Imperial College London

DrPetarKormushev

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 9235p.kormushev Website

 
 
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Location

 

25 Exhibition Road, 3rd floor, Dyson BuildingDyson BuildingSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
to

101 results found

Kormushev P, Caldwell DG, 2013, Towards Improved AUV Control Through Learning of Periodic Signals

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

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

Conference paper

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

Journal article

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

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, 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

Kormushev P, Caldwell DG, 2012, Direct policy search reinforcement learning based on particle filtering

Conference paper

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.

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

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

Journal article

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

Conference paper

Calinon S, Kormushev P, Caldwell DG, 2012, Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning, Robotics and Autonomous Systems

Journal article

Kormushev P, Calinon S, Ugurlu B, Caldwell DGet al., 2012, Challenges for the policy representation when applying reinforcement learning in robotics, Pages: 1-8

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

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

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

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, Nomoto K, Dong F, Hirota Ket al., 2011, Time Hopping Technique for Faster Reinforcement Learning in Simulations, International Journal of Cybernetics and Information Technologies, Vol: 11, Pages: 42-59

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

Journal article

Kormushev P, Nenchev DN, Calinon S, Caldwell DGet al., 2011, Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot, Pages: 3970-3975

Conference paper

Kormushev P, Calinon S, Saegusa R, Metta Get al., 2010, Learning the skill of archery by a humanoid robot iCub, Pages: 417-423

Conference paper

Kormushev P, Calinon S, Caldwell DG, 2010, Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution

Conference paper

Kormushev P, Calinon S, Caldwell DG, 2010, Robot Motor Skill Coordination with EM-based Reinforcement Learning, Pages: 3232-3237

Conference paper

Sato F, Nishii T, Takahashi J, Yoshida Y, Mitsuhashi M, Kormushev P, Kanamiya Yet al., 2010, Whiteboard Cleaning Task Realization with HOAP-2, Pages: 426-429

Conference paper

Kormushev P, Nomoto K, Dong F, Hirota Ket al., 2009, Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning, Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol: 13, No. 6

Journal article

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