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  • CONFERENCE PAPER
    Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013,

    Visuospatial Skill Learning for Object Reconfiguration Tasks

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 685-691, ISSN: 2153-0858
  • CONFERENCE PAPER
    Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013,

    Autonomous robotic valve turning: A hierarchical learning approach

    , 2013 IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 4629-4634, ISSN: 1050-4729

    Autonomous valve turning is an extremely challenging task for an Autonomous Underwater Vehicle (AUV). To resolve this challenge, this paper proposes a set of different computational techniques integrated in a three-layer hierarchical scheme. Each layer realizes specific subtasks to improve the persistent autonomy of the system. In the first layer, the robot acquires the motor skills of approaching and grasping the valve by kinesthetic teaching. A Reactive Fuzzy Decision Maker (RFDM) is devised in the second layer which reacts to the relative movement between the valve and the AUV, and alters the robot's movement accordingly. Apprenticeship learning method, implemented in the third layer, performs tuning of the RFDM based on expert knowledge. Although the long-term goal is to perform the valve turning task on a real AUV, as a first step the proposed approach is tested in a laboratory environment. © 2013 IEEE.

  • CONFERENCE PAPER
    Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013,

    Interactive Robot Learning of Visuospatial Skills

    , 16th International Conference on Advanced Robotics (ICAR), Publisher: IEEE
  • CONFERENCE PAPER
    Ahmadzadeh SR, Kormushev P, Caldwell DG, 2013,

    Autonomous Robotic Valve Turning: A Hierarchical Learning Approach

    , Pages: 4614-4619
  • CONFERENCE PAPER
    Ahmadzadeh SR, Leonetti M, Kormushev P, 2013,

    Online Direct Policy Search for Thruster Failure Recovery in Autonomous Underwater Vehicles

  • JOURNAL ARTICLE
    Calinon S, Kormushev P, Caldwell DG, 2013,

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

    , ROBOTICS AND AUTONOMOUS SYSTEMS, Vol: 61, Pages: 369-379, ISSN: 0921-8890
  • CONFERENCE PAPER
    Carrera A, Carreras M, Kormushev P, Palomeras N, Nagappa Set al., 2013,

    Towards valve turning with an AUV using Learning by Demonstration

    , MTS/IEEE OCEANS Conference, Publisher: IEEE, ISSN: 0197-7385
  • 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

    , IEEE International Conference on Mechatronics (ICM), Publisher: IEEE
  • CONFERENCE PAPER
    Jamali N, Kormushev P, Caldwell DG, 2013,

    Contact State Estimation using Machine Learning

    , MTS/IEEE Oceans Conference, Publisher: IEEE, ISSN: 0197-7385
  • CONFERENCE PAPER
    Karras GC, Bechlioulis CP, Leonetti M, Palomeras N, Kormushev P, Kyriakopoulos KJ, Caldwell DGet al., 2013,

    On-line Identification of Autonomous Underwater Vehicles Through Global Derivative-free Optimization

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 3859-3864, ISSN: 2153-0858
  • CONFERENCE PAPER
    Kormushev P, Caldwell DG, 2013,

    Improving the Energy Efficiency of Autonomous Underwater Vehicles by Learning to Model Disturbances

    , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 3885-3892, ISSN: 2153-0858
  • CONFERENCE PAPER
    Kormushev P, Caldwell DG, 2013,

    Comparative Evaluation of Reinforcement Learning with Scalar Rewards and Linear Regression with Multidimensional Feedback

  • CONFERENCE PAPER
    Kormushev P, Caldwell DG, 2013,

    Reinforcement Learning with Heterogeneous Policy Representations

  • CONFERENCE PAPER
    Kormushev P, Caldwell DG, 2013,

    Towards Improved AUV Control Through Learning of Periodic Signals

    , MTS/IEEE Oceans Conference, Publisher: IEEE, ISSN: 0197-7385
  • JOURNAL ARTICLE
    Kormushev P, Calinon S, Caldwell D, 2013,

    Reinforcement Learning in Robotics: Applications and Real-World Challenges

    , Robotics, Vol: 2, Pages: 122-148
  • CONFERENCE PAPER
    Kryczka P, Hashimoto K, Takanishi A, Lim HO, Kormushev P, Tsagarakis NG, Caldwell DGet al., 2013,

    WALKING DESPITE THE PASSIVE COMPLIANCE: TECHNIQUES FOR USING CONVENTIONAL PATTERN GENERATORS TO CONTROL INSTRINSICALLY COMPLIANT HUMANOID ROBOTS

    , Conference on Climbing and Walking Robots (CLAWAR), Publisher: WORLD SCIENTIFIC PUBL CO PTE LTD, Pages: 487-494
  • 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

    , 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Publisher: IEEE, Pages: 475-480, ISSN: 2325-033X
  • 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

    , IEEE International Conference on Robotics and Biomimetics (ROBIO), Publisher: IEEE, Pages: 1408-1413
  • CONFERENCE PAPER
    Leonetti M, Ahmadzadeh SR, Kormushev P, 2013,

    On-line Learning to Recover from Thruster Failures on Autonomous Underwater Vehicles

    , MTS/IEEE Oceans Conference, Publisher: IEEE, ISSN: 0197-7385
  • 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, ISSN: 1311-9702

    In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensor.

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