Petar Kormushev

According to our database, Petar Kormushev authored at least 92 papers between 2009 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Task Accuracy Enhancement for a Surgical Macro-Micro Manipulator With Probabilistic Neural Networks and Uncertainty Minimization.

Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev

IEEE Trans Autom. Sci. Eng., January, 2024

2023

The Hydra Hand: A Mode-Switching Underactuated Gripper With Precision and Power Grasping Modes.

Digby Chappell, Fernando Bello, Petar Kormushev, Nicolás Rojas

IEEE Robotics Autom. Lett., November, 2023

When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots.

Ke Wang, Zhaoyang Jacopo Hu, Peter Tisnikar, Oskar Helander, Digby Chappell, Petar Kormushev

CoRR, 2023

Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots.

Ahmad AlAttar, Ikhlas Mohamed Ben Hmida, Federico Renda, Petar Kormushev

Proceedings of the IEEE International Conference on Soft Robotics, 2023

2022

Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution.

Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev

IEEE Trans. Robotics, 2022

Model Learning With Backlash Compensation for a Tendon-Driven Surgical Robot.

Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev

IEEE Robotics Autom. Lett., 2022

Augmented Neural Network for Full Robot Kinematic Modelling in SE(3).

Francesco Cursi, Weibang Bai, Weiyi Li, Eric M. Yeatman, Petar Kormushev

IEEE Robotics Autom. Lett., 2022

Virtual Reality Pre-Prosthetic Hand Training With Physics Simulation and Robotic Force Interaction.

Digby Chappell, Honn Wee Son, Angus B. Clark, Zeyu Yang, Fernando Bello, Petar Kormushev, Nicolas Rojas

IEEE Robotics Autom. Lett., 2022

Fast Online Optimization for Terrain-Blind Bipedal Robot Walking With a Decoupled Actuated SLIP Model.

Ke Wang, Hengyi Fei, Petar Kormushev

Frontiers Robotics AI, 2022

Kinematic-Model-Free Predictive Control for Robotic Manipulator Target Reaching With Obstacle Avoidance.

Ahmad AlAttar, Digby Chappell, Petar Kormushev

Frontiers Robotics AI, 2022

GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design.

Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev

IEEE Access, 2022

Towards Instant Calibration in Myoelectric Prosthetic Hands: A Highly Data-Efficient Controller Based on the Wasserstein Distance.

Digby Chappell, Zeyu Yang, Honn Wee Son, Fernando Bello, Petar Kormushev, Nicolas Rojas

Proceedings of the International Conference on Rehabilitation Robotics, 2022

Adaptive Kinematic Model Learning for Macro-Micro Surgical Manipulator Control.

Francesco Cursi, Weibang Bai, Eric M. Yeatman, Petar Kormushev

Proceedings of the International Conference on Advanced Robotics and Mechatronics , 2022

A Multi-modal Haptic Armband for Finger-Level Sensory Feedback from a Prosthetic Hand.

Alexandre Berkovic, Colin Laganier, Digby Chappell, Thrishantha Nanayakkara, Petar Kormushev, Fernando Bello, Nicolás Rojas

Proceedings of the Haptics: Science, Technology, Applications, 2022

2021

Stiffness Modulation in a Humanoid Robotic Leg and Knee.

Felix Russell, Yukio Takeda, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison

IEEE Robotics Autom. Lett., 2021

Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization.

Francesco Cursi, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, Petar Kormushev

IEEE Robotics Autom. Lett., 2021

OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion.

Vittorio La Barbera, Fabio Pardo, Yuval Tassa, Monica Daley, Christopher Richards, Petar Kormushev, John Hutchinson

CoRR, 2021

A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots.

Ke Wang, Guiyang Xin, Songyan Xin, Michael N. Mistry, Sethu Vijayakumar, Petar Kormushev

CoRR, 2021

Hierarchical Decomposed-Objective Model Predictive Control for Autonomous Casualty Extraction.

Roni Permana Saputra, Nemanja Rakicevic, Digby Chappell, Ke Wang, Petar Kormushev

IEEE Access, 2021

Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution.

Francesco Cursi, Petar Kormushev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration.

Francesco Cursi, Weibang Bai, Petar Kormushev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Learning to Represent Action Values as a Hypergraph on the Action Vertices.

Arash Tavakoli, Mehdi Fatemi, Petar Kormushev

Proceedings of the 9th International Conference on Learning Representations, 2021

Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling.

Francesco Cursi, Digby Chappell, Petar Kormushev

Proceedings of the 20th International Conference on Advanced Robotics, 2021

Policy manifold search: exploring the manifold hypothesis for diversity-based neuroevolution.

Nemanja Rakicevic, Antoine Cully, Petar Kormushev

Proceedings of the GECCO '21: Genetic and Evolutionary Computation Conference, 2021

Improved Energy Efficiency via Parallel Elastic Elements for the Straight-Legged Vertically-Compliant Robot SLIDER.

Ke Wang, Roni Permana Saputra, James Paul Foster, Petar Kormushev

Proceedings of the Robotics for Sustainable Future - CLAWAR 2021, Virtual Event, Japan, 30 August, 2021

2020

The Impact of ACL Laxity on a Bicondylar Robotic Knee and Implications in Human Joint Biomechanics.

Felix Russell, Petar Kormushev, Ravi Vaidyanathan, Peter Ellison

IEEE Trans. Biomed. Eng., 2020

Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool.

Francesco Cursi, George P. Mylonas, Petar Kormushev

Robotics, 2020

Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions.

Ahmad AlAttar, Petar Kormushev

Robotics, 2020

Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation.

Fabian Falck, Sagar Doshi, Marion Tormento, Gor Nersisyan, Nico Smuts, John Lingi, Kim Rants, Roni Permana Saputra, Ke Wang, Petar Kormushev

Frontiers Robotics AI, 2020

Policy Manifold Search for Improving Diversity-based Neuroevolution.

Nemanja Rakicevic, Antoine Cully, Petar Kormushev

CoRR, 2020

Asynchronous Real-Time Optimization of Footstep Placement and Timing in Bipedal Walking Robots.

Digby Chappell, Ke Wang, Petar Kormushev

CoRR, 2020

Design and Control of SLIDER: An Ultra-lightweight, Knee-less, Low-cost Bipedal Walking Robot.

Ke Wang, David Marsh, Roni Permana Saputra, Digby Chappell, Zhonghe Jiang, Akshay Raut, Bethany Kon, Petar Kormushev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics.

Francesco Cursi, Valerio Modugno, Petar Kormushev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Scaling All-Goals Updates in Reinforcement Learning Using Convolutional Neural Networks.

Fabio Pardo, Vitaly Levdik, Petar Kormushev

Proceedings of the Thirty-Fourth AAAI Conference on Artificial Intelligence, 2020

2019

Active learning via informed search in movement parameter space for efficient robot task learning and transfer.

Nemanja Rakicevic, Petar Kormushev

Auton. Robots, 2019

Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid.

Petar Kormushev, Barkan Ugurlu, Darwin G. Caldwell, Nikos G. Tsagarakis

Auton. Robots, 2019

DE VITO: A Dual-Arm, High Degree-of-Freedom, Lightweight, Inexpensive, Passive Upper-Limb Exoskeleton for Robot Teleoperation.

Fabian Falck, Kawin Larppichet, Petar Kormushev

Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Autonomous Air-Hockey Playing Cobot Using Optimal Control and Vision-Based Bayesian Tracking.

Ahmad AlAttar, Louis Rouillard, Petar Kormushev

Proceedings of the Towards Autonomous Robotic Systems - 20th Annual Conference, 2019

Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud Data.

Roni Permana Saputra, Nemanja Rakicevic, Petar Kormushev

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Prioritizing Starting States for Reinforcement Learning.

Arash Tavakoli, Vitaly Levdik, Riashat Islam, Petar Kormushev

CoRR, 2018

Human-centered manipulation and navigation with Robot DE NIRO.

Fabian Falck, Sagar Doshi, Nico Smuts, John Lingi, Kim Rants, Petar Kormushev

CoRR, 2018

Q-map: a Convolutional Approach for Goal-Oriented Reinforcement Learning.

Fabio Pardo, Vitaly Levdik, Petar Kormushev

CoRR, 2018

Goal-oriented Trajectories for Efficient Exploration.

Fabio Pardo, Vitaly Levdik, Petar Kormushev

CoRR, 2018

ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction.

Roni Permana Saputra, Petar Kormushev

Proceedings of the Towards Autonomous Robotic Systems - 19th Annual Conference, 2018

Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots.

Roni Permana Saputra, Petar Kormushev

Proceedings of the 2018 IEEE International Symposium on Safety, 2018

Time Limits in Reinforcement Learning.

Fabio Pardo, Arash Tavakoli, Vitaly Levdik, Petar Kormushev

Proceedings of the 35th International Conference on Machine Learning, 2018

ResQbot: A Mobile Rescue Robot for Casualty Extraction.

Roni Permana Saputra, Petar Kormushev

Proceedings of the Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 2018

Action Branching Architectures for Deep Reinforcement Learning.

Arash Tavakoli, Fabio Pardo, Petar Kormushev

Proceedings of the Thirty-Second AAAI Conference on Artificial Intelligence, 2018

2017

Visuospatial Skill Learning for Robots.

Seyed Reza Ahmadzadeh, Fulvio Mastrogiovanni, Petar Kormushev

CoRR, 2017

Climbing over large obstacles with a humanoid robot via multi-contact motion planning.

Pavan Kanajar, Darwin G. Caldwell, Petar Kormushev

Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017

2016

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian.

Rodrigo S. Jamisola Jr., Petar Kormushev, Rodney G. Roberts, Darwin G. Caldwell

J. Intell. Robotic Syst., 2016

Toward persistent autonomous intervention in a subsea panel.

Narcís Palomeras, Arnau Carrera, Natàlia Hurtós, George C. Karras, Charalampos P. Bechlioulis, Michael Cashmore, Daniele Magazzeni, Derek Long, Maria Fox, Kostas J. Kyriakopoulos, Petar Kormushev, Joaquim Salvi, Marc Carreras

Auton. Robots, 2016

2015

Cognitive system for autonomous underwater intervention.

Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras

Pattern Recognit. Lett., 2015

Special Issue on Humanoid Robotics - Published in Vol. 29, No. 5 & No. 9.

Wataru Takano, Tamim Asfour, Petar Kormushev

Adv. Robotics, 2015

Global estimation of an object's pose using tactile sensing.

João Bimbo, Petar Kormushev, Kaspar Althoefer, Hongbin Liu

Adv. Robotics, 2015

Modular relative Jacobian for dual-arms and the wrench transformation matrix.

Rodrigo S. Jamisola, Petar Kormushev, Darwin G. Caldwell, Frank Ibikunle

Proceedings of the 7th International Conference on Cybernetics and Intelligent Systems, 2015

Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing.

Przemyslaw Kryczka, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Kinematic-free position control of a 2-DOF planar robot arm.

Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Encoderless position control of a two-link robot manipulator.

Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Underwater robot-object contact perception using machine learning on force/torque sensor feedback.

Nawid Jamali, Petar Kormushev, Arnau Carrera Viñas, Marc Carreras, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Learning symbolic representations of actions from human demonstrations.

Seyed Reza Ahmadzadeh, Ali Paikan, Fulvio Mastrogiovanni, Lorenzo Natale, Petar Kormushev, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Haptic exploration of unknown surfaces with discontinuities.

Rodrigo S. Jamisola, Petar Kormushev, Antonio Bicchi, Darwin G. Caldwell

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Robot-object contact perception using symbolic temporal pattern learning.

Nawid Jamali, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Online discovery of AUV control policies to overcome thruster failures.

Seyed Reza Ahmadzadeh, Matteo Leonetti, Arnau Carrera, Marc Carreras, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Can active impedance protect robots from landing impact?

Houman Dallali, Petar Kormushev, Nikos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Learning reactive robot behavior for autonomous valve turning.

Seyed Reza Ahmadzadeh, Petar Kormushev, Rodrigo S. Jamisola, Darwin G. Caldwell

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Learning by demonstration applied to underwater intervention.

Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, Petar Kormushev, Marc Carreras

Proceedings of the Artificial Intelligence Research and Development, 2014

Multi-objective reinforcement learning for AUV thruster failure recovery.

Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2014 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2014

2013

Reinforcement Learning in Robotics: Applications and Real-World Challenges.

Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell

Robotics, 2013

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

Sylvain Calinon, Petar Kormushev, Darwin G. Caldwell

Robotics Auton. Syst., 2013

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

Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell, Atsuo Takanishi

Proceedings of the 10th International Conference on Ubiquitous Robots and Ambient Intelligence, 2013

Towards dynamically consistent real-time gait pattern generation for full-size humanoid robots.

Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi

Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2013

Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances.

Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

On-line identification of autonomous underwater vehicles through global derivative-free optimization.

George C. Karras, Charalampos P. Bechlioulis, Matteo Leonetti, Narcís Palomeras, Petar Kormushev, Kostas J. Kyriakopoulos, Darwin G. Caldwell

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Visuospatial skill learning for object reconfiguration tasks.

Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Autonomous robotic valve turning: A hierarchical learning approach.

Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

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

Houman Dallali, Mohamad Mosadeghzad, Gustavo A. Medrano-Cerda, Nicolas Docquier, Petar Kormushev, Nikos G. Tsagarakis, Zhibin Li, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Mechatronics, 2013

Interactive robot learning of visuospatial skills.

Seyed Reza Ahmadzadeh, Petar Kormushev, Darwin G. Caldwell

Proceedings of the 16th International Conference on Advanced Robotics, 2013

2012

Simultaneous discovery of multiple alternative optimal policies by reinforcement learning.

Petar Kormushev, Darwin G. Caldwell

Proceedings of the 6th IEEE International Conference on Intelligent Systems, 2012

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

Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Challenges for the policy representation when applying reinforcement learning in robotics.

Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell, Barkan Ugurlu

Proceedings of the 2012 International Joint Conference on Neural Networks (IJCNN), 2012

2011

Imitation Learning of Positional and Force Skills Demonstrated <i>via</i> Kinesthetic Teaching and Haptic Input.

Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell

Adv. Robotics, 2011

Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization.

Petar Kormushev, Barkan Ugurlu, Sylvain Calinon, Nikolaos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Upper-body kinesthetic teaching of a free-standing humanoid robot.

Petar Kormushev, Dragomir N. Nenchev, Sylvain Calinon, Darwin G. Caldwell

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Robot motor skill coordination with EM-based Reinforcement Learning.

Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Learning the skill of archery by a humanoid robot iCub.

Petar Kormushev, Sylvain Calinon, Ryo Saegusa, Giorgio Metta

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009

Eligibility Propagation to Speed up Time Hopping for Reinforcement Learning.

Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota

J. Adv. Comput. Intell. Intell. Informatics, 2009

Intent expression using eye robot for mascot robot system

Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota

CoRR, 2009

Fuzzy inference based mentality estimation for eye robot agent

Yoichi Yamazaki, Fangyan Dong, Yuta Masuda, Yukiko Uehara, Petar Kormushev, Hai An Vu, Phuc Quang Le, Kaoru Hirota

CoRR, 2009

Visual approach for data mining on medical information databases using Fastmap algorithm

Petar Kormushev

CoRR, 2009

Design, development and implementation of a tool for construction of declarative functional descriptions of semantic web services based on WSMO methodology

Petar Kormushev

CoRR, 2009

Time manipulation technique for speeding up reinforcement learning in simulations

Petar Kormushev, Kohei Nomoto, Fangyan Dong, Kaoru Hirota

CoRR, 2009