Download a PDF with the full list of our publications: Robot-Intelligence-Lab-Publications-2021.pdf
A comprehensive list can also be found at Google Scholar, or by searching for the publications of author Kormushev, Petar.
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Conference paperKryczka P, Hashimoto K, Takanishi A, et al., 2013,
Walking Despite the Passive Compliance: Techniques for Using Conventional Pattern Generators to Control Instrinsically Compliant Humanoid Robots
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Conference paperCarrera A, Carreras M, Kormushev P, et al., 2013,
Towards valve turning with an AUV using Learning by Demonstration
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Journal articleKormushev P, Calinon S, Caldwell DG, 2013,
Reinforcement Learning in Robotics: Applications and Real-World Challenges
, Robotics, Vol: 2, Pages: 122-148, ISSN: 2218-6581 -
Conference paperKryczka P, Shiguematsu YM, Kormushev P, et al., 2013,
Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots
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Conference paperDallali H, Mosadeghzad M, Medrano-Cerda GA, et al., 2013,
Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach
, Pages: 598-603 -
Conference paperKryczka P, Kormushev P, Hashimoto K, et al., 2013,
Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration
, Publisher: IEEE, Pages: 475-480 -
Conference paperKormushev P, Caldwell DG, 2012,
Direct policy search reinforcement learning based on particle filtering
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Journal articleColasanto L, Kormushev P, Tsagarakis N, et al., 2012,
Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning
, International Journal of Cybernetics and Information Technologies, Vol: 12, Pages: 76-85, ISSN: 1311-9702COMAN is a compliant humanoid robot. The introduction of passive compliance in some of its joints affects the dynamics of the whole system. Unlike traditional stiff robots, there is a deflection of the joint angle with respect to the desired one whenever an external torque is applied. Following a bottom up approach, the dynamic equations of the joints are defined first. Then, a new model which combines the inverted pendulum approach with a three-dimensional (Cartesian) compliant model at the level of the center of mass is proposed. This compact model is based on some assumptions that reduce the complexity but at the same time affect the precision. To address this problem, additional parameters are inserted in the model equation and an optimization procedure is performed using reinforcement learning. The optimized model is experimentally validated on the COMAN robot using several ZMP-based walking gaits.
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Conference paperKormushev P, Calinon S, Ugurlu B, et al., 2012,
Challenges for the policy representation when applying reinforcement learning in robotics
, Pages: 1-8 -
Journal articleCarrera A, Ahmadzadeh SR, Ajoudani A, et al., 2012,
Towards Autonomous Robotic Valve Turning
, Cybernetics and Information Technologies, Vol: 12, Pages: 17-26 -
Journal articleLeonetti M, Kormushev P, Sagratella S, 2012,
Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning
, International Journal of Cybernetics and Information Technologies, Vol: 12 -
Journal articleDallali H, Kormushev P, Li Z, et al., 2012,
On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning
, International Journal of Cybernetics and Information Technologies, Vol: 12 -
Journal articleShen H, Yosinski J, Kormushev P, et al., 2012,
Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization
, International Journal of Cybernetics and Information Technologies, Vol: 12 -
Conference paperKormushev P, Caldwell DG, 2012,
Simultaneous discovery of multiple alternative optimal policies by reinforcement learning
, Pages: 202-207 -
Conference paperKormushev P, Ugurlu B, Colasanto L, et al., 2012,
The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans
, Pages: 3706-3713 -
Journal articleCalinon S, Kormushev P, Caldwell DG, 2012,
Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning
, Robotics and Autonomous Systems -
Conference paperLane DM, Maurelli F, Kormushev P, et al., 2012,
Persistent Autonomy: the Challenges of the PANDORA Project
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Conference paperKormushev P, Ugurlu B, Calinon S, et al., 2011,
Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization
, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Publisher: IEEE, Pages: 318-324 -
Conference paperKormushev P, Ugurlu B, Calinon S, et al., 2011,
Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization
, Pages: 318-324 -
Journal articleKormushev P, Calinon S, Caldwell DG, 2011,
Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input
, Advanced Robotics, Vol: 25, Pages: 581-603
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