Petar Kormushev

ORCID

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 62

Top Venues

CoRR

IROS

IEEE Robotics Autom. Lett.

ICRA

Publications

Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar, Oskar Helander, Digby Chappell, Petar Kormushev
When and where to step: Terrain-aware real-time footstep location and timing optimization for bipedal robots. Robotics Auton. Syst. 179 (2024)
Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev
Task Accuracy Enhancement for a Surgical Macro-Micro Manipulator With Probabilistic Neural Networks and Uncertainty Minimization. IEEE Trans Autom. Sci. Eng. 21 (1) (2024)
Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar, Oskar Helander, Digby Chappell, Petar Kormushev
When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots. CoRR (2023)
Ahmad AlAttar, Ikhlas Mohamed Ben Hmida, Federico Renda, Petar Kormushev
Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots. RoboSoft (2023)
Digby Chappell, Fernando Bello, Petar Kormushev, Nicolás Rojas
The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes. CoRR (2023)
Digby Chappell, Fernando Bello, Petar Kormushev, Nicolás Rojas
The Hydra Hand: A Mode-Switching Underactuated Gripper With Precision and Power Grasping Modes. IEEE Robotics Autom. Lett. 8 (11) (2023)
Ke Wang, Hengyi Fei, Petar Kormushev
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking With a Decoupled Actuated SLIP Model. Frontiers Robotics AI 9 (2022)
Alexandre Berkovic, Colin Laganier, Digby Chappell, Thrishantha Nanayakkara, Petar Kormushev, Fernando Bello, Nicolás Rojas
A Multi-modal Haptic Armband for Finger-Level Sensory Feedback from a Prosthetic Hand. EuroHaptics (2022)
Ahmad AlAttar, Digby Chappell, Petar Kormushev
Kinematic-Model-Free Predictive Control for Robotic Manipulator Target Reaching With Obstacle Avoidance. Frontiers Robotics AI 9 (2022)
Digby Chappell, Zeyu Yang, Honn Wee Son, Fernando Bello, Petar Kormushev, Nicolas Rojas
Towards Instant Calibration in Myoelectric Prosthetic Hands: A Highly Data-Efficient Controller Based on the Wasserstein Distance. ICORR (2022)
Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev
Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution. IEEE Trans. Robotics 38 (5) (2022)
Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev
GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design. IEEE Access 10 (2022)
Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev
Model Learning With Backlash Compensation for a Tendon-Driven Surgical Robot. IEEE Robotics Autom. Lett. 7 (3) (2022)
Digby Chappell, Honn Wee Son, Angus B. Clark, Zeyu Yang, Fernando Bello, Petar Kormushev, Nicolas Rojas
Virtual Reality Pre-Prosthetic Hand Training With Physics Simulation and Robotic Force Interaction. IEEE Robotics Autom. Lett. 7 (2) (2022)
Francesco Cursi, Weibang Bai, Weiyi Li, Eric M. Yeatman, Petar Kormushev
Augmented Neural Network for Full Robot Kinematic Modelling in SE(3). IEEE Robotics Autom. Lett. 7 (3) (2022)
Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev
Adaptive Kinematic Model Learning for Macro-Micro Surgical Manipulator Control. ICARM (2022)
Ke Wang, Hengyi Fei, Petar Kormushev
Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model. CoRR (2021)
Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev
Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization. IEEE Robotics Autom. Lett. 6 (2) (2021)
Francesco Cursi, Petar Kormushev
Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution. IROS (2021)
Roni Permana Saputra, Nemanja Rakicevic, Digby Chappell, Ke Wang, Petar Kormushev
Hierarchical Decomposed-Objective Model Predictive Control for Autonomous Casualty Extraction. IEEE Access 9 (2021)
Nemanja Rakicevic, Antoine Cully, Petar Kormushev
Policy manifold search: exploring the manifold hypothesis for diversity-based neuroevolution. GECCO (2021)
Ke Wang, Guiyang Xin, Songyan Xin, Michael N. Mistry, Sethu Vijayakumar, Petar Kormushev
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots. CoRR (2021)
Arash Tavakoli, Mehdi Fatemi, Petar Kormushev
Learning to Represent Action Values as a Hypergraph on the Action Vertices. ICLR (2021)
Vittorio La Barbera, Fabio Pardo, Yuval Tassa, Monica Daley, Christopher Richards, Petar Kormushev, John Hutchinson
OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion. CoRR (2021)
Ke Wang, Roni Permana Saputra, James Paul Foster, Petar Kormushev
Improved Energy Efficiency via Parallel Elastic Elements for the Straight-Legged Vertically-Compliant Robot SLIDER. CLAWAR (2021)
Francesco Cursi, Weibang Bai, Petar Kormushev
Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration. IROS (2021)
Francesco Cursi, Digby Chappell, Petar Kormushev
Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling. ICAR (2021)
Nemanja Rakicevic, Antoine Cully, Petar Kormushev
Policy Manifold Search: Exploring the Manifold Hypothesis for Diversity-based Neuroevolution. CoRR (2021)
Felix Russell, Yukio Takeda, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison
Stiffness Modulation in a Humanoid Robotic Leg and Knee. IEEE Robotics Autom. Lett. 6 (2) (2021)
Arash Tavakoli, Mehdi Fatemi, Petar Kormushev
Learning to Represent Action Values as a Hypergraph on the Action Vertices. CoRR (2020)
Ahmad AlAttar, Petar Kormushev
Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions. Robotics 9 (4) (2020)
Fabio Pardo, Vitaly Levdik, Petar Kormushev
Scaling All-Goals Updates in Reinforcement Learning Using Convolutional Neural Networks. AAAI (2020)
Francesco Cursi, Valerio Modugno, Petar Kormushev
Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics. IROS (2020)
Francesco Cursi, George P. Mylonas, Petar Kormushev
Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool. Robotics 9 (3) (2020)
Fabian Falck, Sagar Doshi, Marion Tormento, Gor Nersisyan, Nico Smuts, John Lingi, Kim Rants, Roni Permana Saputra, Ke Wang, Petar Kormushev
Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation. Frontiers Robotics AI 7 (2020)
Nemanja Rakicevic, Antoine Cully, Petar Kormushev
Policy Manifold Search for Improving Diversity-based Neuroevolution. CoRR (2020)
Ke Wang, David Marsh, Roni Permana Saputra, Digby Chappell, Zhonghe Jiang, Akshay Raut, Bethany Kon, Petar Kormushev
Design and Control of SLIDER: An Ultra-lightweight, Knee-less, Low-cost Bipedal Walking Robot. IROS (2020)
Digby Chappell, Ke Wang, Petar Kormushev
Asynchronous Real-Time Optimization of Footstep Placement and Timing in Bipedal Walking Robots. CoRR (2020)
Felix Russell, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison
The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics. IEEE Trans. Biomed. Eng. 67 (10) (2020)
Roni Permana Saputra, Nemanja Rakicevic, Petar Kormushev
Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data. IROS (2019)
Ahmad AlAttar, Louis Rouillard, Petar Kormushev
Autonomous Air-Hockey Playing Cobot Using Optimal Control and Vision-Based Bayesian Tracking. TAROS (2) (2019)
Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, Nikos G. Tsagarakis
Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid. Auton. Robots 43 (1) (2019)
Roni Permana Saputra, Nemanja Rakicevic, Petar Kormushev
Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data. CoRR (2019)
Fabian Falck, Kawin Larppichet, Petar Kormushev
DE VITO: A Dual-Arm, High Degree-of-Freedom, Lightweight, Inexpensive, Passive Upper-Limb Exoskeleton for Robot Teleoperation. TAROS (1) (2019)
Nemanja Rakicevic, Petar Kormushev
Active learning via informed search in movement parameter space for efficient robot task learning and transfer. Auton. Robots 43 (8) (2019)
Roni Permana Saputra, Petar Kormushev
ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction. TAROS (2018)
Fabio Pardo, Vitaly Levdik, Petar Kormushev
Goal-oriented Trajectories for Efficient Exploration. CoRR (2018)
Roni Permana Saputra, Petar Kormushev
ResQbot: A Mobile Rescue Robot for Casualty Extraction. HRI (Companion) (2018)
Roni Permana Saputra, Petar Kormushev
Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots. CoRR (2018)
Roni Permana Saputra, Petar Kormushev
ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction. CoRR (2018)
Fabio Pardo, Vitaly Levdik, Petar Kormushev
Q-map: a Convolutional Approach for Goal-Oriented Reinforcement Learning. CoRR (2018)
Roni Permana Saputra, Petar Kormushev
Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots. SSRR (2018)
Fabian Falck, Sagar Doshi, Nico Smuts, John Lingi, Kim Rants, Petar Kormushev
Human-centered manipulation and navigation with Robot DE NIRO. CoRR (2018)
Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev
Time Limits in Reinforcement Learning. ICML (2018)
Arash Tavakoli, Fabio Pardo, Petar Kormushev
Action Branching Architectures for Deep Reinforcement Learning. AAAI (2018)
Arash Tavakoli, Vitaly Levdik, Riashat Islam, Petar Kormushev
Prioritizing Starting States for Reinforcement Learning. CoRR (2018)
Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev
Time Limits in Reinforcement Learning. CoRR (2017)
Pavan Kanajar, Darwin G. Caldwell, Petar Kormushev
Climbing over large obstacles with a humanoid robot via multi-contact motion planning. RO-MAN (2017)
Arash Tavakoli, Fabio Pardo, Petar Kormushev
Action Branching Architectures for Deep Reinforcement Learning. CoRR (2017)
Seyed Reza Ahmadzadeh, Fulvio Mastrogiovanni, Petar Kormushev
Visuospatial Skill Learning for Robots. CoRR (2017)
Narcís Palomeras, Arnau Carrera, Natàlia Hurtós, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Daniele Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos, Petar Kormushev, Joaquim Salvi, Marc Carreras
Toward persistent autonomous intervention in a subsea panel. Auton. Robots 40 (7) (2016)
Rodrigo S. Jamisola Jr., Petar Kormushev, Rodney G. Roberts, Darwin G. Caldwell
Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian. J. Intell. Robotic Syst. 83 (2) (2016)
Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell
Encoderless position control of a two-link robot manipulator. ICRA (2015)
Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle
Modular relative Jacobian for dual-arms and the wrench transformation matrix. RAM/CIS (2015)
Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell
Kinematic-free position control of a 2-DOF planar robot arm. IROS (2015)
Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras
Cognitive system for autonomous underwater intervention. Pattern Recognit. Lett. 67 (2015)
Seyed Reza Ahmadzadeh, Ali Paikan, Fulvio Mastrogiovanni, Lorenzo Natale, Petar Kormushev, Darwin G. Caldwell
Learning symbolic representations of actions from human demonstrations. ICRA (2015)
João Bimbo, Petar Kormushev, Kaspar Althoefer, Hongbin Liu
Global estimation of an object's pose using tactile sensing. Adv. Robotics 29 (5) (2015)
Wataru Takano, Tamim Asfour, Petar Kormushev
Special Issue on Humanoid Robotics - Published in Vol. 29, No. 5 & No. 9. Adv. Robotics 29 (5) (2015)
Przemyslaw Kryczka, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell
Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing. IROS (2015)
Nawid Jamali, Petar Kormushev, Arnau Carrera Viñas, Marc Carreras, Darwin G. Caldwell
Underwater robot-object contact perception using machine learning on force/torque sensor feedback. ICRA (2015)
Houman Dallali, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell
Can active impedance protect robots from landing impact? Humanoids (2014)
Seyed Reza Ahmadzadeh, Petar Kormushev, Rodrigo S. Jamisola, Darwin G. Caldwell
Learning reactive robot behavior for autonomous valve turning. Humanoids (2014)
Rodrigo S. Jamisola, Petar Kormushev, Antonio Bicchi, Darwin G. Caldwell
Haptic exploration of unknown surfaces with discontinuities. IROS (2014)
Seyed Reza Ahmadzadeh, Matteo Leonetti, Arnau Carrera, Marc Carreras, Petar Kormushev, Darwin G. Caldwell
Online discovery of AUV control policies to overcome thruster failures. ICRA (2014)
Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras
Learning by demonstration applied to underwater intervention. CCIA (2014)
Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell
Multi-objective reinforcement learning for AUV thruster failure recovery. ADPRL (2014)
Nawid Jamali, Petar Kormushev, Darwin G. Caldwell
Robot-object contact perception using symbolic temporal pattern learning. ICRA (2014)
Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell
Interactive robot learning of visuospatial skills. ICAR (2013)
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell
Reinforcement Learning in Robotics: Applications and Real-World Challenges. Robotics 2 (3) (2013)
Petar Kormushev, Darwin G. Caldwell
Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances. IROS (2013)
George C. Karras, Charalampos P. Bechlioulis, Matteo Leonetti, Narcís Palomeras, Petar Kormushev, Kostas J. Kyriakopoulos, Darwin G. Caldwell
On-line identification of autonomous underwater vehicles through global derivative-free optimization. IROS (2013)
Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi
Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration. URAI (2013)
Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell
Visuospatial skill learning for object reconfiguration tasks. IROS (2013)
Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi
Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots. ROBIO (2013)
Sylvain Calinon, Petar Kormushev, Darwin G. Caldwell
Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning. Robotics Auton. Syst. 61 (4) (2013)
Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell
Autonomous robotic valve turning: A hierarchical learning approach. ICRA (2013)
Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell
Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach. ICM (2013)
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, Barkan Ugurlu
Challenges for the policy representation when applying reinforcement learning in robotics. IJCNN (2012)
Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell
The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans. IROS (2012)
Petar Kormushev, Darwin G. Caldwell
Simultaneous discovery of multiple alternative optimal policies by reinforcement learning. IEEE Conf. of Intelligent Systems (2012)
Petar Kormushev, Dragomir N. Nenchev, Sylvain Calinon, Darwin G. Caldwell
Upper-body kinesthetic teaching of a free-standing humanoid robot. ICRA (2011)
Petar Kormushev, Barkan Ugurlu, Sylvain Calinon, Nikolaos G. Tsagarakis, Darwin G. Caldwell
Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization. IROS (2011)
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell
Kinesthetic Teaching and Haptic Input. Adv. Robotics 25 (5) (2011)
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell
Robot motor skill coordination with EM-based Reinforcement Learning. IROS (2010)
Petar Kormushev, Sylvain Calinon, Ryo Saegusa, Giorgio Metta
Learning the skill of archery by a humanoid robot iCub. Humanoids (2010)
Petar Kormushev
Visual approach for data mining on medical information databases using Fastmap algorithm CoRR (2009)
Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota
Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning CoRR (2009)
Petar Kormushev
Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology CoRR (2009)
Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota
Time manipulation technique for speeding up reinforcement learning in simulations CoRR (2009)

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Publication Activity (10 Years)

Top Topics

Top Venues

Petar Kormushev