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 paperKanajar P, Caldwell DG, Kormushev P, 2017,
Climbing over large obstacles with a humanoid robot via multi-contact motion planning
, IEEE RO-MAN 2017: 26th IEEE International Symposium on Robot and Human Interactive Communication, Publisher: IEEE, Pages: 1202-1209Incremental progress in humanoid robot locomotion over the years has achieved important capabilities such as navigation over flat or uneven terrain, stepping over small obstacles and climbing stairs. However, the locomotion research has mostly been limited to using only bipedal gait and only foot contacts with the environment, using the upper body for balancing without considering additional external contacts. As a result, challenging locomotion tasks like climbing over large obstacles relative to the size of the robot have remained unsolved. In this paper, we address this class of open problems with an approach based on multi-body contact motion planning guided through physical human demonstrations. Our goal is to make the humanoid locomotion problem more tractable by taking advantage of objects in the surrounding environment instead of avoiding them. We propose a multi-contact motion planning algorithm for humanoid robot locomotion which exploits the whole-body motion and multi-body contacts including both the upper and lower body limbs. The proposed motion planning algorithm is applied to a challenging task of climbing over a large obstacle. We demonstrate successful execution of the climbing task in simulation using our multi-contact motion planning algorithm initialized via a transfer from real-world human demonstrations of the task and further optimized.
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Conference paperTavakoli A, Pardo F, Kormushev P, 2017,
Action Branching Architectures for Deep Reinforcement Learning
, Deep Reinforcement Learning Symposium, 31st Conference on Neural Information Processing Systems (NIPS 2017) -
Conference paperRakicevic N, Kormushev P, 2017,
Efficient Robot Task Learning and Transfer via Informed Search in Movement Parameter Space
, Workshop on Acting and Interacting in the Real World: Challenges in Robot Learning, 31st Conference on Neural Information Processing Systems (NIPS 2017) -
Journal articlePalomeras N, Carrera A, Hurtós N, et al., 2016,
Toward persistent autonomous intervention in a subsea panel
, Autonomous Robots, Vol: 40, Pages: 1279-1306 -
Journal articleJamisola RS, Kormushev P, Roberts RG, et al., 2016,
Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian
, Journal of Intelligent & Robotic Systems, Pages: 1-14, ISSN: 1573-0409 -
Book chapterKormushev P, Ahmadzadeh SR, 2016,
Robot Learning for Persistent Autonomy
, Handling Uncertainty and Networked Structure in Robot Control, Editors: Busoniu, Tamás, Publisher: Springer International Publishing, Pages: 3-28, ISBN: 978-3-319-26327-4 -
Book chapterAhmadzadeh SR, Kormushev P, 2016,
Visuospatial Skill Learning
, Handling Uncertainty and Networked Structure in Robot Control, Editors: Busoniu, Tamás, Publisher: Springer International Publishing, Pages: 75-99, ISBN: 978-3-319-26327-4 -
Conference paperMaurelli F, Lane D, Kormushev P, et al., 2016,
The PANDORA project: a success story in AUV autonomy
, OCEANS Conference 2016, Publisher: IEEE, ISSN: 0197-7385This paper presents some of the results of the EU-funded project PANDORA - Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.
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Conference paperKryczka P, Kormushev P, Tsagarakis N, et al., 2015,
Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing
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Conference paperKormushev P, Demiris Y, Caldwell DG, 2015,
Kinematic-free Position Control of a 2-DOF Planar Robot Arm
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Journal articleCarrera A, Palomeras N, Hurtós N, et al., 2015,
Cognitive System for Autonomous Underwater Intervention
, Pattern Recognition Letters, ISSN: 0167-8655 -
Conference paperCarrera A, Palomeras N, Hurtos N, et al., 2015,
Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV
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Conference paperAhmadzadeh SR, Paikan A, Mastrogiovanni F, et al., 2015,
Learning Symbolic Representations of Actions from Human Demonstrations
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Conference paperJamali N, Kormushev P, Carrera A, et al., 2015,
Underwater Robot-Object Contact Perception using Machine Learning on Force/Torque Sensor Feedback
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Conference paperKormushev P, Demiris Y, Caldwell DG, 2015,
Encoderless Position Control of a Two-Link Robot Manipulator
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Conference paperJamisola RS, Kormushev P, Caldwell DG, et al., 2015,
Modular Relative Jacobian for Dual-Arms and the Wrench Transformation Matrix
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Conference paperLane DM, Maurelli F, Kormushev P, et al., 2015,
PANDORA - Persistent Autonomy through Learning, Adaptation, Observation and Replanning
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Journal articleTakano W, Asfour T, Kormushev P, 2015,
Special Issue on Humanoid Robotics
, Advanced Robotics, Vol: 29 -
Journal articleBimbo J, Kormushev P, Althoefer K, et al., 2015,
Global Estimation of an Object’s Pose Using Tactile Sensing
, Advanced Robotics, Vol: 29 -
Conference paperAhmadzadeh SR, Kormushev P, Caldwell DG, 2014,
Multi-Objective Reinforcement Learning for AUV Thruster Failure Recovery
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