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Publications
Caution! The electronic versions of these papers may differ somewhat from the final published versions. If you find a paper of potential interest, or if you plan to cite the work, then please obtain the original.
Journal Publications
  1. K. Karydis, I. Poulakakis, and H. G. Tanner, "A Navigation and Control Strategy for Miniature Legged Robots," in the IEEE Transactions of Robotics. To appear.

  2. Q. Cao, and I. Poulakakis, "Quadrupedal Running with a Flexible Torso: Control and Speed Transitions with Sums-of-Squares Verification," invited in Artificial Life and Robotics: Special Issue on Swarm Behavior and Bio-Inspired Robotics. To appear.

  3. I. Poulakakis, G. F. Young, L. Scardovi, and N. Leonard, "Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks," in the IEEE Transactions of Automatic Control, Vol. 61, No. 4, pp. 1040-1046, April 2016. Extended version available at arXiv:1210.4235v1 [cs.SC] .

  4. Q. Cao, and I. Poulakakis, "On the Energetics of Quadrupedal Running: Predicting the Metabolic Cost of Transport via a Flexible-torso Model," in the Bioinspiration and Biomimetics. Vol. 10, No. 5, 056008 (20pp), September 2015.

  5. K. Karydis, I. Poulakakis, J. Sun, and H. B. Tanner, "Probabilistically Valid Stochastic Extensions of Deterministic models for Systems with Uncertainty," in the International Journal for Robotics Research, Vol. 34, No. 10, pp. 1278-1295, August 2015. Appeared online: doi = {10.1177 / 0278364915576336}, May 28 2015.

  6. K. Karydis, Y. Liu, I. Poulakakis, and H. B. Tanner, "A Template Candidate for Miniature Legged Robots in Quasi-static Motion," in Autonomous Robots, Vol. 38, No. 2, pp.193-209, February 2015. Appeared online: doi={10.1007/s10514-014-9401-4}.

  7. C. D. Pahlajani, J. Sun, I. Poulakakis, H. G. Tanner, "Performance Bounds for Mismatched Decision Schemes with Poisson Process Observations," in Systems and Control Letters, Vol. 75, pp. 69-76, January 2015.

  8. C. Pahlajani, J. Sun, I. Poulakakis, and H. G. Tanner, "Error Probability Bounds for Nuclear Detection: Improving Accuracy through Controlled Mobility," in Automatica, Vol. 50, No. 10, pp. 2470-2481, October 2014.

  9. C. Pahlajani, I. Poulakakis, and H. B. Tanner, "Networked Decision Making for Poisson Processes: Application to Nuclear Detection," in the IEEE Transactions on Automatic Control, Vol. 59, No. 1, pp. 193-198, January 2014.

  10. Q. Cao, and I. Poulakakis, "Quadrupedal Bounding with a Segmented Flexible Torso: Passive Stability and Feedback Control," in Bioinspiration and Biomimetics, Vol. 8, No. 4, 046007 (16pp), December 2013.

  11. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, "Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL," in the International Journal of Robotics Research, Vol. 32, No. 3, pp. 324-345, March 2013.

  12. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, "A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL," in the International Journal of Robotics Research, Vol. 30, No. 9, pp. 1170-1193, Aug. 2011.

  13. J. A. Smith, I. Poulakakis, M. Trentini, and I. Sharf, "Bounding with Active Wheels and Liftoff Velocity Adjustment," in the International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, Apr. 2010.

  14. I. Poulakakis, and J. W. Grizzle, "The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper," in the IEEE Transactions on Automatic Control, Vol. 54, No. 8, pp. 1779-1793, Aug. 2009.

  15. I. Poulakakis, E. Papadopoulos, and M. Buehler, "On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait," in the International Journal of Robotics Research, Vol. 25, No. 7, pp. 669-687, July 2006.

  16. E. Papadopoulos, I. Papadimitriou, and I. Poulakakis, "Polynomial-based Obstacle Avoidance Techniques for Nonholonomic Mobile Manipulator Systems," in the Journal of Robotics and Autonomous Systems, Vol. 51, No. 4, pp. 229-247, June 2005.

  17. I. Poulakakis, J. A. Smith, and M. Buehler, "Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot," in the International Journal of Robotics Research, Vol. 24, No. 4, pp. 239-256, April 2005.

  18. E. Papadopoulos, I. Poulakakis, and I. Papadimitriou, "On Path Planning and Obstacle Avoidance for Nonholonomic Mobile Manipulators: A Polynomial Approach," in the International Journal of Robotics Research, Vol. 21, No. 4, pp. 367-383, April 2002.

Book Chapters
  1. C. D. Pahlajani, I. Yadav, H. G. Tanner, and I. Poulakakis, "Decision-Making Accuracy for Networks of Sensors Observing Time-Inhomogenous Poisson Processes," contributed chapter in Distributed Autonomous Robotic Systems, A. Kolling, and R. Gross, (Eds.), Springer Tracts in Advanced Robotics, 2016. To appear.

  2. K. Karydis, A. Stager, H. G. Tanner, and I. Poulakakis, "Experimental Validation of a Template for Navigation of Miniature Legged Robots," contributed chapter in Experimental Robotics, Springer Tracts in Advanced Robotics, 2016. To appear.

  3. I. Poulakakis, J. A. Smith, and M. Buehler, "On the Dynamics of Bounding and Extensions Towards the Half-Bound and the Gallop Gaits," contributed chapter in Adaptive Motion of Animals and Machines, H. Kimura, K. Tsuchiya, A. Ishiguro, and H. Witte (Eds.), pp. 79-88, Springer-Verlag, 2005.

  4. S. Talebi, I. Poulakakis, E. Papadopoulos, and M. Buehler, "Quadruped Robot Running with a Bounding Gait", contributed chapter in Experimental Robotics VII, D. Rus, and S. Singh, (Eds.), pp. 281-289, Lecture Notes in Control and Information Sciences Series, Springer-Verlag, 2001.

Refereed Conference Papers
  1. S. Veer, M. S. Motahar, and I. Poulakakis, " Generation of a Continuum of Limit Cycles and Switching between them for Hybrid Zero Dynamics based Bipedal Robots," Proceedings of the IEEE Conference On Decision and Control (CDC), Melbourne, Australia, December 12-15, 2017. (6 pages). Submitted.

  2. M. S. Motahar, S. Veer, and I. Poulakakis, "Composing Limit Cycles for Motion Planning of 3D Bipedal Walkers," Proceedings of the IEEE Conference On Decision and Control (CDC), Las Vegas, NV, USA, December 12-14, 2016. To appear.

  3. S. Veer, M. S. Motahar and I. Poulakakis, "Local Input-to-State Stability of Dynamic Walking Under Persistent External Excitation using Hybrid Zero Dynamics," Proceedings of the American Control Conference (ACC), Boston, MA, USA, July 6-8, 2016.

  4. X. Liu and I. Poulakakis, "On the Stability of Symmetric Quadrupedal Bounding Gaits via Factored Poincaré Maps," Proceedings of the American Control Conference (ACC), Boston, MA, USA, July 6-8, 2016.

  5. X. Liu, C. Semini, and I. Poulakakis, "Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ," in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015. See also the video accompanying this paper (size: 3.5 MB).

  6. X. Liu, and I. Poulakakis, "On the Energetics of a Switchable Parallel Elastic Actuator Design for Monopedal Running," in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015.

  7. D.Myrisiotis, I. Poulakakis, and E. G. Papadopoulos, "On the Effects of Design Parameters on Quadruped Robot Gaits," in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015.

  8. Q. Cao, E. Papadopoulos and I. Poulakakis, "Control of Quadrupedal Bounding with Flexible Torso and Speed Transitions with Sums of Squares Verification," in the International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan, October 28-30, 2015.

  9. M. S. Motahar, S. Veer, J. Huang, and I. Poulakakis, "Integrating Dynamic Walking and Arm Impedance Control for Cooperative Transportation," in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 7.4 MB).

  10. S. Veer, M. S. Motahar, and I. Poulakakis, "On the Adaptation of Dynamic Walking to Persistent External Forcing using Hybrid Zero Dynamics Control," in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015.

  11. Q. Cao, A. T. van Rijn, and I. Poulakakis, "On the Control of Gait Transitions in Quadrupedal Running," in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 3.6 MB).

  12. X. Liu, A. Rossi, and I. Poulakakis, "SPEAR: A Monopedal Robot with Switchable Parallel Elastic Actuator," in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 4.6 MB).

  13. K. Karydis, Y. Liu, I. Poulakakis, and H. G. Tanner, "Navigation of Miniature Legged Robots Using a New Template," in the Proceedings of the IEEE Mediterranean Conference on Control and Automation, Torremolinos, Spain, June 16-19, 2015.

  14. J. Sun, H. G. Tanner, and I. Poulakakis, "Active Sensor Networks for Nuclear Detection," Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA, USA, May 26-30, 2015.

  15. Q. Cao and I. Poulakakis, "On the Energetics of Quadrupedal Bounding With and Without Torso Compliance," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014.

  16. K. Karydis, D. Zarrouk, I. Poulakakis, R. Fearing, and H. G. Tanner, "Planning with the STAR(s)," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014.

  17. C. Pahlajani, J. Sun, I. Poulakakis, and H. G. Tanner, "Error Probabilities and Threshold Selection in Networked Nuclear Detection," Proceedings of the IEEE Conference on Decision and Control (CDC), Florence, Italy, Dec. 10-13, 2013.

  18. Q. Cao, and I. Poulakakis , "Passive Stability and Control of Quadrupedal Bounding with a Flexible Torso," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013. See also the video accompanying this paper (size: 4.9 MB)

  19. C. Pahlajani, I. Poulakakis , and H. B. Tanner, "Decision Making in a Sensor Network with Poisson Process Observations," Proceedings of the IEEE Mediterranean Conference on Control and Automation (MED), Chania, Crete, Greece, June 25-28, 2013.

  20. K. Karydis, I. Poulakakis and H. G. Tanner, "Probabilistic Validation of a Stochastic Kinematic Model for an Eight-legged Robot," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013.

  21. Q. Cao and I. Poulakakis, "Self-stable Bounding with a Flexible Torso," International Symposium of Adaptive Motion in Animals and Machines (AMAM), Darmstadt, Germany, March 11-14, 2013.

  22. X. Liu and I. Poulakakis, "A Simple Controller for Quadrupedal Bounding," International Symposium of Adaptive Motion in Animals and Machines (AMAM), Darmstadt, Germany, March 11-14, 2013.

  23. I. Poulakakis, L. Scardovi, and N. E. Leonard, "Node Certainty in Collective Decision Making," Proceedings of the IEEE Conference on Decision and Control (CDC), Maui, HI, USA, Dec. 10-13, 2012.

  24. Q. Cao and I. Poulakakis, "Passive Quadrupedal Bounding with a Segmented Flexible Torso," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, Oct. 7-12, 2012. See also the video accompanying this paper (size: 5.4 MB)

  25. K. Karydis, I. Poulakakis, and B. Tanner, "A Switching Kinematic Model of an Octapedal Robot," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, Oct. 7-12, 2012.

  26. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, "Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller for Walking on MABEL," Proceedings of the IEEE Conference on Decision and Control (CDC), Atlanta, GA, USA, Dec. 15-17, 2010.

  27. I. Poulakakis, L. Scardovi, and N. E. Leonard, "Coupled Stochastic Differential Equations and Collective Decision Making in the Two-Alternative Forced-Choice Task," Proceedings of the American Control Conference (ACC), Baltimore, MD, USA, Jun. 30 - Jul. 2, 2010.

  28. I. Poulakakis, "Spring Loaded Inverted Pendulum Embedding: Extensions toward the Control of Compliant Running Robots," in Proceedings of the IEEE International Conference on on Robotics and Automation (ICRA), Anchorage, AK, USA, May 3 - 8, 2010.

  29. I. Poulakakis, and J. W. Grizzle, "Modeling and Control of the Monopedal Robot Thumper," in Proceedings of the IEEE International Conference on on Robotics and Automation (ICRA), Kobe, Japan, May 12 - 17, 2009. See also the video accompanying this paper (size: 5 MB).

  30. I. Poulakakis, and J. W. Grizzle, "Monopedal Running Control: SLIP Embedding and Virtual Constraint Controllers," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, USA, Oct. 29 - Nov. 2, 2007.

  31. I. Poulakakis, and J. W. Grizzle, "Formal Embedding of the Spring Loaded Inverted Pendulum in an Asymmetric Hopper," in Proceedings of the European Control Conference (ECC), Kos, Greece, July 2-5, 2007.

  32. J. A. Smith, and I. Poulakakis, "Rotary Gallop in the Untethered Quadrupedal Robot Scout II", in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 3, pp. 2556-2561, Sendai, Japan, Sep. 28 - Oct. 2, 2004.

  33. I. Poulakakis, J. A. Smith, and M. Buehler, "Experimentally Validated Bounding Models for the Scout II Quadrupedal Robot", in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Vol. 3, pp. 2595-2600, New Orleans, USA, April 26 - May 1, 2004.

  34. I. Poulakakis, E. Papadopoulos, and M. Buehler, "On the Stable Dynamics of Quadrupedal Running", in Proceedings of the IEEE International Conference on Robotics and Automation Automation (ICRA), Vol. 1, pp. 1368-1373, Taipei, Taiwan, Sep. 14-19, 2003.

  35. I. Poulakakis, J. A. Smith, and M. Buehler, "On the Dynamics of Bounding and Extensions Towards the Half-Bound and the Gallop Gaits," in Proceedings of the 2nd International Symposium of Adaptive Motion in Animals and Machines (AMAM), Kyoto, Japan, March 4-8, 2003.

  36. I. Poulakakis, J. Smith, E. Papadopoulos, and M. Buehler, "Opportunities for Adaptation and Learning in Dynamically Stable Legged Robots", in the 11th Yale Workshop on Adaptive and Learning Systems, pp. 129-134, Center for Systems Science, Yale University, New Haven, CT, USA, June 4-6, 2001.

  37. E. Papadopoulos, and I. Poulakakis, "Planning and Obstacle Avoidance for Mobile Robots," in Proceedings of the IEEE International Conference on Robotics and Automation Automation (ICRA), Vol. 4, pp. 3967-3972, Seoul, Korea, May 21-26, 2001.

  38. E. Papadopoulos, and J. Poulakakis, "Planning and Model Based Control for Mobile Manipulators," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Vol. 3, pp. 1810-1815, Takamatsu, Japan, Oct. 30 - Nov. 5, 2000.

  39. E. Papadopoulos, and J. Poulakakis, "Trajectory Planning and Control for Mobile Manipulator Systems," in Proceedings of the 8th IEEE Mediterranean Conference on Control and Automation, Patra, Greece, July 17-19, 2000.

  40. E. Papadopoulos, and J. Poulakakis, "On Motion Planning of Nonholonomic Mobile Robots," in Proceedings of the 31st International Symposium on Robotics (ISR), pp. 77-82, Montreal, Canada, May 14-17, 2000.

Book Reviews
  1. J. W Grizzle and I. Poulakakis, "Delft Pneumatic Bipeds, by Martijn Wisse and Richard Q. van der Linde, Springer Tracts in Advanced Robotics, Vol. 34, 2007, ISBN 978-3-540-72807-8," Book Review, Control Systems Magazine, Vol. 28, No. 4, pp. 99-101, August 2008.

Theses
  1. I. Poulakakis, Stabilizing Monopedal Robot Running: Reduction-by-Feedback and Compliant Hybrid Zero Dynamics, Ph.D. Dissertation, University of Michigan, Ann Arbor, MI, USA, (174 pages, in English), 2009.

  2. I. Poulakakis, On the Passive Dynamics of Quadrupedal Running, M.Eng. Thesis McGill University, Montreal, QC, Canada, (120 pages, in English), 2002.

  3. I. Poulakakis, Obstacle Avoidance and Nonlinear Control of Nonholonomic Mobile Manipulators, Postgraduate Specialization Thesis, National Technical University of Athens, Greece, (104 pages, in Greek), 2001.

  4. I. Poulakakis, Analysis and Control of Robotic Manipulators Mounted on Nonholonomic Wheeled Vehicles, Diploma Thesis, Department of Mechanical Engineering, National Technical University of Athens, Greece (150 pages, in Greek), 1999.


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