Future AI and Robotics for Space (FAIR-SPACE)

Research output

Research output per year 2018 2020 2021 2023

• 17 Conference contribution
• 9 Article

Research output per year

Research output per year

Search results

• 2023

  A unified model with inertia shaping for highly dynamic jumps of legged robots

  Wang, K., Xin, G., Xin, S., Mistry, M., Vijayakumar, S. & Kormushev, P., 16 Aug 2023, In: Mechatronics. 95, p. 1-10 103040.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Robot 100%
  • Rigid Body Model 66%
  • Rigid Structure 33%
  • Rotational 33%
  • Force Control 33%
• 2022

  Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

  Rouxel, Q., Yuan, K., Wen, R. & Li, Z., 1 Oct 2022, In: IEEE/ASME Transactions on Mechatronics. 27, 5, p. 4188-4198 11 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Robot 100%
  • Computational Efficiency 50%
  • Degree of Freedom 50%
  • Teleoperation 50%
  • Quadruped Robot 50%

• Haptic Bimanual System for Teleoperation of Time-Delayed Tasks

  Sena, A., Rouxel, Q., Ivanova, E., Burdet, E. & Li, Z., 28 Mar 2022, 2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021). Institute of Electrical and Electronics Engineers, p. 1234-1239 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Building-Blocks 100%
  • Control Interface 100%
  • User Interface 100%

• Learning Motor Skills of Reactive Reaching and Grasping of Objects

  Hu, W., Yang, C., Yuan, K. & Li, Z., 28 Mar 2022, 2021 IEEE International Conference on Robotics and Biomimetics. Institute of Electrical and Electronics Engineers, p. 452-457 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Potential Failure 100%
  • Moving Object 100%
  • Success Rate 100%
  • Metrics 100%
  • Reinforcement Learning 100%

• Metrics for 3D Object Pointing and Manipulation in Virtual Reality

  Triantafyllidis, E., Hu, W., McGreavy, C. & Li, A., 1 Mar 2022, In: IEEE Robotics and Automation Magazine. 29, 1, p. 76-91 16 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Virtual Reality 100%
  • Human Performance 100%
  • Virtual Environments 33%
  • Performance Metric 33%
  • Experimental Result 33%
• 2021

  A Trajectory Optimization Method for Stabilizing a Tumbling Target Using Dual-Arm Space Robots

  Yan, L., Hu, B. & Vijayakumar, S., 20 Oct 2021, Intelligent Robotics and Applications: 14th International Conference, ICIRA 2021, Yantai, China, October 22–25, 2021, Proceedings, Part IV. Liu, X.-J., Nie, Z., Yu, J., Xie, F. & Song, R. (eds.). Cham: Springer, p. 396-404 9 p. (Lecture Notes in Computer Science; vol. 13016).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Robot 100%
  • Optimization Method 100%
  • Dynamic Object 50%
  • Debris Removal 50%
  • Object Motion 50%

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

  Tiseo, C., Ivan, V., Merkt, W., Havoutis, I., Mistry, M. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8223-8229 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Mobile Robot 100%
  • Planning Algorithm 100%
  • Computational Resource 100%
  • Robot 50%
  • Computational Complexity 50%

• Sparsity-Inducing Optimal Control via Differential Dynamic Programming

  Dinev, T., Merkt, W., Ivan, V., Havoutis, I. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8216-8222 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Optimal Control Theory 100%
  • Regularization 50%
  • Minimizes 25%
  • Canonical Dynamic 25%
  • Control System 25%

• Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation

  Zhang, X., Yan, L., Lam, T. L. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 8158-8164 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Kinematic Chain 100%

• Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies

  Ding, J., Xin, S., Lam, T. L. & Vijayakumar, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA) . Institute of Electrical and Electronics Engineers, p. 2957-2963 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Predictive Control Model 100%
  • Nonlinear Model 100%
  • Adaptability 50%
  • Control Scheme 50%
  • Body Rotation 50%

• Decentralized Ability-Aware Adaptive Control for Multi-robot Collaborative Manipulation

  Yan, L., Stouraitis, T. & Vijayakumar, S., 1 Apr 2021, In: IEEE Robotics and Automation Letters. 6, 2, p. 2311 - 2318 8 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Robot 100%
  • Adaptive Control 100%
  • System Parameter 20%
  • Physical Parameter 20%
  • Load Distribution 20%

• Modelling and Control of a Hybrid Wheeled Jumping Robot

  Dinev, T., Xin, S., Merkt, W., Ivan, V. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 2563 - 2570 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Joints (Structural Components) 100%
  • Robot 100%
  • Systems Dynamics 100%
  • Dynamic Motion 100%
  • Predictive Model 100%

• Multi-mode Trajectory Optimization for Impact-aware Manipulation

  Stouraitis, T., Yan, L., Moura, J., Gienger, M. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 9425 - 9432 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Contact Force 100%
  • Optimization Method 100%
  • Multimode 100%
  • Motion Planning 100%
  • Manipulator 100%

• Online Dynamic Motion Planning and Control for Wheeled Biped Robots

  Xin, S. & Vijayakumar, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 3892 - 3899 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Motion Planning 100%
  • Motion Control 100%
  • biped robot 100%
  • Locomotion 100%
• 2020

  Learning Pregrasp Manipulation of Objects from Ungraspable Poses

  Sun, Z., Yuan, K., Hu, W., Yang, C. & Li, Z., 15 Sept 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, p. 9917-9923 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Learning Framework 100%
  • And-States 50%
  • Visual Informations 50%
  • Generalization Ability 50%
  • Deep Reinforcement Learning 50%

• Decoding Motor Skills of AI and Human Policies: A Study on Humanoid and Human Balance Control

  Yuan, K., McGreavy, C., Yang, C., Wolfslag, W. J. & Li, Z., 1 Jun 2020, In: IEEE Robotics and Automation Magazine. 27, 2, p. 87 - 101 15 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Learning System 100%
  • Artificial Intelligence 100%

• Force-Guided High-Precision Grasping Control of Fragile and Deformable Objects Using sEMG-Based Force Prediction

  Wen, R., Yuan, K., Wang, Q., Heng, S. & Li, Z., 30 Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 2762-2769 8 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Contact Force 100%
  • Surface (Surface Science) 100%
  • Daily Life 50%
  • End Effector 50%
  • Force Control 50%

• Learning natural locomotion behaviors for humanoid robots using human bias

  Yang, C., Yuan, K., Heng, S., Komura, T. & Li, Z., 30 Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 2610-2617 8 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Reinforcement Learning 100%
  • Deep Learning Method 100%
  • Human Bias 100%

• Study of Multimodal Interfaces and the Improvements on Teleoperation

  Triantafyllidis, E., McGreavy, C., Gu, J. & Li, Z., 23 Apr 2020, In: IEEE Access. 8, p. 78213 - 78227 15 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • haptic interaction 100%

• Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments

  Merkt, W., Ivan, V. & Vijayakumar, S., 27 Jan 2020, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, p. 7248-7255 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Environment 100%
  • Continuous Time 100%
  • discrete-time 66%
  • Optimization Problem 33%
  • Mobile Robot 33%

• Modulating Human Input for Shared Autonomy in Dynamic Environments

  Mower, C. E., Moura, J., Davies, A. & Vijayakumar, S., 13 Jan 2020, 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). Institute of Electrical and Electronics Engineers, p. 1-8 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Industrial Applications 100%
  • Illustrates 100%
  • Degree of Freedom 100%
  • Task Space 100%
  • Teleoperation 100%
• 2019

  Equivalence of the Projected Forward Dynamics and the Dynamically Consistent Inverse Solution

  Moura, J., Ivan, V., Erden, M. S. & Vijayakumar, S., 26 Jun 2019, (E-pub ahead of print) Proceedings of Robotics: Science and Systems. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). Freiburg im Breisgau, Germany, Vol. 15. p. 1-10 10 p. (Robotics: Science and Systems Proceedings; vol. XV).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Model 100%
  • Matrix 66%
  • Redundant Constraint 50%
  • Numerical Stability 33%
  • Inverse Dynamics 33%

• Learning Whole-body Motor Skills for Humanoids

  Yang, C., Yuan, K., Merkt, W., Komura, T., Vijayakumar, S. & Li, Z., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers, p. 270-276 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Traditional Method 100%
  • Learning Framework 100%
  • Physic Simulator 100%
  • Learning Algorithm 100%
  • Deep Learning Method 100%

• Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints

  Yang, Y., Merkt, W., Ivan, V. & Vijayakumar, S., 24 Jan 2019, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). Beijing, China: Institute of Electrical and Electronics Engineers, p. 1-9 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Configuration Space 100%
  • Static Environment 100%
  • Planning Method 100%
  • Temporal Constraint 100%
  • Humanoid Robots 50%
• 2018

  Constraint-aware learning of policies by demonstration

  Armesto, L., Moura, J., Ivan, V., Erden, M. S., Sala, A. & Vijayakumar, S., 1 Dec 2018, In: International Journal of Robotics Research. 37, 13-14, p. 1673-1689 17 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Learning Problem 100%
  • Parametrization 100%
  • Curved Surface 100%
  • Constraint Learning 100%
  • Redundant Robot 100%

• Dyadic collaborative Manipulation through Hybrid Trajectory Optimization

  Stouraitis, T., Chatzinikolaidis, I., Gienger, M. & Vijayakumar, S., 31 Oct 2018, Proceedings of The 2nd Conference on Robot Learning. Billard, A., Dragan, A., Peters, J. & Morimoto, J. (eds.). PMLR, p. 869-878 10 p. (Proceedings of Machine Learning Research).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Computer Hardware 100%