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ORCIDIoannis Havoutis
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2020 – today
- 2021
[i15]Luigi Campanaro, Siddhant Gangapurwala, Daniele De Martini, Wolfgang Merkt, Ioannis Havoutis:
CPG-ACTOR: Reinforcement Learning for Central Pattern Generators. CoRR abs/2102.12891 (2021)- 2020
- [j10]Martim Brandão
, Omer Burak Aladag, Ioannis Havoutis:
GaitMesh: Controller-Aware Navigation Meshes for Long-Range Legged Locomotion Planning in Multi-Layered Environments. IEEE Robotics Autom. Lett. 5(2): 3596-3603 (2020) - [j9]Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis:
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. IEEE Robotics Autom. Lett. 5(2): 3642-3649 (2020) - [j8]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control. IEEE Trans. Robotics 36(6): 1635-1648 (2020) - [c24]Martim Brandão, Ioannis Havoutis:
Learning Sequences of Approximations for Hierarchical Motion Planning. ICAPS 2020: 508-516 - [c23]Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon:
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. ICRA 2020: 1410-1416 - [c22]Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Siddhant Gangapurwala, Oliwier Melon, Ioannis Havoutis, Ingmar Posner:
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. IROS 2020: 5343-5350 - [i14]Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice F. Fallon:
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. CoRR abs/2002.06719 (2020) - [i13]Siddhant Gangapurwala, Alexander L. Mitchell, Ioannis Havoutis:
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion. CoRR abs/2002.09676 (2020) - [i12]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control. CoRR abs/2003.05481 (2020) - [i11]Alexander L. Mitchell, Martin Engelcke, Oiwi Parker Jones, David Surovik, Ioannis Havoutis, Ingmar Posner:
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion. CoRR abs/2007.01520 (2020) - [i10]Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis:
Predicted Composite Signed-Distance Fields for Real-Time Motion Planning in Dynamic Environments. CoRR abs/2008.00969 (2020) - [i9]Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar:
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts. CoRR abs/2010.01024 (2020) - [i8]Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar:
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. CoRR abs/2010.05359 (2020) - [i7]Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael N. Mistry, Sethu Vijayakumar:
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots. CoRR abs/2011.00390 (2020) - [i6]Traiko Dinev, Wolfgang Merkt, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar:
Sparsity-Inducing Optimal Control via Differential Dynamic Programming. CoRR abs/2011.07325 (2020) - [i5]Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice F. Fallon, Ioannis Havoutis:
RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. CoRR abs/2012.03094 (2020)
2010 – 2019
- 2019
- [j7]Ioannis Havoutis, Sylvain Calinon:
Learning from demonstration for semi-autonomous teleoperation. Auton. Robots 43(3): 713-726 (2019) - [c21]Martim Brandão, Maurice F. Fallon, Ioannis Havoutis:
Multi-controller multi-objective locomotion planning for legged robots. IROS 2019: 4714-4721 - [c20]Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis:
Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. TAROS (1) 2019: 275-287 - [c19]William Jones, Siddhant Gangapurwala, Ioannis Havoutis, Kazuya Yoshida:
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning. TAROS (2) 2019: 467-470 - [i4]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. CoRR abs/1904.03693 (2019) - [i3]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain. CoRR abs/1904.03695 (2019) - [i2]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences. CoRR abs/1904.04600 (2019) - [i1]Mathieu Geisert, Thomas Yates, Asil Orgen, Pierre Fernbach, Ioannis Havoutis:
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner. CoRR abs/1904.08238 (2019) - 2018
- [j6]Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon:
Programming by Demonstration for Shared Control With an Application in Teleoperation. IEEE Robotics Autom. Lett. 3(3): 1848-1855 (2018) - 2017
- [j5]Michele Focchi, Andrea Del Prete, Ioannis Havoutis, Roy Featherstone, Darwin G. Caldwell, Claudio Semini:
High-slope terrain locomotion for torque-controlled quadruped robots. Auton. Robots 41(1): 259-272 (2017) - [j4]Martijn J. A. Zeestraten, Ioannis Havoutis, João Silvério, Sylvain Calinon, Darwin G. Caldwell:
An Approach for Imitation Learning on Riemannian Manifolds. IEEE Robotics Autom. Lett. 2(3): 1240-1247 (2017) - [c18]Carlos Mastalli, Michele Focchi, Ioannis Havoutis, Andreea Radulescu, Sylvain Calinon, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion. ICRA 2017: 1096-1103 - [c17]Ioannis Havoutis, Sylvain Calinon:
Supervisory teleoperation with online learning and optimal control. ICRA 2017: 1534-1540 - [c16]Andreea Radulescu, Ioannis Havoutis, Darwin G. Caldwell, Claudio Semini:
Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems. ICRA 2017: 5302-5307 - [c15]Martijn J. A. Zeestraten, Ioannis Havoutis, Sylvain Calinon, Darwin G. Caldwell:
Learning task-space synergies using Riemannian geometry. IROS 2017: 73-78 - 2016
- [c14]Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Hierarchical planning of dynamic movements without scheduled contact sequences. ICRA 2016: 4636-4641 - [c13]Ioannis Havoutis, Sylvain Calinon:
Learning assistive teleoperation behaviors from demonstration. SSRR 2016: 258-263 - 2015
- [j3]Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Kana Kayamori, Darwin G. Caldwell, Tatsuo Narikiyo:
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ. Auton. Robots 38(4): 415-437 (2015) - [c12]Alexander W. Winkler, Carlos Mastalli, Ioannis Havoutis, Michele Focchi, Darwin G. Caldwell, Claudio Semini:
Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. ICRA 2015: 5148-5154 - [c11]Carlos Mastalli, Ioannis Havoutis, Alexander W. Winkler, Darwin G. Caldwell, Claudio Semini:
On-line and on-board planning and perception for quadrupedal locomotion. TePRA 2015: 1-7 - 2014
- [j2]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Darwin G. Caldwell, Claudio Semini:
Quadruped robot trotting over irregular terrain assisted by stereo-vision. Intell. Serv. Robotics 7(2): 67-77 (2014) - [c10]Alexander W. Winkler, Ioannis Havoutis, Stéphane Bazeille, Jesús Ortiz, Michele Focchi, Rüdiger Dillmann, Darwin G. Caldwell, Claudio Semini:
Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. ICRA 2014: 6476-6482 - 2013
- [j1]Ioannis Havoutis, Subramanian Ramamoorthy:
Motion planning and reactive control on learnt skill manifolds. Int. J. Robotics Res. 32(9-10): 1120-1150 (2013) - [c9]Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
Quadrupedal trotting with active compliance. ICM 2013: 610-616 - [c8]Barkan Ugurlu, Ioannis Havoutis, Claudio Semini, Darwin G. Caldwell:
Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control. IROS 2013: 6044-6051 - [c7]Ioannis Havoutis, Jesús Ortiz, Stéphane Bazeille, Victor Barasuol, Claudio Semini, Darwin G. Caldwell:
Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ). IROS 2013: 6052-6057 - [c6]Muhammad Asif Arain, Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin G. Caldwell:
A comparison of search-based planners for a legged robot. RoMoCo 2013: 104-109 - [c5]Stéphane Bazeille, Victor Barasuol, Michele Focchi, Ioannis Havoutis, Marco Frigerio, Jonas Buchli, Claudio Semini, Darwin G. Caldwell:
Vision enhanced reactive locomotion control for trotting on rough terrain. TePRA 2013: 1-6 - 2012
- [b1]Ioannis Havoutis:
Motion planning and reactive control on learnt skill manifolds. University of Edinburgh, UK, 2012 - 2010
- [c4]Ioannis Havoutis, Subramanian Ramamoorthy:
Geodesic trajectory generation on learnt skill manifolds. ICRA 2010: 2946-2952 - [c3]Ioannis Havoutis, Subramanian Ramamoorthy:
Constrained geodesic trajectory generation on learnt skill manifolds. IROS 2010: 2670-2675
2000 – 2009
- 2009
- [c2]Ioannis Havoutis, Subramanian Ramamoorthy:
Motion Synthesis through Randomized Exploration on Submanifolds of Configuration Space. RoboCup 2009: 92-103 - 2008
- [c1]Sebastian Bitzer, Ioannis Havoutis, Sethu Vijayakumar:
Synthesising Novel Movements through Latent Space Modulation of Scalable Control Policies. SAB 2008: 199-209
Coauthor Index
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