Publications
] . Kinematic primitives for a quadruped robot walk and trot with compliant legs. Frontiers in Computational Neuroscience [Internet]. 2014 ;8. Available from: http://www.frontiersin.org/computational_neuroscience/10.3389/fncom.2014.00027/abstract
. Learning Control Lyapunov Function to Ensure Stability of Dynamical System-based Robot Reaching Motions. Robotics and Autonomous Systems. 2014 .
. Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion. In: ; 2013. Available from: http://infoscience.epfl.ch/record/185820/files/icra_ghouldog_cameraready.pdf
. Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot. In: 6th International Conference on Adaptive Motion of Animals and Machines, 2013. 6th International Conference on Adaptive Motion of Animals and Machines, 2013. ; 2013.
. Data-driven Extraction of Drive Functions for Legged Locomotion: A Study on Cheetah-cub Robot. In: AMAM 2013. AMAM 2013. ; 2013. Available from: http://infoscience.epfl.ch/record/185821/files/DriveFunction_MosAjal_AMAM2013_CameraReady.pdf
. Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. Neural Computation. 2013 ;25:328-373.
. A general family of morphed nonlinear phase oscillators with arbitrary limit cycle shape. Physica D: Nonlinear Phenomena. 2013 ;263:41–56.
. Learning robot gait stability using neural networks as sensory feedback function for Central Pattern Generators. In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE; 2013.
. Modular control of limit cycle locomotion over unperceived rough terrain. In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE; 2013.
. Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain. In: ; 2013. Available from: http://infoscience.epfl.ch/record/187593/files/ajallooeian_cpgvviros_2013_cameraready.pdf
. Towards Dynamic Trot Gait Locomotion—Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot. International Journal of Robotics Research (IJRR). 2013 .
. Towards modular control for moderately fast locomotion over unperceived rough terrain. In: Dynamic Walking 2013. Dynamic Walking 2013. ; 2013.
. Workshop on Benchmarking of State-of-the-Art algorithms in Generating Human-Like Robot Reaching Motions. IEEE Humanoids. 2013 .
. A closed-loop optimal control approach for online control of a planar monoped robot. Climbing and Walking Robot- CLAWAR 2012. 2012 .
. A dynamical system approach to realtime obstacle avoidance. Autonomous Robots [Internet]. 2012 ;32:433-454. Available from: http://dx.doi.org/10.1007/s10514-012-9287-y
. Estimating the non-linear dynamics of free-flying objects. Robotics and Autonomous Systems. 2012 ;60:1108–-1122.
. Estimating the non-linear dynamics of free-flying objects. Robotics and Autonomous Systems. 2012 :–.
. Learning to Play Minigolf: A Dynamical System-based Approach. Advanced Robotics [Internet]. 2012 . Available from: http://infoscience.epfl.ch/record/181052/files/MiniGolf_AR12.pdf
. Realtime Avoidance of Fast Moving Objects: A Dynamical System-based Approach. In: Electronic proc. of the Workshop on Robot Motion Planning: Online, Reactive, and in Real-Time, Int. Conf. on Intelligent Robots and Systems (IROS). Electronic proc. of the Workshop on Robot Motion Planning: Online, Reactive, and in Real-Time, Int. Conf. on Intelligent Robots and Systems (IROS). ; 2012. Available from: http://www.reflexxes.com/iros2012ws/Paper_04.pdf
. Robot Trotting with Segmented Legs in Simulation and Hardware. [Internet]. 2012 . Available from: http://infoscience.epfl.ch/record/183545/files/Sproewitz.pdf
. Design and Dynamic Gait Generation for a Small Compliant Quadruped Robot. [Internet]. 2011 :108-110. Available from: http://www.dynamicwalking.uni-jena.de/node/1
. Donut as I do: Learning from Failed Demonstrations. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. Shanghai; 2011. Available from: https://ais.informatik.uni-freiburg.de/files/grollman11icra.pdf
. Learning Stable Nonlinear Dynamical Systems With Gaussian Mixture Models. Robotics, IEEE Transactions on [Internet]. 2011 ;27:943 -957. Available from: http://lasa.epfl.ch/publications/publications.php
. 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). Symposium on Adaptive Motion of Animals and Machines (AMAM2011). ; 2011. pp. 63-64. Available from: http://adaptivemotion.org/AMAM2011/papers/s323.pdf
. 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). Proceeding of the International Conference on Robotics and Automation (ICRA). ; 2010. pp. 2381-2388. Available from: http://www.researchgate.net/publication/224156439_BM_An_iterative_algorithm_to_learn_stable_non-linear_dynamical_systems_with_Gaussian_mixture_models/file/9c960517160383ff2c.pdf
. 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). Proceeding of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). ; 2010. pp. 2676-2683. Available from: http://homepages.inf.ed.ac.uk/s0565544/0146.pdf
. Learning motion dynamics to catch a moving object. In: 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids). 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids). Nashville, TN; 2010. pp. 106-111. Available from: http://www.academia.edu/download/30230251/humanoids2010_ready.pdf
