Ambarish Goswami

Publication Activity (10 Years)

Years Active: 1990-2017
Publications (10 Years): 5

Top Topics

Fully Autonomous

Lower Extremity

Top Venues

Int. J. Humanoid Robotics

Robotics Auton. Syst.

Publications

Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida
Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. 24 (3) (2017)
Gabriel Aguirre-Ollinger, Umashankar Nagarajan, Ambarish Goswami
An admittance shaping controller for exoskeleton assistance of the lower extremities. Auton. Robots 40 (4) (2016)
Federico L. Moro, Michael Gienger, Ambarish Goswami, Oussama Khatib, Eiichi Yoshida
Guest Editorial of the Special Issue on Whole-Body Control for Robots in the Real World. Int. J. Humanoid Robotics 13 (1) (2016)
Umashankar Nagarajan, Gabriel Aguirre-Ollinger, Ambarish Goswami
Integral admittance shaping: A unified framework for active exoskeleton control. Robotics Auton. Syst. 75 (2016)
Umashankar Nagarajan, Gabriel Aguirre-Ollinger, Ambarish Goswami
Integral Admittance Shaping for exoskeleton control. ICRA (2015)
Ambarish Goswami, Seung-kook Yun, Umashankar Nagarajan, Sung-Hee Lee, KangKang Yin, Shivaram Kalyanakrishnan
Direction-changing fall control of humanoid robots: theory and experiments. Auton. Robots 36 (3) (2014)
Seung-kook Yun, Ambarish Goswami
Tripod fall: Concept and experiments of a novel approach to humanoid robot fall damage reduction. ICRA (2014)
David E. Orin, Ambarish Goswami, Sung-Hee Lee
Centroidal dynamics of a humanoid robot. Auton. Robots 35 (2-3) (2013)
Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry E. Pratt
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. Int. J. Robotics Res. 31 (9) (2012)
Seung-kook Yun, Ambarish Goswami
Hardware experiments of humanoid robot safe fall using Aldebaran NAO. ICRA (2012)
Sung-Hee Lee, Ambarish Goswami
A momentum-based balance controller for humanoid robots on non-level and non-stationary ground. Auton. Robots 33 (4) (2012)
Shivaram Kalyanakrishnan, Ambarish Goswami
Learning to Predict Humanoid Fall. Int. J. Humanoid Robotics 8 (2) (2011)
Seung-kook Yun, Ambarish Goswami
Momentum-based reactive stepping controller on level and non-level ground for humanoid robot push recovery. IROS (2011)
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin, Ambarish Goswami
Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation. Int. J. Robotics Res. 30 (4) (2011)
Shivaram Kalyanakrishnan, Ambarish Goswami
Predicting Falls of a Humanoid Robot through Machine Learning. IAAI (2010)
Umashankar Nagarajan, Ambarish Goswami
Generalized direction changing fall control of humanoid robots among multiple objects. ICRA (2010)
Sung-Hee Lee, Ambarish Goswami
Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground. IROS (2010)
Seung-kook Yun, Ambarish Goswami, Yoshiaki Sakagami
Safe fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping. ICRA (2009)
Stefano Stramigioli, Vincent Duindam, Gijs van Oort, Ambarish Goswami
Compact analysis of 3D bipedal gait using geometric dynamics of simplified models. ICRA (2009)
David E. Orin, Ambarish Goswami
Centroidal Momentum Matrix of a humanoid robot: Structure and properties. IROS (2008)
Ambarish Goswami
Kinematic and dynamic analogies between planar biped robots and the reaction mass pendulum (RMP) model. Humanoids (2008)
John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
Learning Capture Points for Bipedal Push Recovery. ICRA (2008)
Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin, Ambarish Goswami
A 1-DOF assistive exoskeleton with virtual negative damping: effects on the kinematic response of the lower limbs. IROS (2007)
John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
Learning Capture Points for humanoid push recovery. Humanoids (2007)
Sung-Hee Lee, Ambarish Goswami
Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots. ICRA (2007)
Jerry E. Pratt, John Carff, Sergey V. Drakunov, Ambarish Goswami
Capture Point: A Step toward Humanoid Push Recovery. Humanoids (2006)
Marko B. Popovic, Ambarish Goswami, Hugh M. Herr
Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications. Int. J. Robotics Res. 24 (12) (2005)
Muhammad E. Abdallah, Ambarish Goswami
A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control. ICRA (2005)
Ambarish Goswami, Vinutha Kallem
Rate of Change of Angular Momentum and Balance Maintenance of Biped Robots. ICRA (2004)
Siome Goldenstein, Menelaos I. Karavelas, Dimitris N. Metaxas, Leonidas J. Guibas, Ambarish Goswami
Scalable Dynamical Systems for Multi-Agent Steering and Simulation. ICRA (2001)
Siome Goldenstein, Menelaos I. Karavelas, Dimitris N. Metaxas, Leonidas J. Guibas, Eric Aaron, Ambarish Goswami
Scalable nonlinear dynamical systems for agent steering and crowd simulation. Comput. Graph. 25 (6) (2001)
Deepak Tolani, Ambarish Goswami, Norman I. Badler
Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs. Graph. Model. 62 (5) (2000)
Ambarish Goswami
Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point. Int. J. Robotics Res. 18 (6) (1999)
Ambarish Goswami
Foot Rotation Indicator (FRI) Point: A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots. ICRA (1999)
Ambarish Goswami, Michael A. Peshkin
Mechanically Implementable Accommodation Matrices for Passive Force Control. Int. J. Robotics Res. 18 (8) (1999)
Ambarish Goswami, Benoît Thuilot, Bernard Espiau
A Study of the Passive Gait of a Compass-Like Biped Robot: Symmetry and Chaos. Int. J. Robotics Res. 17 (12) (1998)
L. Roussel, Carlos Canudas-de-Wit, Ambarish Goswami
Generation of Energy Optimal Complete Gait Cycles for Biped Robots. ICRA (1998)
Benoît Thuilot, Ambarish Goswami, Bernard Espiau
Bifurcation and chaos in a simple passive bipedal gait. ICRA (1997)
Ambarish Goswami, Bernard Espiau, Ahmed Keramane
Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws. Auton. Robots 4 (3) (1997)
Ambarish Goswami, Bernard Espiau, Ahmed Keramane
Limit cycles and their stability in a passive bipedal gait. ICRA (1996)
Ambarish Goswami, Michael A. Peshkin
Task-space/Joint-space Damping Transformations for Passive Redundant Manipulators. ICRA (2) (1993)
Ambarish Goswami, Arthur E. Quaid, Michael A. Peshkin
Complete Parameter Identification of a Robot from Partial Pose Information. ICRA (1) (1993)
Ambarish Goswami, Michael A. Peshkin
Mechanical Computation for Passive Force Control. ICRA (1) (1993)
Ambarish Goswami, Michael A. Peshkin, James Edward Colgate
Passive robotics: an exploration of mechanical computation. ICRA (1990)