Sethu Vijayakumar

ORCID

Publication Activity (10 Years)

Years Active: 1995-2024
Publications (10 Years): 136

Top Venues

CoRR

IROS

ICRA

IEEE Robotics Autom. Lett.

Publications

Andreas Christou, Antonio J. del Ama, Juan C. Moreno, Sethu Vijayakumar
Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study. CoRR (2024)
Daniel F. N. Gordon, Andreas Christou, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar
Learning Personalised Human Sit-to-Stand Motion Strategies via Inverse Musculoskeletal Optimal Control. ICRA (2023)
Marina Y. Aoyama, João Moura, Namiko Saito, Sethu Vijayakumar
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation. CoRR (2023)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: robust loco-manipulation for quadruped robots with arms. Auton. Robots 47 (8) (2023)
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control. ICRA (2023)
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration. IROS (2023)
Namiko Saito, João Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano, Sethu Vijayakumar
Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation. ICRA (2023)
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
Inverse-Dynamics MPC via Nullspace Resolution. IEEE Trans. Robotics 39 (4) (2023)
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control. CoRR (2023)
Russell Buchanan, Adrian Röfer, João Moura, Abhinav Valada, Sethu Vijayakumar
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing. CoRR (2023)
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration. CoRR (2023)
Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar
A behavioural transformer for effective collaboration between a robot and a non-stationary human. RO-MAN (2023)
Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
Online Multi-Contact Receding Horizon Planning via Value Function Approximation. CoRR (2023)
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. CoRR (2023)
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Ioannis Havoutis, Maurice F. Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection. CoRR (2023)
Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael N. Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini
Choosing Stiffness and Damping for Optimal Impedance Planning. IEEE Trans. Robotics 39 (2) (2023)
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection. ICRA (2023)
Ran Long, Christian Rauch, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion. CoRR (2023)
Ruaridh Mon-Williams, Theodoros Stouraitis, Sethu Vijayakumar
A behavioural transformer for effective collaboration between a robot and a non-stationary human. CoRR (2023)
Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar
Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models. CoRR (2022)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A feasibility-driven approach to control-limited DDP. Auton. Robots 46 (8) (2022)
Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar
Sparse-Dense Motion Modelling and Tracking for Manipulation Without Prior Object Models. IEEE Robotics Autom. Lett. 7 (4) (2022)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
Differentiable Optimal Control via Differential Dynamic Programming. CoRR (2022)
Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction. CoRR (2022)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
A Versatile Co-Design Approach For Dynamic Legged Robots. IROS (2022)
Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction. CoRL (2022)
Andreas Christou, Daniel F. N. Gordon, Theodoros Stouraitis, Sethu Vijayakumar
Designing Personalised Rehabilitation Controllers using Offline Model-Based Optimisation. ROBIO (2022)
Jiayi Wang, Teguh Santoso Lembono, Sanghyun Kim, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
Learning to Guide Online Multi-Contact Receding Horizon Planning. IROS (2022)
Daniel F. N. Gordon, Christopher McGreavy, Andreas Christou, Sethu Vijayakumar
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost. IEEE Trans. Robotics 38 (3) (2022)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms. CoRR (2022)
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects. CoRR (2022)
João Moura, Theodoros Stouraitis, Sethu Vijayakumar
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints. ICRA (2022)
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael N. Mistry, Ioannis Havoutis, Sethu Vijayakumar
Agile Maneuvers in Legged Robots: a Predictive Control Approach. CoRR (2022)
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar
Inverse-Dynamics MPC via Nullspace Resolution. CoRR (2022)
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar
RGB-D SLAM in Indoor Planar Environments With Multiple Large Dynamic Objects. IEEE Robotics Autom. Lett. 7 (3) (2022)
Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah
Set-Based State Estimation With Probabilistic Consistency Guarantee Under Epistemic Uncertainty. IEEE Robotics Autom. Lett. 7 (3) (2022)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael N. Mistry
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems. CoRR (2021)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. ICRA (2021)
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
Co-Designing Robots by Differentiating Motion Solvers. CoRR (2021)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts. IEEE Trans. Robotics 37 (5) (2021)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. ICRA (2021)
Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah
Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty. CoRR (2021)
Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar
Decentralized Ability-Aware Adaptive Control for Multi-Robot Collaborative Manipulation. IEEE Robotics Autom. Lett. 6 (2) (2021)
Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time. IROS (2021)
Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments. IROS (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)
Jiayi Wang, Sanghyun Kim, Sethu Vijayakumar, Steve Tonneau
Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. HUMANOIDS (2021)
Christopher E. Mower, João Moura, Sethu Vijayakumar
Skill-based Shared Control. Robotics: Science and Systems (2021)
Xiaoyu Zhang, Lei Yan, Tin Lun Lam, Sethu Vijayakumar
Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation. ICRA (2021)
Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments. CoRR (2021)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. ICRA (2021)
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar
RigidFusion: Robot Localisation and Mapping in Environments With Large Dynamic Rigid Objects. IEEE Robotics Autom. Lett. 6 (2) (2021)
Lei Yan, Bingshan Hu, Sethu Vijayakumar
A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots. ICIRA (4) (2021)
Ewen Dantec, Rohan Budhiraja, Adria Roig, Teguh Santoso Lembono, Guilhem Saurel, Olivier Stasse, Pierre Fernbach, Steve Tonneau, Sethu Vijayakumar, Sylvain Calinon, Michel Taïx, Nicolas Mansard
Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. ICRA (2021)
João Moura, Theodoros Stouraitis, Sethu Vijayakumar
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints. CoRR (2021)
Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael N. Mistry
Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6 (3) (2021)
Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time. CoRR (2021)
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
Residual force polytope: Admissible task-space forces of dynamic trajectories. Robotics Auton. Syst. 142 (2021)
Jiatao Ding, Songyan Xin, Tin Lun Lam, Sethu Vijayakumar
Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies. ICRA (2021)
Lei Yan, Theodoros Stouraitis, Sethu Vijayakumar
Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation. CoRR (2021)
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
Learning Whole-body Motor Skills for Humanoids. CoRR (2020)
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. IROS (2020)
Wouter Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots. CoRR (2020)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. CoRR (2020)
Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger, Sethu Vijayakumar
Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization. IEEE Trans. Robotics 36 (5) (2020)
Jiayi Wang, Iordanis Chatzinikolaidis, Carlos Mastalli, Wouter Wolfslag, Guiyang Xin, Steve Tonneau, Sethu Vijayakumar
Automatic Gait Pattern Selection for Legged Robots. IROS (2020)
Wouter Jan Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li
Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots. IROS (2020)
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR (2020)
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance. BioRob (2020)
Christopher McGreavy, Kai Yuan, Daniel F. N. Gordon, Kang Tan, Wouter Jan Wolfslag, Sethu Vijayakumar, Zhibin Li
Unified Push Recovery Fundamentals: Inspiration from Human Study. ICRA (2020)
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR (2020)
Songyan Xin, Sethu Vijayakumar
Online Dynamic Motion Planning and Control for Wheeled Biped Robots. CoRR (2020)
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR (2020)
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael N. Mistry
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. CoRR (2020)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. ICRA (2020)
Theodoros Stouraitis, Lei Yan, João Moura, Michael Gienger, Sethu Vijayakumar
Multi-modal Trajectory Optimization for Impact-aware Manipulation. CoRR (2020)
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag, Sethu Vijayakumar, Michael N. Mistry
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers. CoRR (2020)
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Modeling and Control of a Hybrid Wheeled Jumping Robot. IROS (2020)
Theodoros Stouraitis, Lei Yan, João Moura, Michael Gienger, Sethu Vijayakumar
Multi-mode Trajectory Optimization for Impact-aware Manipulation. IROS (2020)
Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Joan Solà, Nicolas Mansard, Sethu Vijayakumar
A Direct-Indirect Hybridization Approach to Control-Limited DDP. CoRR (2020)
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan, Wouter Wolfslag, Sethu Vijayakumar
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. CoRR (2020)
Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Modeling and Control of a Hybrid Wheeled Jumping Robot. CoRR (2020)
Guiyang Xin, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, Michael N. Mistry
Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet. CoRR (2020)
Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR (2020)
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar
RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects. CoRR (2020)
Songyan Xin, Sethu Vijayakumar
Online Dynamic Motion Planning and Control for Wheeled Biped Robots. IROS (2020)
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag, Joshua Smith, Oguzhan Cebe, Zhibin Li, Sethu Vijayakumar, Michael N. Mistry
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots. CASE (2020)
Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments. IROS (2019)
Christopher E. Mower, João Moura, Aled Davies, Sethu Vijayakumar
Modulating Human Input for Shared Autonomy in Dynamic Environments. RO-MAN (2019)
Franco Angelini, Guiyang Xin, Wouter Jan Wolfslag, Carlo Tiseo, Michael N. Mistry, Manolo Garabini, Antonio Bicchi, Sethu Vijayakumar
Online Optimal Impedance Planning for Legged Robots. IROS (2019)
François Heremans, Sethu Vijayakumar, Mohamed Bouri, Bruno Dehez, Renaud Ronsse
Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis. ICORR (2019)
Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Sethu Vijayakumar, Nicolas Mansard
Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control. CoRR (2019)
Carlo Tiseo, Sethu Vijayakumar, Michael N. Mistry
Analytic Model for Quadruped Locomotion Task-Space Planning. CoRR (2019)
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CASE (2019)
Wolfgang Merkt, Vladimir Ivan, Yiming Yang, Sethu Vijayakumar
Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation. CASE (2019)
Christopher E. Mower, Wolfgang Merkt, Aled Davies, Sethu Vijayakumar
Comparing Alternate Modes of Teleoperation for Constrained Tasks. CoRR (2019)
João Moura, Vladimir Ivan, Mustafa Suphi Erden, Sethu Vijayakumar
Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution. Robotics: Science and Systems (2019)
Carlo Tiseo, Sethu Vijayakumar, Michael N. Mistry
Analytic Model for Quadruped Locomotion Task-Space Planning. EMBC (2019)
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo, Sethu Vijayakumar
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization. CoRR (2019)
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li
Learning Whole-Body Motor Skills for Humanoids. Humanoids (2018)

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Publication Activity (10 Years)

Top Topics

Top Venues

Sethu Vijayakumar