2009 IEEE International Conference on Robotics and Automation, 3327-3334, 2009
512009
Input-to-state stability of periodic orbits of systems with impulse effects via Poincaré analysis
S Veer, I Poulakakis
IEEE Transactions on Automatic Control 64 (11), 4583-4598, 2019
462019
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Artikler 1–20