Publications

Peer-Reviewed Journal Papers

  1. Y. Zhao, B. Fernandez, L. Sentis, Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model, International Journal of Robotics Research, Accepted, July 2017
  2. G. Thomas and and L. SentisUncertainty–Shape Identification in the Frequency Domain, Under Review, May 2017
  3. P.C. Huang, L. Sentis, J. Lehman, C-L. Fok, A.K. Mok, R. Miikkulainen, Tradeoffs in Neuroevolutionary Learning-Based Real-Time Robotic Task Design in the Imprecise Computation Framework, Under Review, February 2017
  4. K. Isik, S. He, J. Ho, L. SentisRe-Engineering a High Performance Electrical Series Elastic Actuator for Low-Cost Industrial ApplicationsActuators, Accepted, January 2017
  5. Y. Zhao, L. SentisImpedance Control and Performance Measure of Series Elastic Actuators, IEEE Transactions on Industrial Electronics, Accepted, June 2017
  6. D.H. Kim, Y. Zhao, G. Thomas, B. Fernandez, L. Sentis, Stabilizing Series-Elastic Point-Foot Bipeds using Whole-Body Operational Space Control, IEEE Transactions on Robotics, 32(6), pp. 1362 – 1379, December 2016
  7. B. Ai, L. Sentis, N. Paine, S. Han, A. Mok, C.L. Fok Stability and Performance Analysis of Time-Delayed Actuator Control Systems, Journal of Dynamic Systems, Measurement and Control, 138(5):051005-051005-20, March 2016
  8. C-L. Fok, G. Johnson, J.D. Yamokoski, A. Mok, L. Sentis, ControlIt! – A Middleware for Whole-Body Operational Space Control, International Journal of Humanoid Robotics, 13(1): 1550040, March 2016
  9. K.S. Kim, T. Llado, L. Sentis, Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot InteractionAutonomous Robots, 40(2), 325-341, January 2016
  10. N. Paine, L. Sentis, Design and Comparative Analysis of a Retrofitted Liquid Cooling System for High-Power Actuators, Actuators, Vol. 4, Issue 3, pp. 182-202, August 2015
  11. Q-A. Nguyen, S.J. Jorgensen, J. Ho, Characterization and Testing of an Electrorheological Fluid Valve for Control of ERF, Actuators, Luis Sentis, Vol. 4, Issue 3, pp. 135-155, June 2015
  12. Y. Zhao, N. Paine, K.S. Kim, L. Sentis, Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers, Extended Arxiv Version, IEEE Transactions on Industrial Electronics, Vol. 62, Issue 11, pp. 7151-7162, Nov. 2015
  13. N. Paine, G. Johnson, L. Fok, J.S. Mehling, J. Holley, N. Radford, L. Sentis, Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots, Journal of Field Robotics, Vol. 32, Issue 3, pp. 378-396, May 2015
  14. N.A. Radford, P. Strawser, K. Hambuchen, J.S. Mehling, W.K. Verdeyen, S. Donnan, J. Holley, J. Sanchez, V. Nguyen, L. Bridgwater, R. Berka, R. Ambrose, C. McQuin, J.D. Yamokoski, S. Hart, R. Guo, A. Parsons, B. Wightman, P. Dinh, B. Ames, C. Blakely, C. Edmonson, B. Sommers, R. Rea, C. Tobler, H. Bibby, B. Howard, L. Nui, A.Lee, M. Conover, L. Truong, D. Chesney, R. Platt Jr., G. Johnson, C.-L. Fok, N. Paine, L. Sentis, E. Cousineau, R. Sinnet, J. Lack, M. Powell, B. Morris, A. Ames, Valkyrie: NASA’s First Bipedal Humanoid Robot, Journal of Field Robotics, Vol. 32, Issue 3, pp. 397-419, May 2015
  15. N. Paine, L. Sentis, A Closed-Form Solution for Selecting Maximum Critically Damped Actuator Impedance Parameters, Journal of Dynamic Systems, Measurement and Control, 137(4):041011-041011-10, April 2015
  16. N. Paine, S. Oh, L. Sentis, Design and Control Considerations for High Performance Series Elastic Actuators, IEEE/ASME Transactions on Mechatronics, Vol. 19, Num. 3, pp. 1080-1091, June 2014
  17. L. Sentis, J. Petersen, R. Philippsen, Implementation and Stability Analysis of Prioritized Whole-Body Compliant Controllers on Wheeled Humanoid Robots in Uneven Terrains, Autonomous Robots, Vol. 35, Num. 4, pp. 301-319, August 2013
  18. Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots, IEEE Transactions on Robotics, Luis Sentis, Jaeheung Park, Oussama Khatib, Vol. 26, Num. 3, pp. 483-501, June 2010
  19. Robotics-Based Synthesis of Human Motion, Journal of Physiology, Oussama Khatib, Emel Demircan, Vincent DeSapio, Luis Sentis, Thor Besier, Scott Delp, Vol. 103(3-5), pp. 211-219, May-September 2009
  20. Synthesis of Whole-body Behaviors Through Hierarchical Control of Behavioral Primitives, International Journal of Humanoid Robotics, Luis Sentis and Oussama Khatib, Vol. 2(4), pp. 505-518, December 2005
  21. Whole Body Dynamic Behavior and Control of Human-Like Robots, International Journal of Humanoid Robotics, Oussama Khatib, Luis Sentis, Jae-Heung Park, James Warren, Vol. 1(1), pp. 1-15, March 2004
  22. Human-Centered Robotics and Interactive Haptic Simulation, International Journal of Robotics Research, Oussama Khatib, Oliver Brock, K.C. Chang, Diego Ruspini, Luis Sentis, Sriram Viji, Vol. 23(2), pp. 167, February 2004
  23. Robotics and Interactive Simulation, Communications of the ACM, O. Khatib, O. Brock, K.S. Chang, F. Conti, D. Ruspini, and L. Sentis, 45(3): 46-51, 2002
  24. A Fast Low-Cost Solar Cell Spectral Response Measurement System with Accuracy Indicator, IEEE Transactions on Instrumentation and Measurement, Santiago Silvestre, Luis Sentis, and Luis Castaner, Vol. 48(5), pp. 944-948, October 1999

Scientific and Engineering Magazines

  1. The Future of Human Centered Robotics, Electronic Design Magazine, Luis Sentis, March 10, 2017
  2. Whole-Body Operational Space Control for Locomotion and Manipulation, ASME Dynamic Systems and Control MagazineLuis Sentis, 137(6), pp.2-6, June, 2015

Book Chapters

  1. F. Moro and L. Sentis, Whole-Body Control of Humanoid Robots, Springer Handbook on Humanoid Robotics, 2017
  2. C.L. Fok, L. Sentis, Integration and Usage of a ROS-based Whole Body Control Software Framework, Springer Book on the Robot Operating System (ROS), June 2015
  3. L. Sentis, Compliant Control of Whole-Body Multi-Contact Behaviors in Humanoid Robots, Book Name: Motion Planning for Humanoid Robots, Springer Global Editorial, August 2010, pp. 29-63
  4. O. Khatib, L. Sentis, J.H. Park, A Unified Framework for Whole-Body Humanoid Robot Control With Multiple Constraints and Contacts, Book Name: Springer Tracts in Advanced Robotics – STAR Series, 2008

E-Papers

  1. S.J. Jorgensen, O. Campbell, T. Llado, D.H. Kim, J.H. Ahn, L. Sentis, Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical SystemsarXiv:1701.03839 [cs.HC], 2017
  2. C.L. Fok, F. Sun, M. Mangum, A. Mok, B. He, L. Sentis, Web Based Teleoperation of a Humanoid Robot, arXiv:1607.05402 [cs.RO], 2016

Selected Peer-Reviewed Conference Publications

  1. M. Kim, J. Lee, L. Sentis, “on awareness estimation”, Submitted on March 2017
  2. J. Lee, M. Kim, L. Sentis, “on coexistent navigation”, Submitted on February 2017
  3. G.C. Thomas and L. Sentis, MIMO Identification of Frequency-Domain Unreliability in SEAs, IEEE American Control Conference (ACC 2017), May 2017
  4. K.S. Kim, L.Sentis, Human Body Part Multicontact Recognition and Detection Methodology, IEEE International Conference on Robotics and Automation (ICRA 2017), May-June 2017
  5. P. Rao, G.C. Thomas, L. Sentis, A. Deshpande, Analyzing Achievable Stiffness Control Bounds of Robotic Hands With Coupled Finger Joints, IEEE International Conference on Robotics and Automation (ICRA 2017), May-June 2017
  6. D.H. Kim, S.J. Jorgensen, P. Stone, L.Sentis, Dynamic Behaviors on the NAO Robot With Closed-Loop Whole Body Operational Space Control, IEEE International Conference on Humanoid Robots (Humanoids 2016), November 2016
  7. Y. Zhao and L. Sentis, Passivity of Time-Delayed Whole-Body Operational Space Controllers with Series Elastic Actuation, IEEE International Conference on Humanoid Robots (Humanoids 2016), November 2016
  8. Y. Zhao and L. Sentis, High-Level Planner Synthesis for Whole-Body Locomotion in Unstructured Environments, IEEE Conference on Decision and Control (CDC 2016), December 2016
  9. G.C. Thomas and L. Sentis, Towards Computationally Efficient Planning of Dynamic Multi-Contact Locomotion, IEEE International Conference on Intelligent Robots and Systems (IROS 2016), October 2016
  10. Y. Zhao, B. Fernandez and L. Sentis, Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies, Robotics Science and Systems (RSS 2016), Oral presentation, June 2016
  11. D. Kim, G. Thomas, L. Sentis, A Method for Dynamically Balancing a Point Foot Robot, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), November 2015
  12. Pei-Chi. Huang, Luis Sentis, Joel Lehman, Chien-Liang Fok, Al Mok, Risto Miikkulainen, Tradeoffs in Real-Time Robotic Task Design with Neuroevolution Learning for Imprecise Computation, IEEE Real-Time Systems Symposium (RTSS 2015), December 2015
  13. Y. Zhao, N. Paine, L. Sentis, Feedback Parameter Selection for Impedance Control of Series Elastic Actuators, IEEE-RAS International Conference of Humanoid Robots (Humanoids 2014),
  14. P.C. Huang, J. Lehman, A.K. Mok, R. Miikkulainen, L. Sentis, Grasping Novel Objects with a Dexterous Robotic Hand through Neuroevolution, IEEE Symposium Series on Computational Intelligence (SCCI 2014)
  15. Y. Zhao, N. Paine, L. Sentis, Sensitivity Comparison To Loop Latencies Between Damping Versus Stiffness Feedback Control Action In Distributed Controllers, ASME Dynamics Systems and Control Conference (DSCC 2014)
  16. K.S. Kim, G. Thomas, L. Sentis,  Fully Omnidirectional Compliance in Mobile Robots Via Drive-Torque Sensor Feedback, IEEE International Conference on Intelligent Robots and Systems (IROS 2014)
  17. D.H. Kim, L. Sentis, Continuous Cyclic Stepping on 3D Point Feet Biped Robots Via Constant Time to Velocity Reversal, IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV 2014)
  18. D.H. Kim, Y. Zhao, G. Thomas, L. Sentis, Empirical Modifications to a Phase Space Planner which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot, ASME Dynamics Systems and Control Conference (DSCC 2014)
  19. A. Boddiford, C. Manion, K.S. Kim, P. Radhakrishnan, L. Sentis, August 2013,  Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots, ASME International Design Engineering Technical Conference (IDECT 2013), (Third Prize Winner in the Design Competition)
  20. Y. Zhao, D.H. Kim, B. Fernandez, L. Sentis, Phase Space Planning and Robust Control for Data-Driven Locomotion Behaviors, IEEE-RAS International Conference of Humanoid Robots (Humanoids 2013),  October 2013
  21. K.S. Kim, A.S. Kwok, L. Sentis,  Contact Sensing and Mobility in Rough and Cluttered Environments, European Conference on Mobile Robots (ECMR 2013), Oral Presentation, September 2013
  22. “A New Prismatic Series Elastic Actuator with Compact Size and High Performance”, IEEE International Conference on Robotics and Biomimetics (BIOROB 2012), N. Paine and L. Sentis, December 2012
  23. “Architecture of a Cyberphysical Avatar”, International Workshop on Real-Time and Distributed Computing in Emerging Applications (REACTION 2012), Han, S., Mok, A. K., Meng, J., Wei, Y. H., Zhu, X., Sentis, L. and Menashe, J., December 2012
  24. “A Three Dimensional Foot Placement Planner for Locomotion in Very Rough Terrains”, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Y. Zhao and L. Sentis, November 2012
  25. “Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D Rigid-Body Motion Registration”, IEEE International Conference on Robotics and Automation (ICRA 2012), C. Slaughter, A.Y. Yang, J. Bagwell, C. Checkles, L. Sentis, and S. Vishwanath, May 2012
  26. “Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot”, Robotics Science and Systems (RSS 2012), L. Sentis, J.G. Petersen, R. Philippsen, July 2012, (Nominated for Best Paper Award)
  27. “Motion Planning of Extreme Locomotion Maneuvers Using Multi-Contact Dynamics and Numerical Integration”, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), L. Sentis and M. Slovich, October 2011
  28. “Prediction and Planning Methods of Bipedal Dynamic Locomotion Over Very Rough Terrains”, The 15th International Symposium on Robotics Research (ISRR 2011), L. Sentis, B. Fernandez, M. Slovich, August-September 2011
  29. “Open Source Whole-Body Control Framework for Human-Friendly Robots”, Workshop of Human Friendly Robots (HFR 2011), R. Philippsen, L.Sentis, 2011
  30. “Perturbation Theory to Plan Dynamic Locomotion in Very Rough Terrain”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), L. Sentis, B. Fernandez, September 2011
  31. “An Open Source Extensible Software Package to Create Whole-Body Compliant Skills in Personal Mobile Manipulators”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) , R. Philippsen, L. Sentis, O. Khatib, September 2011
  32. “Design, Construction and Control of a Fluidic Robotic Joint for Compliant Legged Locomotion”, IEEE International Symposium of Industrial Electronics, L. Sentis, J. Gamez, B. Fernandez, M. Gonzales, N. Paine, June 2011
  33. “Modeling and Control of Multi-Contact Centers of Pressure and Internal Forces in Humanoid Robots”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009) , L. Sentis, J.H. Park, O. Khatib, October 2009
  34. L. Sentis, M. Mintz, A. Ayyagari, C. Battles,  S. Ying, O. Khatib, Large Scale Multi-Robot Coordination Under Network and Geographical Constraints, IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul 2009.
  35. “A Whole-Body Control Framework for Humanoids Operating in Human Environments”, IEEE International Conference in Robotics and Automation (ICRA 2006) , L. Sentis, and O. Khatib, May 2006
  36. “Control of Free-Floating Humanoid Robots Through Task Prioritization”, IEEE International Conference in Robotics and Automation (ICRA 2005), L. Sentis, and O. Khatib, April 2005, (Nominated for Best Student Paper Award)
  37. L. Sentis and O. Khatib, Task-Oriented Control of Humanoid Robots Through Prioritization,IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica, USA, November 2004.

Graduate Theses and Reports

  1. Kenan Isik, PhD Thesis, Performance and Manufacturing Considerations for Series Elastic Actuators, The University of Texas at Austin2017
  2. Steven J.M. Jorgensen, MS Thesis, Human Detection, Gesture Recognition, and Policy Generation for Human-Aware RobotsThe University of Texas at Austin2016
  3. Ye Zhao, PhD ThesisA Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance arXiv:1701.05929 [cs.RO]The University of Texas at Austin2016
  4. Joshua James, MS Thesis, Additive Robotic Systems, The University of Texas at Austin, 2016
  5. Nick Paine, PhD ThesisHigh-Performance Series Elastic Actuation, The University of Texas at Austin, 2014
  6. Ye Zhao, MS ThesisPhase Space Planning for Robust Locomotion, The University of Texas at Austin, 2013
  7. Michael Slovich, MS ThesisCase Studies in Multi-Contact Locomotion, The University of Texas at Austin, 2012
  8. Pius Wong, MS ThesisMethodology for Creating Human-Centered Robots: Design and System Integration of a Compliant Mobile Base, The University of Texas at Austin, 2012
  9. Somudro Gupta, MS ThesisMechatronics of Holonomic Mobile Base for Compliant Manipulation, The University of Texas at Austin, 2011
  10. Matt Gonzales, MS ReportEngineering a Compliant Muscle Joint for Dynamic Locomotion in Very Rough Terrain, The University of Texas at Austin, Master’s Report, 2011
  11. Luis Sentis, PhD Thesis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Stanford University, PhD Thesis, supervised by Oussama Khatib (2007)

Workshop Papers

  1. Y. Zhao, J.S. Matthis, S.L. Barton, M. Hayhoe, L. Sentis, Towards Understanding Visually Guided Locomotion over Complex and Rough Terrain: A Phase-Space Planning Method, IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO 2017), March 2017, Presentation Slides
  2. S.. Jorgensen and L. Sentis, Gesture Recognition using Dynamic Movement Primitives and Gaussian Mixture Models, Workshop  at the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2016), March 2016
  3. K.S. Kim and L. Sentis, Contact-Based Gesture Recognition on an Omni-directional Mobile Robot for a Robot Companion, Workshop “Get in Touch!” at the IEEE International Conference on Robotics and Automation (ICRA 2015), June 2015

Conference Abstracts with Oral Presentations

  1. J. Ahn, O. Campbell, D. Kim, L. Sentis, “on timing properties for sampling-based kinodynamic locomotion”, Dynamic Walking, June 2017
  2. D. Kim, J. Lee, L. Sentis, “on learning to walk”, Dynamic Walking, June 2017
  3. Y. Zhao, J.S. Matthis, S.L. Barton, M. Hayhoe, and L. Sentis, Towards Understanding Visually Guided Locomotion over Complex and Rough Terrain: A Phase-Space Planning Method, IEEE International Workshop on Advanced Robotics and its Social Impacts, March 2017
  4. Y. Zhao, U. Topcu, L. Sentis, Towards Formal Planner Synthesis of Unified Legged and Armed Dynamic Locomotion in Constrained Environments, Dynamic Walking, Oral Presentation, June 2016
  5. Whole-Body Operational Space Control for Locomotion on a Point-Foot Series Elastic Biped, D.H. Kim, Y. Zhao, G. Thomas, L. Sentis, Dynamic Walking, Oral Presentation, July 2015
  6. “Building HUME: A Bipedal Robot for Human-Centered Hyper-Agility”, Dynamic Walking, M. Slovich, N. Paine, K. Kemper, A. Metzger, A. Edinger, J. Weber, L. Sentis, Oral Presentation, May 2012

Conference Abstracts with Posters

  1. Y. Zhao, J.S. Mathis, S.L. Barton, M. Hayhoe, L. Sentis, Exploring Visually Guided Locomotion over Complex Terrain: A Phase-Space Planning Method, Dynamic Walking, June 2016
  2. D.H. Kim, Y. Zhao, G. Thomas, L. Sentis, Towards Agility in Compliant Point-Foot Bipeds, Dynamic Walking, June 2014
  3. L. Sentis, B. Fernandez, CoM State-Space Cascading Manifolds for Planning Dynamic Walking in Very Rough Terrain, Dynamic Walking, July 2011

Undergraduate Journals

  1. “Motivation and Design Considerations of a Compliant Mobile Base for Human Centered Robots”, University of Texas Undergraduate Research Journal, A. Kwok, L. Sentis, 2013