Ioannis Poulakakis
Ioannis Poulakakis
Associate Professor of Mechanical Engineering, University of Delaware
Verified email at udel.edu - Homepage
TitleCited byYear
A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 30 (9), 1170-1193, 2011
3142011
Modeling and experiments of untethered quadrupedal running with a bounding gait: The Scout II robot
I Poulakakis, JA Smith, M Buehler
The International Journal of Robotics Research 24 (4), 239-256, 2005
2842005
The spring loaded inverted pendulum as the hybrid zero dynamics of an asymmetric hopper
I Poulakakis, JW Grizzle
IEEE Transactions on Automatic Control 54 (8), 1779-1793, 2009
1992009
On the stability of the passive dynamics of quadrupedal running with a bounding gait
I Poulakakis, E Papadopoulos, M Buehler
The International Journal of Robotics Research 25 (7), 669-687, 2006
1632006
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL
K Sreenath, HW Park, I Poulakakis, JW Grizzle
The International Journal of Robotics Research 32 (3), 324-345, 2013
1272013
Planning and model-based control for mobile manipulators
E Papadopoulos, J Poulakakis
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots …, 2000
1162000
On path planning and obstacle avoidance for nonholonomic platforms with manipulators: A polynomial approach
E Papadopoulos, I Poulakakis, I Papadimitriou
the International Journal of Robotics research 21 (4), 367-383, 2002
792002
On the dynamics of bounding and extensions: towards the half-bound and gallop gaits
I Poulakakis, JA Smith, M Buehler
Adaptive motion of animals and machines, 79-88, 2006
702006
Quadruped robot running with a bounding gait
S Talebi, I Poulakakis, E Papadopoulos, M Buehler
Experimental Robotics VII, 281-289, 2001
692001
Rotary gallop in the untethered quadrupedal robot Scout II
JA Smith, I Poulakakis
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2004
582004
On the stable passive dynamics of quadrupedal running
I Poulakakis, E Papadopoulos, M Buehler
2003 IEEE International Conference on Robotics and Automation (Cat. No …, 2003
572003
Experimentally validated bounding models for the Scout II quadrupedal robot
I Poulakakis, JA Smith, M Buchler
IEEE International Conference on Robotics and Automation, 2004. Proceedings …, 2004
522004
Modeling and control of the monopedal robot thumper
I Poulakakis, JW Grizzle
2009 IEEE International Conference on Robotics and Automation, 3327-3334, 2009
492009
Formal embedding of the spring loaded inverted pendulum in an asymmetric hopper
I Poulakakis, JW Grizzle
2007 European Control Conference (ECC), 3159-3166, 2007
482007
Information centrality and ordering of nodes for accuracy in noisy decision-making networks
I Poulakakis, GF Young, L Scardovi, NE Leonard
IEEE Transactions on Automatic Control 61 (4), 1040-1045, 2015
45*2015
Polynomial-based obstacle avoidance techniques for nonholonomic mobile manipulator systems
E Papadopoulos, I Papadimitriou, I Poulakakis
Robotics and Autonomous Systems 51 (4), 229-247, 2005
372005
Passive quadrupedal bounding with a segmented flexible torso
Q Cao, I Poulakakis
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2012
322012
Bounding with active wheels and liftoff angle velocity adjustment
JA Smith, I Poulakakis, M Trentini, I Sharf
The International Journal of Robotics Research 29 (4), 414-427, 2010
322010
Quadrupedal bounding with a segmented flexible torso: passive stability and feedback control
Q Cao, I Poulakakis
Bioinspiration & biomimetics 8 (4), 046007, 2013
312013
Monopedal running control: SLIP embedding and virtual constraint controllers
I Poulakakis, JW Grizzle
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2007
302007
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Articles 1–20