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Full Dynamics LQR Control of a Humanoid Robot: An Experimental Study on Balancing and Squatting
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Mason, S., Righetti, L., Schaal, S.
Towards Full System Linear Quadratic Regulators for Humanoid Control
In Proceedings of Dynamic Walking, Zurich, Switzerland, 2014, clmc (inproceedings)
Rotella, N., Bloesch, M., Righetti, L., Schaal, S.
State Estimation for a Humanoid Robot
In Proceedings of the 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pages: 952-958, Chicago, IL, 2014 (inproceedings)
Trimpe, S., D’Andrea, R.
Event-Based State Estimation With Variance-Based Triggering
IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (article)
Alnajjar, F. S., Berenz, V., Ken-ichi, O., Ohno, K., Yamada, H., Kondo, I., Shimoda, S.
Muscle Synergy Features in Behavior Adaptation and Recovery
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State Estimation for Walking Humanoids on Unknown Terrain
In Proceedings of Dynamic Walking, Zürich, Switzerland, 2014, clmc (inproceedings)
Meier, F., Hennig, P., Schaal, S.
Incremental Local Gaussian Regression
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Berenz, V., Hayashibe, M., Alnajjar, F., Shimoda, S.
Generalization of the tacit learning controller based on periodic tuning functions
In 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pages: 893-898, 2014 (inproceedings)
Meier, F., Hennig, P., Schaal, S.
Efficient Bayesian Local Model Learning for Control
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pages: 2244 - 2249, IROS, 2014, clmc (inproceedings)
Spatz, J. P., Schaal, S.
Perspective: Intelligent Systems: Bits and Bots
Nature, (509), 2014, clmc (article)
Trimpe, S.
Stability Analysis of Distributed Event-Based State Estimation
In Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014 (inproceedings)
Pastor, P.
Data-driven autonomous manipulation
University of Southern California, University of Southern California, Los Angeles, CA, 2014 (phdthesis)
Ebert, J, Kim, S, Schweighofer, N., Sternad, D, Schaal, S.
Learning and Exploration in a Novel Dimensionality-Reduction Task
In Abstracts of Neural Control of Movement Conference (NCM 2009), Amsterdam, Netherlands, 2014 (inproceedings)
Wüthrich, M., Pastor, P., Kalakrishnan, M., Bohg, J., Schaal, S.
Probabilistic Object Tracking Using a Range Camera
In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3195-3202, IEEE, November 2013 (inproceedings)
Illonen, J., Bohg, J., Kyrki, V.
3-D Object Reconstruction of Symmetric Objects by Fusing Visual and Tactile Sensing
The International Journal of Robotics Research, 33(2):321-341, Sage, October 2013 (article)
Gregg, R., Righetti, L.
Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation
IEEE Transactions on Automatic Control, 58(10):2679-2685, October 2013 (article)
Sankaran, B., Ghazvininejad, M., He, X., Kale, D., Cohen, L.
Learning and Optimization with Submodular Functions
ArXiv, May 2013 (techreport)
Sankaran, B., Atanasov, N., Le Ny, J., Koletschka, T., Pappas, G., Daniilidis, K.
Hypothesis Testing Framework for Active Object Detection
In IEEE International Conference on Robotics and Automation (ICRA), May 2013, clmc (inproceedings)
Enachescu, V, Christopoulos, Vassilios N, Schrater, P. R., Schaal, S.
Action and Goal Related Decision Variables Modulate the Competition Between Multiple Potential Targets
In Abstracts of Neural Control of Movement Conference (NCM 2013), February 2013 (inproceedings)
Mistry, M., Theodorou, E., Schaal, S., Kawato, M.
Optimal control of reaching includes kinematic constraints
Journal of Neurophysiology, 2013, clmc (article)
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AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots
In IEEE International Symposium on Safety, Security, and Rescue Robotics, pages: 1-4, Linköping, 2013 (inproceedings)
Kalakrishnan, M., Herzog, A., Righetti, L., Schaal, S.
Markov Random Fields for Stochastic Trajectory Optimization and Learning with Constraints
In Workshop: Hierarchical and Structured Learning for Robotics, RSS 2013, pages: 1-1, Berlin, 2013 (inproceedings)
Alnajjar, F. S., Berenz, V., Shimoda, S.
The functional role of automatic body response in shaping voluntary actions based on muscle synergy theory
In Neural Engineering (NER), 2013 6th International IEEE/EMBS Conference on, pages: 1230-1233, 2013 (inproceedings)
Suzuki, K., Gruebler, A., Berenz, V.
Coaching robots with biosignals based on human affective social behaviors
In ACM/IEEE International Conference on Human-Robot Interaction, HRI 2013, Tokyo, Japan, March 3-6, 2013, pages: 419-420, 2013 (inproceedings)
Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.
Optimal distribution of contact forces with inverse dynamics control
The International Journal of Robotics Research, 32(3):280-298, 2013, clmc (article)
Ilonen, J., Bohg, J., Kyrki, V.
Fusing visual and tactile sensing for 3-D object reconstruction while grasping
In IEEE International Conference on Robotics and Automation (ICRA), pages: 3547-3554, 2013 (inproceedings)
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Distributed and Event-based State Estimation and Control
ETH Zurich, 2013 (phdthesis)
Ijspeert, A., Nakanishi, J., Pastor, P., Hoffmann, H., Schaal, S.
Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors
Neural Computation, (25):328-373, 2013, clmc (article)
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Learning Task Error Models for Manipulation
In IEEE International Conference on Robotics and Automation, 2013 (inproceedings)
Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.
Using Torque Redundancy to Optimize Contact Forces in Legged Robots
In Redundancy in Robot Manipulators and Multi-Robot Systems, pages: 35-51, (Editors: Dejan Milutinović and Jacob Rosen), Springer-Verlag Berlin Heidelberg, 2013, clmc (inbook)
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Learning Objective Functions for Manipulation
In IEEE International Conference on Robotics and Automation, 2013, clmc (inproceedings)
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The Balancing Cube: A Dynamic Sculpture as Test Bed for Distributed Estimation and Control
IEEE Control Systems Magazine, 32(6):48-75, December 2012 (article)
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Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback
In IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE), pages: 25-31, October 2012 (inproceedings)
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Failure Recovery with Shared Autonomy
In International Conference on Intelligent Robots and Systems, October 2012 (inproceedings)
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Task-Based Grasp Adaptation on a Humanoid Robot
In 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, September 5-7, 2012., pages: 779-786, September 2012 (inproceedings)
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Visual Servoing on Unknown Objects
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Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Asfour, T., Schaal, S.
Template-based learning of grasp selection
In IEEE International Conference on Robotics and Automation (ICRA), pages: 2379-2384, May 2012 (inproceedings)
Meier, F., Theodorou, E., Schaal, S.
Movement Segmentation and Recognition for Imitation Learning
In Seventeenth International Conference on Artificial Intelligence and Statistics, La Palma, Canary Islands, Fifteenth International Conference on Artificial Intelligence and Statistics , April 2012 (inproceedings)
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Learning Force Control Policies for Compliant Robotic Manipulation
In International Conference on Machine Learning (ICML), 2012, clmc (inproceedings)
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From Dynamic Movement Primitives to Associative Skill Memories
Robotics and Autonomous Systems, 2012 (article)
Gruebler, A., Berenz, V., Suzuki, K.
Emotionally Assisted Human-Robot Interaction Using a Wearable Device for Reading Facial Expressions
Advanced Robotics, 26(10):1143-1159, 2012 (article)
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Towards Associative Skill Memories
In IEEE-RAS International Conference on Humanoid Robots, 2012, clmc (inproceedings)
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Probabilistic depth image registration incorporating nonvisual information
In IEEE International Conference on Robotics and Automation (ICRA), pages: 3637-3644, 2012, clmc (inproceedings)
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Event-based State Estimation with Switching Static-gain Observers
In Proceedings of the 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2012 (inproceedings)
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Usability benchmarks of the Targets-Drives-Means robotic architecture
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In Proceedings of the 51st IEEE Conference on Decision and Control, 2012 (inproceedings)
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Inverse dynamics with optimal distribution of contact forces for the control of legged robots
In Dynamic Walking 2012, Pensacola, 2012 (inproceedings)
Berenz, V., Tanaka, F., Suzuki, K.
Autonomous battery management for mobile robots based on risk and gain assessment
Artif. Intell. Rev., 37(3):217-237, 2012 (article)
Righetti, L., Schaal, S.
Quadratic programming for inverse dynamics with optimal distribution of contact forces
In 2012 IEEE-RAS International Conference on Humanoid Robots, pages: 538-543, Osaka, 2012, clmc (inproceedings)
Ernesti, J., Righetti, L., Do, M., Asfour, T., Schaal, S.
Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive
In 2012 IEEE-RAS International Conference on Humanoid Robots, pages: 57-64, Osaka, 2012, clmc (inproceedings)