Ioannis Poulakakis

Publication Activity (10 Years)

Years Active: 2000-2023
Publications (10 Years): 31

Top Topics

Reactive Planning

Poisson Process

Cluttered Environments

Top Venues

IEEE Trans. Autom. Control.

Publications

Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles. CoRR (2023)
Kunal Sanjay Narkhede, Dhruv Ashwinkumar Thanki, Abhijeet M. Kulkarni, Ioannis Poulakakis
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control. IROS (2023)
Kunal Sanjay Narkhede, Dhruv Ashwinkumar Thanki, Abhijeet M. Kulkarni, Ioannis Poulakakis
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control. CoRR (2023)
Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis K. Artemiadis
Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain. CoRR (2022)
Prem Chand, Sushant Veer, Ioannis Poulakakis
Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees. IEEE Robotics Autom. Lett. 7 (2) (2022)
Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis K. Artemiadis
Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain. MED (2022)
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments. IEEE Robotics Autom. Lett. 7 (4) (2022)
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki, Ioannis Poulakakis
A Sequential MPC Approach to Reactive Planning for Bipedal Robots. CoRR (2022)
Prem Chand, Sushant Veer, Ioannis Poulakakis
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees. CoRR (2021)
Sushant Veer, Ioannis Poulakakis
Switched Systems With Multiple Equilibria Under Disturbances: Boundedness and Practical Stability. IEEE Trans. Autom. Control. 65 (6) (2020)
Prem Chand, Sushant Veer, Ioannis Poulakakis
An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty. ICRA (2020)
Sushant Veer, Ioannis Poulakakis
Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances. ACC (2019)
Sushant Veer, Ioannis Poulakakis
Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. ICRA (2019)
Sushant Veer, Ioannis Poulakakis
Input-to-State Stability of Periodic Orbits of Systems With Impulse Effects via Poincaré Analysis. IEEE Trans. Autom. Control. 64 (11) (2019)
Sushant Veer, Ioannis Poulakakis
Robustness of Periodic Orbits of Impulsive Systems à la Poincaré. CDC (2019)
Sushant Veer, Ioannis Poulakakis
Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers. CoRR (2018)
Sushant Veer, Ioannis Poulakakis
Ultimate Boundedness for Switched Systems with Multiple Equilibria Under Disturbances. CoRR (2018)
Indrajeet Yadav, Chetan D. Pahlajani, Herbert G. Tanner, Ioannis Poulakakis
Information-sharing and decision-making in networks of radiation detectors. Auton. Robots 42 (8) (2018)
Sushant Veer, Rakesh, Ioannis Poulakakis
Poincaré Analysis for Hybrid Periodic Orbits of Systems with Impulse Effects under External Inputs. CoRR (2017)
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
Adaptation of limit-cycle walkers for collaborative tasks: A supervisory switching control approach. IROS (2017)
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
Generation of and switching among limit-cycle bipedal walking gaits. CDC (2017)
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
Almost driftless navigation of 3D limit-cycle walking bipeds. IROS (2017)
Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
Steering a 3D limit-cycle walker for collaboration with a leader. IROS (2017)
Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
A Navigation and Control Strategy for Miniature Legged Robots. IEEE Trans. Robotics 33 (1) (2017)
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics. ACC (2016)
Chetan D. Pahlajani, Indrajeet Yadav, Herbert G. Tanner, Ioannis Poulakakis
Decision-Making Accuracy for Sensor Networks with Inhomogeneous Poisson Observations. DARS (2016)
Xin Liu, Ioannis Poulakakis
On the stability of symmetric quadrupedal bounding gaits via factored Poincaré maps. ACC (2016)
Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
Composing limit cycles for motion planning of 3D bipedal walkers. CDC (2016)
Qu Cao, Ioannis Poulakakis
Quadrupedal running with a flexible torso: control and speed transitions with sums-of-squares verification. Artif. Life Robotics 21 (4) (2016)
Ioannis Poulakakis, George Forrest Young, Luca Scardovi, Naomi Ehrich Leonard
Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks. IEEE Trans. Autom. Control. 61 (4) (2016)
Konstantinos Karydis, Adam Stager, Herbert G. Tanner, Ioannis Poulakakis
Experimental Validation of a Template for Navigation of Miniature Legged Robots. ISER (2016)
Qu Cao, Anthom T. van Rijn, Ioannis Poulakakis
On the control of gait transitions in quadrupedal running. IROS (2015)
Konstantinos Karydis, Ioannis Poulakakis, Jianxin Sun, Herbert G. Tanner
Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty. Int. J. Robotics Res. 34 (10) (2015)
Sushant Veer, Mohamad Shafiee Motahar, Ioannis Poulakakis
On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control. IROS (2015)
Xin Liu, Claudio Semini, Ioannis Poulakakis
Active compliance hybrid zero dynamics control of bounding on HyQ. ROBIO (2015)
Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner
A template candidate for miniature legged robots in quasi-static motion. Auton. Robots 38 (2) (2015)
Xin Liu, Ioannis Poulakakis
On the energetics of a switchable parallel elastic actuator design for monopedal running. ROBIO (2015)
Konstantinos Karydis, Yan Liu, Ioannis Poulakakis, Herbert G. Tanner
Navigation of miniature legged robots using a new template. MED (2015)
Jianxin Sun, Herbert G. Tanner, Ioannis Poulakakis
Active sensor networks for nuclear detection. ICRA (2015)
Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
Performance bounds for mismatched decision schemes with Poisson process observations. Syst. Control. Lett. 75 (2015)
Dimitrios Myrisiotis, Ioannis Poulakakis, Evangelos Papadopoulos
On the effects of design parameters on quadruped robot gaits. ROBIO (2015)
Mohamad Shafiee Motahar, Sushant Veer, Jian Huang, Ioannis Poulakakis
Integrating dynamic walking and arm impedance control for cooperative transportation. IROS (2015)
Xin Liu, Anthony Rossi, Ioannis Poulakakis
SPEAR: A monopedal robot with Switchable Parallel Elastic actuation. IROS (2015)
Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
Networked Decision Making for Poisson Processes With Applications to Nuclear Detection. IEEE Trans. Autom. Control. 59 (1) (2014)
Qu Cao, Ioannis Poulakakis
On the energetics of quadrupedal bounding with and without torso compliance. IROS (2014)
Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
Error probability bounds for nuclear detection: Improving accuracy through controlled mobility. Autom. 50 (10) (2014)
Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner
Planning with the STAR(s). IROS (2014)
Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
Decision making in sensor networks observing poisson processes. MED (2013)
Chetan D. Pahlajani, Jianxin Sun, Ioannis Poulakakis, Herbert G. Tanner
Error probabilities and threshold selection in networked nuclear detection. CDC (2013)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. 32 (3) (2013)
Qu Cao, Ioannis Poulakakis
Passive stability and control of quadrupedal bounding with a flexible torso. IROS (2013)
Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
Probabilistic validation of a stochastic kinematic model for an eight-legged robot. ICRA (2013)
Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
Node Classification in Networks of Stochastic Evidence Accumulators CoRR (2012)
Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
Node certainty in collective decision making. CDC (2012)
Qu Cao, Ioannis Poulakakis
Passive quadrupedal bounding with a segmented flexible torso. IROS (2012)
Chetan D. Pahlajani, Ioannis Poulakakis, Herbert G. Tanner
Networked Decision Making for Poisson Processes: Application to nuclear detection CoRR (2012)
Konstantinos Karydis, Ioannis Poulakakis, Herbert G. Tanner
A switching kinematic model for an octapedal robot. IROS (2012)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. 30 (9) (2011)
Ioannis Poulakakis
Spring Loaded Inverted Pendulum embedding: Extensions toward the control of compliant running robots. ICRA (2010)
James Andrew Smith, Ioannis Poulakakis, Michael Trentini, Inna Sharf
Bounding with Active Wheels and Liftoff Angle Velocity Adjustment. Int. J. Robotics Res. 29 (4) (2010)
Ioannis Poulakakis, Luca Scardovi, Naomi Ehrich Leonard
Coupled stochastic differential equations and collective decision making in the Two-Alternative Forced-Choice task. ACC (2010)
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC (2010)
Ioannis Poulakakis, Jessy W. Grizzle
Modeling and control of the monopedal robot Thumper. ICRA (2009)
Ioannis Poulakakis, Jessy W. Grizzle
The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. IEEE Trans. Autom. Control. 54 (8) (2009)
Ioannis Poulakakis, J. W. Grizzle
Monopedal running control: SLIP embedding and virtual constraint controllers. IROS (2007)
Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait. Int. J. Robotics Res. 25 (7) (2006)
Ioannis Poulakakis, James Andrew Smith, Martin Buehler
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot. Int. J. Robotics Res. 24 (4) (2005)
Evangelos Papadopoulos, Iakovos Papadimitriou, Ioannis Poulakakis
Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems. Robotics Auton. Syst. 51 (4) (2005)
Ioannis Poulakakis, James Andrew Smith, Martin Buehler
Experimentally Validated bounding Models for the Scout II Quadrupedal Robot. ICRA (2004)
James Andrew Smith, Ioannis Poulakakis
Rotary gallop in the untethered quadrupedal robot scout II. IROS (2004)
Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
On the stable passive dynamics of quadrupedal running. ICRA (2003)
Evangelos Papadopoulos, Ioannis Poulakakis, Iakovos Papadimitriou
On Path Planning and Obstacle Avoidance for Nonholonomic Platforms with Manipulators. Int. J. Robotics Res. 21 (4) (2002)
Evangelos Papadopoulos, Ioannis Poulakakis
Planning and Obstacle Avoidance for Mobile Robots. ICRA (2001)
S. Talebi, Ioannis Poulakakis, Evangelos Papadopoulos, Martin Buehler
Quadruped Robot Running With a Bounding Gait. ISER (2000)