Publications
] , “Assisted Gravity Compensation to Cope with the Complexity of Kinesthetic Teaching on Redundant Robots”, in International Conference on Robotics and Automation, Karlsruhe, 2013.
, “Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Contro”, in International Conference on Robotics and Automation, 2013.
, “The contribution of different cues of facial movement to the emotional facial expression adaptation aftereffect”, Journal of Vision, vol. 13, pp. 1–15, 2013.
, “Control of reaching movements by muscle synergy combinations”, Frontiers in Computational Neuroscience, 2013.
, “Data-driven Extraction of Drive Functions for Legged Locomotion: A Study on Cheetah-cub Robot”, in AMAM 2013, 2013.
, “Development of a Dynamic Simulator for a Compliant Human-oid Robot Based on a Symbolic Multibody Approach”, in IEEE International Conference on Mechatronics, 2013.
, “Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors”, Neural Computation, vol. 25, pp. 328-373, 2013.
, “Echo State Property Linked to an Input: Exploring a Fundamental Characteristic of Recurrent Neural Networks”, Neural Computation, vol. 25, pp. 671-696, 2013.
, “Effects of Pictorial Cues on Reaching Depend on the Distinctiveness of Target Objects”, PLoS ONE, vol. 8, p. e54230, 2013.
, “Examination of visual information as a mediator of external focus benefits”, Journal of Sport and Exercise Psychology, 2013.
, “Expression of emotion in the kinematics of locomotion”, Experimental Brain Research, vol. 225, pp. 159–176, 2013.
, “Hebbian Learning with Distal Rewards in Recurrent Neural Networks and Tensegrity Robots”, in 2013 International Workshop on Soft Robotics and Morphological Computation, 2013.
, “Horse-Like Walking, Trotting and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot”, Biological Cybernetics, 2013.
, “{I}nvestigating reduction of dimensionality during single-joint elbow movements: a case study on muscle synergies”, Front Comput Neurosci., vol. 7, 2013.
, “Kinesthetic teaching of visuomotor coordination for pointing by the humanoid robot iCub”, Neurocomputing, 2013.
, “Lack of non-voluntary stepping responses in Parkinson's disease”, Neurosci, vol. 235, pp. 96-108, 2013.
, “Learned graphical models for probabilistic planning provide a new class of movement primitives”, Frontiers in Computational Neuroscience (Special Issue on Modularity in motor control: from muscle synergies to cognitive action representation), vol. 6, 2013.
, “Learned Muscle Synergies as Prior in Dynamical Systems for Controlling Bio-mechanical and Robotic Systems”, in Abstracts of Neural Control of Movement Conference (NCM 2013), 2013.
, “Locomotion without a brain: Physical reservoir computing in tensegrity structures”, Artificial life, vol. 19, pp. 35–66, 2013.
, “Mental representation and learning: The influence of practice on the development of mental representation structure in complex action”, Psychology of Sport & Exercise, 2013.
, “Models of human movement: Trajectory planning and inverse kinematics studies”, Robotics and Autonomous Systems, vol. 61, pp. 330-339, 2013.
, “Multi-directional Continuous Association with Input-driven Neural Dynamics”, Neurocomputing (Special Issue ESANN 2012), 2013.
, “Muscle synergies in neuroscience and robotics: from input-space to task-space perspectives”, Frontiers in Computational Neuroscience, 2013.
, “Neurally imprinted stable vector fields”, in ESANN, 2013.
, “Physiologically Inspired Model for the Visual Recognition of Transitive Hand Actions”, The Journal of Neuroscience, in press, 2013.
, “Rare neural correlations implement robotic conditioning with delayed rewards and disturbances”, Frontiers in Neurorobotics, 2013.
, “Solving the Distal Reward Problem with Rare Correlations”, Neural Computation, vol. 25, no. 4, p. 978, 2013.
, “Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition”, ASME Transactinos on Mechanisms Robotics, 2013.
, “Trunk orientation, stability, and quadrupedalism”, Frontiers in Movement Disorders, vol. 4, 2013.
, “A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space”, Journal of Human-Robot Interaction, vol. 2, pp. 56-81, 2013.
, “Walking Pattern Generation for a Humanoid Robot with Compliant Joints”, Autonomous Robots, 2013.
, “Applying morphological changes during the evolution of quadruped robots results in robust gaits”, in Proceedings of the 21st Belgian-Dutch Conference on Machine Learning, 2012.
, “Balancing of neural contributions for multi-modal hidden state association”, in European Symposium on Artificial Neural Networks, Brugge, 2012.
, “Can we design controllers for bipedal robots based on simple models (templates) of their dynamics?”, in International Conference on Dynamic Walking 2012, Pensacola, Florida, USA, 2012.
, “Catching a Ball at the Right Time and Place: Individual Factors Matter”, PLoS One, vol. in press, 2012.
, “Changes in the spinal segmental motor output for stepping during development from infant to adult”, J Neurosci, 2012.
, “A closed-loop optimal control approach for online control of a planar monoped robot”, Climbing and Walking Robot- CLAWAR 2012. 2012.
, “Co-articulation of straight lines with an Artificial Neural Network”, in NCM 22nd Annual Meeting, Venice, 2012.
, “A Compact Model for the Compliant Humanoid Robot COMAN”, in BioRob, 2012.
, “Coupling of upper and lower limb pattern generators during human crawling at different arm/leg speed combinations”, Exp Brain Res, 2012.
, “{D}ynamically stable control of articulated crowds”, Journal of Computational Science, 2012.
, “Development of human locomotion”, Curr Opin Neurobiol, 2012.
, “A Discrete/Rhythmic Pattern Generating RNN”, in European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, 2012.
, “{A Domain-Specific Language for Rich Motor Skill Architectures}”, in 3rd International Workshop on Domain-Specific Languages and models for Robotic systems, Tsukuba, 2012.
, “A dynamical system approach to realtime obstacle avoidance”, Autonomous Robots, vol. 32, pp. 433-454, 2012.
, “Efficient Human-like Walking for the COmpliant huMANoid COMAN based on Kinematic Motion Primitives (kMPs)”, in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, 2012.
, “Embodiment Enables the Spinal Engine on Quadruped Robot Locomotion”, in 2012 IEEE/RSJ Internattional Conference on Intelligent Robots and Systems, 2012.
, “Emergence of Complex Computational Structures From Chaotic Neural Networks Through Reward-Modulated Hebbian Learning”, Cerebral Cortex, 2012.
, “Estimating the non-linear dynamics of free-flying objects”, Robotics and Autonomous Systems, vol. 60, p. 1108–-1122, 2012.
, “Estimating the non-linear dynamics of free-flying objects”, Robotics and Autonomous Systems, p. –, 2012.
, “Feedback Control by Online Learning an Inverse Model”, IEEE Transactions on Neural Networks and Learning Systems, 2012.
, “From Modulated Hebbian Plasticity to Simple Behavior Learning through Noise and Weight Saturation”, Neural Networks Journal, vol. 34, 2012.
, “The function of the spine and its morphological effect in quadruped robot locomotion”, in 2012 IEEE International conference on Robotics and Biomimetics, 2012.
, “Generation of synergies for reaching based on interpolation properties of their dynamic responses”, in From Animals to Animats 12: Proceedings 12th International Conference on Simulation of adaptive behavior, Odense, Denmark, 2012.
, “On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning”, Journal of Cybernetics and Information Technologies, vol. vol. 12, no. 3, pp. pp. 39-52, 2012.
, “Hopping at the Resonance Frequency: A Trajectory Generation Technique for Bipedal Robots with Elastic Joints”, in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, 2012.
, “How rich motor skills empower robots at last: insights and progress of the AMARSi Project”, Künstliche Intelligenz, 2012.
, “Humans running in place on water at simulated reduced gravity”, PLoS One, 2012.
, “Internal Model Control for Improving the Gait tracking of a Compliant Humanoid Robot”, in IROS, 2012.
, “The kinematic Motion Primitives (kMPs) of periodic motions, discrete motions, and motions that are a combination of discrete and periodic movements”, in Cognitive Neuroscience Robotics (CNR) Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, 2012.
, “On the kinematic Motion Primitives (kMPs): theory and application”, Frontiers in Neurorobotics, vol. 6, 2012.
, “Learning to Play Minigolf: A Dynamical System-based Approach”, Advanced Robotics, 2012.
, “Learning visuo-motor coordination for pointing without depth calculation”, European Symposium on Artificial Neural Networks. pp. 91-96, 2012.
, “Learning Whole Upper Body Control with Dynamic Redundancy Resolution in Coupled Associative Radial Basis Function Networks”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012.
, “Online learning and generalization of parts-based image representations by Non-Negative Sparse Autoencoders”, Neural Networks, vol. 33, pp. 194 – 203, 2012.
, “Online Simulation of Emotional Interactive Behaviors with Hierarchical Gaussian Process Dynamical Models”, Proceedings of the ACM Symposium on Applied Perception (ACM-SAP 2012), pp. 25-32, 2012.
, “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid {COMAN}”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012.
, “A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid {COMAN}”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012.
, “Patterned control of human locomotion”, J Physiol, 2012.
, “Plasticity and modular control of locomotor patterns in movement disorders”, in Proceedings of the 2012 International Conference on Neurorehabilitation (ICNR, Toledo, Spain 2012): Converging Clinical and Engineering Research on Neurorehabilitation, 2012.
, “A Push Recovery Strategy for a Passively Compliant Humanoid Robot using Decentralized LQR Controllers”, in IROS, 2012.
, “Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach”, in {E}lectronic proc. of the {W}orkshop on {R}obot {M}otion {P}lanning: {O}nline, {R}eactive, and in {R}eal-{T}ime, {I}nt. {C}onf. on {I}ntelligent {R}obots and {S}ystems ({IROS}), 2012.
, “Regularization and stability in reservoir networks with output feedback”, Neurocomputing, vol. 90, pp. 96-105, 2012.
, “Representation and Generalization of Bi-manual Skills from Kinesthetic Teaching”, in IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2012.
, “The role of feedback in morphological computation with compliant bodies”, Biological Cybernetics, vol. 106, pp. 595-613, 2012.
, “{Software Abstractions for Simulation and Control of a Continuum Robot}”, in SIMULATION, MODELING, and PROGRAMMING for AUTONOMOUS ROBOTS, 2012.
, “{Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance}”, in IEEE International Conference on Robotics and Automation, Minnesota, USA, 2012.
, “Statistical dynamical systems for skills acquisition in humanoids”, in Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), 2012.
, “Stochastic Optimal Control Methods for Investigating the Power of Morphological Computation”, Artificial Life (Special Issue on Morphological Computation), vol. 19, pp. 115–131, 2012.
, “Teaching Nullspace Constraints in Physical Human-Robot Interaction using Reservoir Computing”, in International Conference on Automation and Robotics, 2012.
, “Towards incorporation of hierarchical Bayesian models into evolution strategies for quadruped gait generation”, in Proceedings of the 21st Belgian-Dutch Conference on Machine Learning, 2012.
, “{U}nderstanding the {S}emantic {S}tructure of {H}uman f{MRI} {B}rain {R}ecordings {W}ith {F}ormal {C}oncept {A}nalysis”, Proceedings of the 10th International Conference on Formal Concept Analysis (ICFCA 2012) LNAI 7278, Springer, pp. 96-111, 2012.
, “Understanding the Semantic Structure of Human {fMRI} Brain Recordings With Formal Concept Analysis”, in Proceedings of the 10h International Conference on Formal Concept Analysis (ICFCA 2012), Springer, 2012, pp. 1-16.
, “Using movement primitives in interpreting and decomposing complex trajectories in learning-by-doing”, in Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), 2012.
, “{V}ariant and invariant features characterizing natural and reverse whole-body pointing movements”, Experimental Brain Research, pp. 1-13, 2012.
, “Variant and invariant features characterizing natural and reverse whole-body pointing movements”, Experimental Brain Research, pp. 1-13, 2012.
, “{Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid}”, in IEEE International Conference on Robotics and Automation, Minnesota, USA, 2012.
, “Analysis and design of the dynamical stability of collective behavior in crowds”, Journal of WSCG, vol. 19, pp. 69–76, 2011.
, “Assisted leg displacements and progressive loading by a tilt table combined with FES promote gait recovery in acute stroke”, NeuroRehabilitation, 2011.
, “Biologically inspired kinematic synergies enable linear balance control of a humanoid robot”, Biological Cybernetics, vol. 104, pp. 235–249, 2011.
, “Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Paramerization”, in International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, 2011.
, “The body as a reservoir: locomotion and sensing with linear feedback”, in 2nd International Conference on Morphological Computation, Venice, Italy, 2011.
, “Compliant Joint Modification and Real-Time Dynamic Walking Implementation on Bipedal Robot cCub”, in IEEE International Conference on Mechatronics, 2011.
, “Computation with mechanically coupled springs for compliant robots”, in IEEE/RSJ International conference on Intelligent Robots and Systems, 2011.
, “Design and Dynamic Gait Generation for a Small Compliant Quadruped Robot”. pp. 108-110, 2011.
, “The Design of the Lower Body of the Compliant Humanoid Robot ’’cCub’’”, in International Conference on Robotics and Automation, Shanghai, 2011.
, “Donut as {I} do: Learning from Failed Demonstrations”, in International Conference on Robotics and Automation, Shanghai, 2011.
, “The Effect of Morphology on the Spinal Engine Driven Locomotion in a Quadruped Robot”, in The 5th International Symposium on Adaptive Motion in Animals and Machines, Hyogo, Japan, 2011.
, “The Effect of Robot Morphology on Locomotion from the Perspective of Spinal Engine in a Quadruped Robot”, in 2nd International Conference on Morphological Computation, Venice, Italy, 2011.
, “Emulating human observers with bayesian binning: segmentation of ction streams”, ACM Transactions on Applied Perception (TAP), vol. 8, pp. 16:1-12, 2011.
, “Evolution of Neural Symmetry and tis Coupled Alignment to Body Plan Morphology”, in Proceedings of the Genetic and Evolutionary Computation Conference (GECCO 11), 2011.
, “Features of hand-foot crawling behavior in human adults”, J Neurophysiol, 2011.
, “Foot anatomy specialization for postural sensation and control”, J Neurophysiol, 2011.
, “From Walking to Running a Natural Transition in the SLIP Model Using the Hopping Gait”, in Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, 2011, pp. 2163 - 2168.
, “Gait transitions in simulated reduced gravity”, J Appl Physiol, vol. 110, pp. 781-8, 2011.
, “A Human-like Walking for the COmpliant huMANoid COMAN based on CoM Trajectory Reconstruction from Kinematic Motion Primitives”, in 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011.
, “Including the Passive Dynamics of a Compliant Leg in the Gait Control”, in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, USA, 2011.
, “Joint Stiffness Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts”, in 13th World Congress in Mechanism and Machine Science,2011, 2011.
, “Learning a curvature dynamic model of an octopus-inspired soft robot arm using flexure sensors”, in The European Future Technologies Conference and Exhibition, 2011.
, “Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models”, Robotics, IEEE Transactions on, vol. 27, pp. 943 -957, 2011.
, “Locomotor primitives in newborn babies and their development”, Science, vol. 334, 2011.
, “Minimal Energy Control of an ESN Pattern Generator”, vol. doi:10.1016/j.humov.2010.04.001. Jacobs University Bremen, 2011.
, “The motor system plays the violin: a musical metaphor inferred from the oscillatory activity of the {alpha}-motoneuron pools during locomotion.”, J Neurophysiol, 2011.
, “{A}nechoic {B}lind {S}ource {S}eparation using {W}igner {M}arginals”, Journal of Machine Learning Research, vol. 12, pp. 1111-1148, 2011.
, “Neural learning and dynamical selection of redundant solutions for inverse kinematic control”, in IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2011, pp. 564-569.
, “A new ball launching system with controlled flight parameters for catching experiments”, J Neurosci Methods, vol. 196, pp. 264-75, 2011.
, “Oncilla Robot, A Light-weight Bio-inspired Quadruped Robot for Fast Locomotion in Rough Terrain”, in Symposium on Adaptive Motion of Animals and Machines (AMAM2011), 2011, pp. 63-64.
, “Probabilistic Inference in General Graphical Models through Sampling in Stochastic Networks of Spiking Neurons”, PLoS Computational Biology, vol. 7, p. e1002294, 2011.
, “Scaling laws in robotics”, in The European Future Technologies Conference and Exhibition, 2011.
, “Sensory System as a Tool to Highlight Information Structure in the Sensorimotor Loop”, in 2nd International Conference on Morphological Computation, Venice, Italy, 2011.
, “Shaking hands in latent space: modeling emotional interactions with {G}aussian process latent variable models”, in {KI}2011, {LNAI} 7006, Springer, 2011, pp. 330-334.
, “Smooth changes in the EMG patterns during gait transitions under body weight unloading”, J Neurophysiol, 2011.
, “Spatiotemporal tuning of the facilitation of biological motion perception by concurrent motor execution.”, J Neurosci, vol. 31, pp. 3493–3499, 2011.
, “Stiffness Design Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts”, in 13th World Congress in Mechanism and Machine Science, Washington, DC, 2011.
, “A study of Morphological Computation by using Probabilistic Inference for Motor Planning”, in 2nd International Conference on Morphological Computation (ICMC2011), Venice, Italy, 2011, pp. 51–53.
, “Superposition and modulation of muscle synergies for reaching in response to a change in target location”, J Neurophysiol, 2011.
, “Towards a Theoretical Foundation for Morphological Computation with Compliant Bodies”, Biological Cybernetics, vol. 105, pp. 355-370, 2011.
, “Towards Learning Inverse Kinematics with a Neural Network Based Tracking Controller”, in Neural Information Processing, 2011, pp. 441–448.
, “Variational Inference for Policy Search in Changing Situations”, in Proceedings of the 28th International Conference on Machine Learning (ICML-11), New York, NY, USA, 2011, pp. 817–824.
, “{BM}: An Iterative Algorithm to Learn Stable Non-Linear Dynamical Systems with Gaussian Mixture Models”, in Proceeding of the International Conference on Robotics and Automation (ICRA), 2010, pp. 2381-2388.
, “Efficient online learning of a non-negative sparse autoencoder”, in ESANN, Bruges, 2010, vol. doi:10.1016/j.humov.2010.04.001, pp. 1-6.
, “Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion”, in IEEE International Conference on Robotics and Biomimetics, 2010, 2010.
, “Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub”, in UKACC International Conference on CONTROL, 2010, 2010.
, “Imitation Learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming”, in Proceeding of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 2676-2683.
, “Interactive Learning of Inverse Kinematics with Nullspace Constraints using Recurrent Neural Networks”, in 20. Workshop on Computational Intelligence, Dortmund, 2010.
, “Learning motion dynamics to catch a moving object”, in 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, TN, 2010, pp. 106-111.
, “Locomotor body scheme”, Human Movement Science, vol. doi:10.1016/j.humov.2010.04.001, 2010.
, “Migration of motor pool activity in the spinal cord reflects body mechanics in human locomotion”, J Neurophysiol, vol. doi:10.1016/j.humov.2010.04.001, pp. 3064-73, 2010.
, “Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub”, in International Conference Control and Automation, Robics and Vision , 2010, 2010.
Recent Publications
- Statistical dynamical systems for skills acquisition in humanoids
- Examination of visual information as a mediator of external focus benefits
- The contribution of different cues of facial movement to the emotional facial expression adaptation aftereffect
- Physiologically Inspired Model for the Visual Recognition of Transitive Hand Actions
More...