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Showing 65 publications by Ioannis Havoutis

Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments

Finean MN, Merkt W & Havoutis I (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1095-1102

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@article{whereshouldiloo-2022/4,
  title={Where Should I Look? Optimised Gaze Control for Whole-Body Collision Avoidance in Dynamic Environments},
  author={Finean MN, Merkt W & Havoutis I},
  journal={IEEE ROBOTICS AND AUTOMATION LETTERS},
  volume={7},
  pages={1095-1102},
  year = "2022"
}

Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation

Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al. (2022), IEEE Robotics and Automation Letters, 1-1

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@article{reachingthrough-2022/1,
  title={Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation},
  author={Hung C-M, Zhong S, Goodwin W, Parker Jones O, Engelcke M et al.},
  journal={IEEE Robotics and Automation Letters},
  pages={1-1},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2022"
}

Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles

Surovik D, Melon O, Geisert M, Fallon M & Havoutis I (2021), Proceedings of the 2020 Conference on Robot Learning, 1509-1518

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@inproceedings{learninganexper-2021/10,
  title={Learning an expert skill-space for replanning dynamic quadruped locomotion over obstacles},
  author={Surovik D, Melon O, Geisert M, Fallon M & Havoutis I},
  booktitle={4th Annual Conference on Robot Learning (CoRL2020)},
  pages={1509-1518},
  year = "2021"
}

Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning

Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I (2021), Proceedings of the 2021 International Conference on Robotics and Automation (ICRA), 5973-5979

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@inproceedings{realtimetraject-2021/10,
  title={Real-time trajectory adaptation for quadrupedal locomotion using deep reinforcement learning},
  author={Gangapurwala S, Geisert M, Orsolino R, Fallon M & Havoutis I},
  booktitle={2021 International Conference on Robotics and Automation (ICRA)},
  pages={5973-5979},
  year = "2021"
}

Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization

Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al. (2021), Proceedings of the 2021 International Conference on Robotics and Automation (ICRA 2021)

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@inproceedings{recedinghorizon-2021/10,
  title={Receding-horizon perceptive trajectory optimization for dynamic legged locomotion with learned initialization},
  author={Melon O, Orsolino R, Surovik D, Geisert M, Havoutis I et al.},
  booktitle={2021 International Conference on Robotics and Automation (ICRA 2021)},
  year = "2021"
}

Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts

Merkt WX, Ivan V, Dinev T, Havoutis I & Vijayakumar S (2021), IEEE TRANSACTIONS ON ROBOTICS, 37(5), 1649-1660

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@article{memoryclusterin-2021/10,
  title={Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts},
  author={Merkt WX, Ivan V, Dinev T, Havoutis I & Vijayakumar S},
  journal={IEEE TRANSACTIONS ON ROBOTICS},
  volume={37},
  pages={1649-1660},
  year = "2021"
}

Rapid Stability Margin Estimation for Contact-Rich Locomotion

Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al. (2021), 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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@inproceedings{rapidstabilitym-2021/9,
  title={Rapid Stability Margin Estimation for Contact-Rich Locomotion},
  author={Orsolino R, Gangapurwala S, Melon O, Geisert M, Havoutis I et al.},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = "2021"
}

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments

Finean MN, Merkt W & Havoutis I (2021), 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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@inproceedings{simultaneoussce-2021/9,
  title={Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments},
  author={Finean MN, Merkt W & Havoutis I},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = "2021"
}

Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery

Hung C-M, Sun L, Wu Y, Havoutis I & Posner I (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA)

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@inproceedings{introspectivevi-2021/5,
  title={Introspective Visuomotor Control: Exploiting Uncertainty in Deep Visuomotor Control for Failure Recovery},
  author={Hung C-M, Sun L, Wu Y, Havoutis I & Posner I},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2021"
}

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Dinev T, Merkt W, Ivan V, Havoutis I & Vijayakumar S (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA)

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@inproceedings{sparsityinducin-2021/5,
  title={Sparsity-Inducing Optimal Control via Differential Dynamic Programming},
  author={Dinev T, Merkt W, Ivan V, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2021"
}

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

Tiseo C, Ivan V, Merkt W, Havoutis I, Mistry M et al. (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA)

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@inproceedings{apassivenavigat-2021/5,
  title={A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots},
  author={Tiseo C, Ivan V, Merkt W, Havoutis I, Mistry M et al.},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2021"
}

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2021), 2021 IEEE International Conference on Robotics and Automation (ICRA)

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@inproceedings{inversedynamics-2021/5,
  title={Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization},
  author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2021"
}

First steps: latent-space control with semantic constraints for quadruped locomotion

Mitchell A, Engelcke M, Parker Jones O, Surovik D, Havoutis I et al. (2021), Proceedings of the IEEE International Workshop on Intelligent Robots and Systems (IROS), 5343-5350

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@inproceedings{firststepslaten-2021/2,
  title={First steps: latent-space control with semantic constraints for quadruped locomotion},
  author={Mitchell A, Engelcke M, Parker Jones O, Surovik D, Havoutis I et al.},
  booktitle={IROS 2020},
  pages={5343-5350},
  year = "2021"
}

HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.

Tiseo C, Merkt W, Babarahmati KK, Wolfslag W, Havoutis I et al. (2021), IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 29, 1432-1440

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@article{hapficanadaptiv-2021/1,
  title={HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems.},
  author={Tiseo C, Merkt W, Babarahmati KK, Wolfslag W, Havoutis I et al.},
  journal={IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society},
  volume={29},
  pages={1432-1440},
  year = "2021"
}

CPG-Actor: Reinforcement Learning for Central Pattern Generators

Campanaro L, Gangapurwala S, De Martini D, Merkt W & Havoutis I (2021), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 13054 LNAI, 25-35

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@inproceedings{cpgactorreinfor-2021/1,
  title={CPG-Actor: Reinforcement Learning for Central Pattern Generators},
  author={Campanaro L, Gangapurwala S, De Martini D, Merkt W & Havoutis I},
  pages={25-35},
  year = "2021"
}

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent

Shah P, Meduri A, Merkt W, Khadiv M, Havoutis I et al. (2021), IEEE International Conference on Intelligent Robots and Systems, 1658-1665

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@inproceedings{rapidconvexopti-2021/1,
  title={Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent},
  author={Shah P, Meduri A, Merkt W, Khadiv M, Havoutis I et al.},
  pages={1658-1665},
  year = "2021"
}

Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations

Melon O, Geisert M, Surovik D, Havoutis I & Fallon M (2020), 2020 IEEE International Conference on Robotics and Automation (ICRA), 1410-1416

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@inproceedings{reliabletraject-2020/9,
  title={Reliable trajectories for dynamic quadrupeds using analytical costs and learned initializations},
  author={Melon O, Geisert M, Surovik D, Havoutis I & Fallon M},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1410-1416},
  year = "2020"
}

Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control

Mastalli C, Havoutis I, Focchi M, Caldwell D & Semini C (2020), IEEE Transactions on Robotics, 36(6), 1635-1648

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@article{motionplanningf-2020/7,
  title={Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control},
  author={Mastalli C, Havoutis I, Focchi M, Caldwell D & Semini C},
  journal={IEEE Transactions on Robotics},
  volume={36},
  pages={1635-1648},
  publisher={IEEE},
  year = "2020"
}

Learning sequences of approximations for hierarchical motion planning

Brandao M & Havoutis I (2020), Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, 30, 508-516

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@inproceedings{learningsequenc-2020/5,
  title={Learning sequences of approximations for hierarchical motion planning},
  author={Brandao M & Havoutis I},
  booktitle={30th International Conference on Automated Planning and Scheduling (ICAPS) 2020},
  pages={508-516},
  year = "2020"
}

Legged robots for autonomous inspection and monitoring of offshore assets

Ramezani M, Brandao M, Casseau B, Havoutis I & Fallon M (2020), Proceedings of the Annual Offshore Technology Conference

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@inproceedings{leggedrobotsfor-2020/4,
  title={Legged robots for autonomous inspection and monitoring of offshore assets},
  author={Ramezani M, Brandao M, Casseau B, Havoutis I & Fallon M},
  booktitle={Offshore Technology Conference},
  year = "2020"
}

Guided constrained policy optimization for dynamic quadrupedal robot locomotion

Gangapurwala S, Mitchell A & Havoutis I (2020), IEEE Robotics and Automation Letters, 5(2), 3642-3649

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@article{guidedconstrain-2020/3,
  title={Guided constrained policy optimization for dynamic quadrupedal robot locomotion},
  author={Gangapurwala S, Mitchell A & Havoutis I},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  pages={3642-3649},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments

Cristina De Serpa Brandao M, Havoutis I & Aladag OB (2020), IEEE Robotics and Automation Letters, 5(2), 3596-3603

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@article{gaitmeshcontrol-2020/3,
  title={GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments},
  author={Cristina De Serpa Brandao M, Havoutis I & Aladag OB},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  pages={3596-3603},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2020"
}

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Geisert M, Yates T, Orgen A, Fernbach P & Havoutis I (2019), Lecture Notes in Computer Science, 11649, 275-287

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@inproceedings{contactplanning-2019/6,
  title={Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner},
  author={Geisert M, Yates T, Orgen A, Fernbach P & Havoutis I},
  pages={275-287},
  year = "2019"
}

Towards generating simulated walking motion using position based deep reinforcement learning

Jones W, Gangapurwala S, Havoutis I & Yoshida K (2019), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11650 LNAI, 467-470

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@inproceedings{towardsgenerati-2019/1,
  title={Towards generating simulated walking motion using position based deep reinforcement learning},
  author={Jones W, Gangapurwala S, Havoutis I & Yoshida K},
  pages={467-470},
  year = "2019"
}

Learning from demonstration for semi-autonomous teleoperation

Havoutis I, Calinon & S S (2018), Autonomous Robots, 43(3), 713-726

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@article{learningfromdem-2018/4,
  title={Learning from demonstration for semi-autonomous teleoperation},
  author={Havoutis I, Calinon & S S},
  journal={Autonomous Robots},
  volume={43},
  pages={713-726},
  publisher={Springer US},
  year = "2018"
}

Programming by demonstration for shared control with an application in teleoperation

Zeestraten MJA, Havoutis I & Calinon S (2018), IEEE Robotics and Automation Letters, 3(3), 1848-1855

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@inproceedings{programmingbyde-2018/2,
  title={Programming by demonstration for shared control with an application in teleoperation},
  author={Zeestraten MJA, Havoutis I & Calinon S},
  pages={1848-1855},
  year = "2018"
}

Learning task-space synergies using Riemannian geometry,

Zeestraten MJA, Havoutis I, Calinon S & Caldwell DG (2017), International Conference on Intelligent Robots and Systems (IROS 2017)

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@inproceedings{learningtaskspa-2017/12,
  title={Learning task-space synergies using Riemannian geometry,},
  author={Zeestraten MJA, Havoutis I, Calinon S & Caldwell DG},
  year = "2017"
}

Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

Radulescu A, Havoutis I, Caldwell DG & Semini C (2017), Proceedings - IEEE International Conference on Robotics and Automation, 5302-5307

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@inproceedings{wholebodytrajec-2017/7,
  title={Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems},
  author={Radulescu A, Havoutis I, Caldwell DG & Semini C},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={5302-5307},
  year = "2017"
}

Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

Mastalli C, Focchi M, Havoutis I, Radulescu A, Calinon S et al. (2017), Proceedings - IEEE International Conference on Robotics and Automation, 1096-1103

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@inproceedings{trajectoryandfo-2017/7,
  title={Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion},
  author={Mastalli C, Focchi M, Havoutis I, Radulescu A, Calinon S et al.},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={1096-1103},
  year = "2017"
}

Supervisory teleoperation with online learning and optimal control

Havoutis I & Calinon S (2017), Proceedings - IEEE International Conference on Robotics and Automation, 1534-1540

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@inproceedings{supervisorytele-2017/7,
  title={Supervisory teleoperation with online learning and optimal control},
  author={Havoutis I & Calinon S},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={1534-1540},
  year = "2017"
}

An Approach for Imitation Learning on Riemannian Manifolds

Zeestraten MJA, Havoutis I, Silverio J, Calinon S & Caldwell DG (2017), IEEE Robotics and Automation Letters, 2(3), 1240-1247

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@article{anapproachforim-2017/7,
  title={An Approach for Imitation Learning on Riemannian Manifolds},
  author={Zeestraten MJA, Havoutis I, Silverio J, Calinon S & Caldwell DG},
  journal={IEEE Robotics and Automation Letters},
  volume={2},
  pages={1240-1247},
  year = "2017"
}

High-slope terrain locomotion for torque-controlled quadruped robots

Focchi M, del Prete A, Havoutis I, Featherstone R, Caldwell DG et al. (2017), Autonomous Robots, 41(1), 259-272

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@article{highslopeterrai-2017/1,
  title={High-slope terrain locomotion for torque-controlled quadruped robots},
  author={Focchi M, del Prete A, Havoutis I, Featherstone R, Caldwell DG et al.},
  journal={Autonomous Robots},
  volume={41},
  pages={259-272},
  year = "2017"
}

Online incremental learning of manipulation tasks for semi-autonomous teleoperation

Havoutis I, Tanwani AK & Calinon S (2016), International Conference on Intelligent Robots and Systems, Workshop on Closed Loop Grasping and Manipulation: Challenges and Progress

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@inproceedings{onlineincrement-2016/10,
  title={Online incremental learning of manipulation tasks for semi-autonomous teleoperation},
  author={Havoutis I, Tanwani AK & Calinon S},
  year = "2016"
}

Optimization for non-periodic dynamic motions of legged systems

Radulescu A, Havoutis I, Caldwell DG & Semini C (2016), 9th International Workshop on Human Friendly Robotics (HFR 2016)

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@inproceedings{optimizationfor-2016/9,
  title={Optimization for non-periodic dynamic motions of legged systems},
  author={Radulescu A, Havoutis I, Caldwell DG & Semini C},
  year = "2016"
}

Preview optimization for learning locomotion policies on rough terrain

Mastalli C, Havoutis I, Radulescu A, Focchi M, Caldwell DG et al. (2016), Workshop on Dynamic Locomotion and Manipulation with Complex Robotic Systems in the Real World (DLMC 2016)

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@inproceedings{previewoptimiza-2016/7,
  title={Preview optimization for learning locomotion policies on rough terrain},
  author={Mastalli C, Havoutis I, Radulescu A, Focchi M, Caldwell DG et al.},
  year = "2016"
}

Hierarchical planning of dynamic movements without scheduled contact sequences

Mastalli C, Havoutis I, Focchi M, Caldwell DG & Semini C (2016), Proceedings - IEEE International Conference on Robotics and Automation, 2016-June, 4636-4641

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@inproceedings{hierarchicalpla-2016/6,
  title={Hierarchical planning of dynamic movements without scheduled contact sequences},
  author={Mastalli C, Havoutis I, Focchi M, Caldwell DG & Semini C},
  booktitle={IEEE International Conference on Robotics and Automation},
  pages={4636-4641},
  year = "2016"
}

Learning assistive teleoperation behaviors from demonstration

Havoutis I & Calinon S (2016), 2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 258-263

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@inproceedings{learningassisti-2016/,
  title={Learning assistive teleoperation behaviors from demonstration},
  author={Havoutis I & Calinon S},
  pages={258-263},
  year = "2016"
}

LIDAR-BASED NAVIGATION-LEVEL PATH PLANNING FOR FIELD-CAPABLE LEGGED ROBOTS

Havoutis I, Caldwell DG & Semini C (2016), ASSISTIVE ROBOTICS, 669-676

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@inproceedings{lidarbasednavig-2016/,
  title={LIDAR-BASED NAVIGATION-LEVEL PATH PLANNING FOR FIELD-CAPABLE LEGGED ROBOTS},
  author={Havoutis I, Caldwell DG & Semini C},
  pages={669-676},
  year = "2016"
}

Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

Gancet J, Weiss P, Antonelli G, Pfingsthorn MF, Calinon S et al. (2016), IFAC PAPERSONLINE, 49(23), 414-419

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@article{dexterousunders-2016/,
  title={Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project},
  author={Gancet J, Weiss P, Antonelli G, Pfingsthorn MF, Calinon S et al.},
  journal={IFAC PAPERSONLINE},
  volume={49},
  pages={414-419},
  year = "2016"
}

Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

Ugurlu B, Havoutis I, Semini C, Kayamori K, Caldwell DG et al. (2015), AUTONOMOUS ROBOTS, 38(4), 415-437

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@article{patterngenerati-2015/4,
  title={Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ},
  author={Ugurlu B, Havoutis I, Semini C, Kayamori K, Caldwell DG et al.},
  journal={AUTONOMOUS ROBOTS},
  volume={38},
  pages={415-437},
  year = "2015"
}

On-line and On-board Planning and Perception for Quadrupedal Locomotion

Mastalli C, Havoutis I, Winkler AW, Caldwell DG, Semini C et al. (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)

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@inproceedings{onlineandonboar-2015/,
  title={On-line and On-board Planning and Perception for Quadrupedal Locomotion},
  author={Mastalli C, Havoutis I, Winkler AW, Caldwell DG, Semini C et al.},
  year = "2015"
}

Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

Winkler AW, Mastalli C, Havoutis I, Focchi M, Caldwell DG et al. (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 5148-5154

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@inproceedings{planningandexec-2015/,
  title={Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain},
  author={Winkler AW, Mastalli C, Havoutis I, Focchi M, Caldwell DG et al.},
  pages={5148-5154},
  year = "2015"
}

Quadruped robot trotting over irregular terrain assisted by stereo-vision

Bazeille S, Barasuol V, Focchi M, Havoutis I, Frigerio M et al. (2014), INTELLIGENT SERVICE ROBOTICS, 7(2), 67-77

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@article{quadrupedrobott-2014/4,
  title={Quadruped robot trotting over irregular terrain assisted by stereo-vision},
  author={Bazeille S, Barasuol V, Focchi M, Havoutis I, Frigerio M et al.},
  journal={INTELLIGENT SERVICE ROBOTICS},
  volume={7},
  pages={67-77},
  year = "2014"
}

Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

Winkler A, Havoutis I, Bazeille S, Ortiz J, Focchi M et al. (2014), 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 6476-6482

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@inproceedings{pathplanningwit-2014/,
  title={Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},
  author={Winkler A, Havoutis I, Bazeille S, Ortiz J, Focchi M et al.},
  pages={6476-6482},
  year = "2014"
}

Inverse dynamics for a quadruped robot locomoting along slippery surfaces

Zapolsky S, Drumwright E, Havoutis I, Buchli J & Semini C (2013), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 555-562

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@inproceedings{inversedynamics-2013/12,
  title={Inverse dynamics for a quadruped robot locomoting along slippery surfaces},
  author={Zapolsky S, Drumwright E, Havoutis I, Buchli J & Semini C},
  pages={555-562},
  year = "2013"
}

Local reflex generation for obstacle negotiation in quadrupedal locomotion

Focchi M, Barasuol V, Havoutis I, Buchli J, Semini C et al. (2013), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 443-450

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@inproceedings{localreflexgene-2013/12,
  title={Local reflex generation for obstacle negotiation in quadrupedal locomotion},
  author={Focchi M, Barasuol V, Havoutis I, Buchli J, Semini C et al.},
  pages={443-450},
  year = "2013"
}

Motion planning and reactive control on learnt skill manifolds

Havoutis I & Ramamoorthy S (2013), INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 32(9-10), 1120-1150

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@article{motionplanninga-2013/8,
  title={Motion planning and reactive control on learnt skill manifolds},
  author={Havoutis I & Ramamoorthy S},
  journal={INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH},
  volume={32},
  pages={1120-1150},
  year = "2013"
}

Motion generation with geodesic paths on learnt skill manifolds

Havoutis I & Ramamoorthy S (2013), 18, 43-51

Altmetric score is
BibTeX View PDF
@misc{motiongeneratio-2013/1,
  title={Motion generation with geodesic paths on learnt skill manifolds},
  author={Havoutis I & Ramamoorthy S},
  year = "2013"
}

LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION

Focchi M, Barasuol V, Havoutis I, Buchli J, Semini C et al. (2013), 443-450

Altmetric score is
BibTeX
@misc{localreflexgene-2013/,
  title={LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION},
  author={Focchi M, Barasuol V, Havoutis I, Buchli J, Semini C et al.},
  year = "2013"
}

INVERSE DYNAMICS FOR A QUADRUPED ROBOT LOCOMOTING ALONG SLIPPERY SURFACES

Zapolsky S, Drumwright E, Havoutis I, Buchli J & Semini C (2013), 555-562

Altmetric score is
BibTeX
@misc{inversedynamics-2013/,
  title={INVERSE DYNAMICS FOR A QUADRUPED ROBOT LOCOMOTING ALONG SLIPPERY SURFACES},
  author={Zapolsky S, Drumwright E, Havoutis I, Buchli J & Semini C},
  year = "2013"
}

Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)

Havoutis I, Ortiz J, Bazeille S, Barasuol V, Semini C et al. (2013), 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 6052-6057

Altmetric score is
BibTeX
@inproceedings{onboardpercepti-2013/,
  title={Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)},
  author={Havoutis I, Ortiz J, Bazeille S, Barasuol V, Semini C et al.},
  pages={6052-6057},
  year = "2013"
}

Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control

Ugurlu B, Havoutis I, Semini C & Caldwell DG (2013), 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 6044-6051

Altmetric score is
BibTeX
@inproceedings{dynamictrotwalk-2013/,
  title={Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control},
  author={Ugurlu B, Havoutis I, Semini C & Caldwell DG},
  pages={6044-6051},
  year = "2013"
}

A comparison of Search-based Planners for a Legged Robot

Arain MA, Havoutis I, Semini C, Buchli J & Caldwell DG (2013), 2013 9TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 104-109

Altmetric score is
BibTeX
@inproceedings{acomparisonofse-2013/,
  title={A comparison of Search-based Planners for a Legged Robot},
  author={Arain MA, Havoutis I, Semini C, Buchli J & Caldwell DG},
  pages={104-109},
  year = "2013"
}

Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain

Bazeille S, Barasuol V, Focchi M, Havoutis I, Frigerio M et al. (2013), 2013 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA)

Altmetric score is
BibTeX
@inproceedings{visionenhancedr-2013/,
  title={Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain},
  author={Bazeille S, Barasuol V, Focchi M, Havoutis I, Frigerio M et al.},
  year = "2013"
}

Quadrupedal trotting with active compliance

Havoutis I, Semini C, Buchli J, Caldwell DG & IEEE (2013), 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)

Altmetric score is
BibTeX
@inproceedings{quadrupedaltrot-2013/,
  title={Quadrupedal trotting with active compliance},
  author={Havoutis I, Semini C, Buchli J, Caldwell DG & IEEE },
  year = "2013"
}

Constrained geodesic trajectory generation on learnt skill manifolds

Havoutis I, Ramamoorthy S & IEEE (2010), IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2670-2675

Altmetric score is
BibTeX View PDF
@inproceedings{constrainedgeod-2010/,
  title={Constrained geodesic trajectory generation on learnt skill manifolds},
  author={Havoutis I, Ramamoorthy S & IEEE },
  pages={2670-2675},
  year = "2010"
}

Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space

Havoutis I & Ramamoorthy S (2010), ROBOCUP 2009: ROBOT SOCCER WORLD CUP XIII, 5949, 92-103

Altmetric score is
BibTeX
@inproceedings{motionsynthesis-2010/,
  title={Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space},
  author={Havoutis I & Ramamoorthy S},
  pages={92-103},
  year = "2010"
}

Geodesic trajectory generation on learnt skill manifolds

Havoutis I, Ramamoorthy S & IEEE (2010), 2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2946-2952

Altmetric score is
BibTeX View PDF
@inproceedings{geodesictraject-2010/,
  title={Geodesic trajectory generation on learnt skill manifolds},
  author={Havoutis I, Ramamoorthy S & IEEE },
  pages={2946-2952},
  year = "2010"
}

Synthesising novel movements through latent space modulation of scalable control policies

Bitzer S, Havoutis I & Vijayakumar S (2008), FROM ANIMALS TO ANIMATS 10, PROCEEDINGS, 5040, 199-209

Altmetric score is
BibTeX
@inproceedings{synthesisingnov-2008/,
  title={Synthesising novel movements through latent space modulation of scalable control policies},
  author={Bitzer S, Havoutis I & Vijayakumar S},
  pages={199-209},
  year = "2008"
}

MultiCAD-MOGA A System for Conceptual Style Design of Buildings

Makris D, Havoutis I, Miaoulis G & Plemenos D (2006), 9TH INTERNATIONAL CONFERENCE ON COMPUTER GRAPHICS AND ARTIFICIAL INTELLIGENCE, 73-84

Altmetric score is
BibTeX
@inproceedings{multicadmogaasy-2006/,
  title={MultiCAD-MOGA A System for Conceptual Style Design of Buildings},
  author={Makris D, Havoutis I, Miaoulis G & Plemenos D},
  pages={73-84},
  year = "2006"
}

Multi-controller multi-objective locomotion planning for legged robots

Havoutis I, Brandao M & Fallon M (0), IEEE/RSJ International Conference on Intelligent Robots and Systems 2019 (IROS 2019)

Altmetric score is
BibTeX
@inproceedings{multicontroller-/,
  title={Multi-controller multi-objective locomotion planning for legged robots},
  author={Havoutis I, Brandao M & Fallon M}
}

Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion

Havoutis I, Mitchell A, Merkt W, Geisert M, Gangapurwala S et al. (0)

Altmetric score is
BibTeX
@inproceedings{nextstepslearni-/,
  title={Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion},
  author={Havoutis I, Mitchell A, Merkt W, Geisert M, Gangapurwala S et al.},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA), 2022.}
}

Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement

Havoutis I, Goodwin W, Vaze S & Posner H (0)

Altmetric score is
BibTeX
@inproceedings{semanticallygro-/,
  title={Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement},
  author={Havoutis I, Goodwin W, Vaze S & Posner H},
  booktitle={ICRA}
}

RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control

Havoutis I, Gangapurwala S, Geisert M, Orsolino R & Fallon M (0), IEEE Transactions on Robotics, 2022.

Altmetric score is
BibTeX
@article{rlocterrainawar-/,
  title={RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control},
  author={Havoutis I, Gangapurwala S, Geisert M, Orsolino R & Fallon M},
  journal={IEEE Transactions on Robotics, 2022.}
}

Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments

Havoutis I, Finean M & Merkt W (0)

Altmetric score is
BibTeX
@inproceedings{predictedcompos-/,
  title={Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments},
  author={Havoutis I, Finean M & Merkt W},
  booktitle={International Conference on Automated Planning and Scheduling (ICAPS), 2021.}
}