Publications

Download a PDF with the full list of our publications: Robot-Intelligence-Lab-Publications-2021.pdf

A comprehensive list can also be found at Google Scholar, or by searching for the publications of author Kormushev, Petar.

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  • Conference paper
    Kryczka P, Hashimoto K, Takanishi A, Kormushev P, Tsagarakis N, Caldwell DGet al., 2013,

    Walking Despite the Passive Compliance: Techniques for Using Conventional Pattern Generators to Control Instrinsically Compliant Humanoid Robots
  • Conference paper
    Carrera A, Carreras M, Kormushev P, Palomeras N, Nagappa Set al., 2013,

    Towards valve turning with an AUV using Learning by Demonstration
  • Journal article
    Kormushev P, Calinon S, Caldwell DG, 2013,

    Reinforcement Learning in Robotics: Applications and Real-World Challenges

    , Robotics, Vol: 2, Pages: 122-148, ISSN: 2218-6581
  • Conference paper
    Kryczka P, Shiguematsu YM, Kormushev P, Hashimoto K, Lim H-O, Takanishi Aet al., 2013,

    Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots
  • Conference paper
    Dallali H, Mosadeghzad M, Medrano-Cerda GA, Docquier N, Kormushev P, Tsagarakis N, Li Z, Caldwell Det al., 2013,

    Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

    , Pages: 598-603
  • Conference paper
    Kryczka P, Kormushev P, Hashimoto K, Lim H-O, Tsagarakis NG, Caldwell DG, Takanishi Aet al., 2013,

    Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

    , Publisher: IEEE, Pages: 475-480
  • Conference paper
    Kormushev P, Caldwell DG, 2012,

    Direct policy search reinforcement learning based on particle filtering
  • Journal article
    Colasanto L, Kormushev P, Tsagarakis N, Caldwell DGet al., 2012,

    Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning

    , International Journal of Cybernetics and Information Technologies, Vol: 12, Pages: 76-85, ISSN: 1311-9702

    COMAN is a compliant humanoid robot. The introduction of passive compliance in some of its joints affects the dynamics of the whole system. Unlike traditional stiff robots, there is a deflection of the joint angle with respect to the desired one whenever an external torque is applied. Following a bottom up approach, the dynamic equations of the joints are defined first. Then, a new model which combines the inverted pendulum approach with a three-dimensional (Cartesian) compliant model at the level of the center of mass is proposed. This compact model is based on some assumptions that reduce the complexity but at the same time affect the precision. To address this problem, additional parameters are inserted in the model equation and an optimization procedure is performed using reinforcement learning. The optimized model is experimentally validated on the COMAN robot using several ZMP-based walking gaits.
  • Conference paper
    Kormushev P, Calinon S, Ugurlu B, Caldwell DGet al., 2012,

    Challenges for the policy representation when applying reinforcement learning in robotics

    , Pages: 1-8
  • Journal article
    Carrera A, Ahmadzadeh SR, Ajoudani A, Kormushev P, Carreras M, Caldwell DGet al., 2012,

    Towards Autonomous Robotic Valve Turning

    , Cybernetics and Information Technologies, Vol: 12, Pages: 17-26
  • Journal article
    Leonetti M, Kormushev P, Sagratella S, 2012,

    Combining Local and Global Direct Derivative-free Optimization for Reinforcement Learning

    , International Journal of Cybernetics and Information Technologies, Vol: 12
  • Journal article
    Dallali H, Kormushev P, Li Z, Caldwell DGet al., 2012,

    On Global Optimization of Walking Gaits for the Compliant Humanoid Robot COMAN Using Reinforcement Learning

    , International Journal of Cybernetics and Information Technologies, Vol: 12
  • Journal article
    Shen H, Yosinski J, Kormushev P, Caldwell DG, Lipson Het al., 2012,

    Learning Fast Quadruped Robot Gaits with the RL PoWER Spline Parameterization

    , International Journal of Cybernetics and Information Technologies, Vol: 12
  • Conference paper
    Kormushev P, Caldwell DG, 2012,

    Simultaneous discovery of multiple alternative optimal policies by reinforcement learning

    , Pages: 202-207
  • Conference paper
    Kormushev P, Ugurlu B, Colasanto L, Tsagarakis NG, Caldwell DGet al., 2012,

    The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans

    , Pages: 3706-3713
  • Journal article
    Calinon S, Kormushev P, Caldwell DG, 2012,

    Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning

    , Robotics and Autonomous Systems
  • Conference paper
    Lane DM, Maurelli F, Kormushev P, Carreras M, Fox M, Kyriakopoulos Ket al., 2012,

    Persistent Autonomy: the Challenges of the PANDORA Project
  • Conference paper
    Kormushev P, Ugurlu B, Calinon S, Tsagarakis NG, Caldwell DGet al., 2011,

    Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization

    , 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Publisher: IEEE
  • Conference paper
    Kormushev P, Ugurlu B, Calinon S, Tsagarakis N, Caldwell DGet al., 2011,

    Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization

    , Pages: 318-324
  • Journal article
    Kormushev P, Calinon S, Caldwell DG, 2011,

    Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input

    , Advanced Robotics, Vol: 25, Pages: 581-603

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