Publications

Recently Submitted Journal Papers

  1. G.C. Thomas, J.S. Mehling, J. Holley, L. Sentis, Shaping the Compliance of Series Elastic Joints, 2019
  2. J. Lee, E. Bakolas, L. Sentis, Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces, arXiv preprint, 2019
  3. J. Ahn, J. Lee, and L. Sentis, Data Efficient and Safe Learning for Locomotion using a Simplified Model, arXiv preprint, 2019
  4. D. Kim, S. Jorgensen, J. Lee, J. Ahn, J. Luo, and L. SentisDynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control, arXiv preprint, 2019
  5. Y. Zhao, Y. Li, L. Sentis, U. Topcu, J. Liu, Reactive Task and Motion Planning  for Robust Whole-Body Dynamic Locomotion in Constrained Environments, arXiv preprint, 2019

Published and Recently Accepted Journal Papers

  1. G. Thomas and L. Sentis, Quadric Inclusion Programs: an LMI Approach to H Infinity Model Identification, Transactions on Automatic Control, DOI: 10.1109/TAC.2019.2897886, 2018
  2. Luo, Y. Su, L. Ruan, Y. Zhao, D.H. Kim, L. Sentis, and C. Fu, Robust Bipedal Locomotion Based on a Hierarchical Control Structure, Robotica, DOI: 10.1017/S0263574719000237, 2019
  3. S. Jorgensen, J. Holley, F. Mathis, J. Mehling, L. Sentis, Thermal Recovery of Multi-Limbed Robots with Electric Actuators, IEEE Robotics and Autonomous Letters, 4(2):1077-1084, 2018
  4. D.H. Kim, J.H. Ahn, O. Campbell, N. Paine, L. SentisInvestigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators, IEEE/ASME Transactions on Mechatronics, 26(3): 2704 – 2714, 2018
  5. K. Isik, G. Thomas, L. Sentis, A Fixed Structure Gain Selection Strategy for High Impedance Series Elastic Actuator Behavior, Journal of Dynamic Systems, Measurement, and Control, 141 (2):021009, 2019
  6. 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, ACM Transactions on Cyber-Physical Systems, 3 (2):14, 2018
  7. Y. Zhao, L. SentisImpedance Control and Performance Measure of Series Elastic ActuatorsIEEE Transactions on Industrial Electronics, 65(3): 2817-2827, March 2018
  8. 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, (arXiv preprint), 36(11): 1211-1242, September 2017
  9. K. Isik, S. He, J. Ho, L. SentisRe-Engineering a High Performance Electrical Series Elastic Actuator for Low-Cost Industrial ApplicationsActuators, 6(1):5, January 2017
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. Q-A. Nguyen, S.J. Jorgensen, J. Ho, Luis SentisCharacterization and Testing of an Electrorheological Fluid Valve for Control of ERF, Actuators, Vol. 4, Issue 3, pp. 135-155, June 2015
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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
  26. 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
  27. 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
  28. 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

Peer-Reviewed Conference Publications

  1. J. Jorgensen, M. Vedantam, R. Gupta, H. Cappel, L. Sentis, “Contribution on Locomanipulation”, Submitted 2019
  2. N. Brissonneau, B. He, G. Thomas, J. Ahn and L. Sentis, “Contribution on Human Inspired Impedance Control”, Submitted 2019
  3. M. Kim, M. Arduengo, N. Walker, Y. Jiang, J. Hart, P. Stone, and L. Sentis, An Architecture for Person-Following Using Active Target Search, Submitted 2019
  4. M. Arduengo, C. Torras, L. SentisA Versatile Framework for Robust and Adaptive Door Operation with a Mobile Manipulator Robot, Submitted 2019
  5. Jorgensen, Lanighan, Bertrand, Watson, Altemus, Askew, Bridgwater, Domingue, Kendrick, Lee, Paterson, Sanchez, Beeson, Gee, Hart, Quispe, Griffin, Lee, McCrory, Sentis, Pratt, and Mehling, Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary, IEEE International Conference of Humanoid Robots (Humanoids 2019)
  6. R. Shah, Y. Jiang, H. Karnan, G. Briscoe-Martinez, D. Mulder, R. Gupta, R. Schlossman, M. Murphy, J. Hart, L. Sentis and P. Stone, Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report, AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI 2019)
  7. J. Ahn, D. Kim, S. Bang, N. Paine, L. Sentis, Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators, IEEE International Conference of Humanoid Robots (Humanoids 2019)
  8. G.C. Thomas, J.M. Coholich, L. Sentis, Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)
  9. B. He, H. Huang, G.C. Thomas, L. Sentis, Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons, IEEE International Conference on Intelligent Robots and Systems (IROS 2019)
  10. R. Schlossman, M. Kim, U. Topcu, L. Sentis, Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions, IEEE International Conference on Intelligent Robots and Systems (IROS 2019)
  11. J. Lee, E. Bakolas, L. Sentis, Trajectory Generation for Robotic Systems with Contact Force Constraints, American Control Conference (ACC 2019)
  12. B. He, G. Thomas, N. Paine, L. Sentis, Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation, Accepted, American Control Conference (ACC 2019)
  13. R. Schlossman, G.C. Thomas, O. Campbell, L. Sentis, Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear ProgrammingIEEE International Conference on Robotics and Biomimetics (ROBIO 2018)
  14. D. Kim, S. Jorgensen, H. Hwang, L. Sentis, Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids, IEEE International Conference on Humanoid Robots (Humanoids 2018), November, 2018.
  15. Y. Jiang, N. Walker, M. Kim, N. Brissonneau, D. S. Brown, J. W. Hart, S. Niekum, L. Sentis and Peter Stone, LAAIR: A Layered Architecture for Autonomous Interactive Robots, AAAI 2018 Fall Symposium on Reasoning and Learning in Real-World Systems for Long-Term Autonomy (FSS 2018), October 2018.
  16. J. Luo, Y. Zhao, D.H. Kim, O. Khatib, L. Sentis, Locomotion Control of Three Dimensional Passive-Foot Biped Robot Based on the Whole Body Operational Space Framework, IEEE International Conference on Robotics and Biomimetics (ROBIO 2018), December 2018
  17. D. Kim, J. Lee, O. Campbell, H. Hwang, L. Sentis, Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints (arXiv preprint), IEEE International Conference on Intelligent Robots and Systems (IROS 2018), October 2018
  18. J. Ahn, O. Campbell, D. Kim, L, Sentis, Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacle (arXiv preprint), IEEE International Conference on Intelligent Robots and Systems (IROS 2018), October 2018
  19. G.C. Thomas, B. He, L. Sentis, Safety Control Synthesis with Input Limits: a Hybrid Approach (arXiv preprint), American Control Conference (ACC 2018), June 2018
  20. D. Kim, O. Campbell, J. Ahn, L. Sentis, N. Paine, Investigations of Viscoelastic Liquid Cooled Actuators Applied for Dynamic Motion Control of Legged Systems, IEEE International Conference on Humanoid Robots (Humanoids 2017), November 2017
  21. G.C. Thomas and L. Sentis, MIMO Identification of Frequency-Domain Unreliability in SEAs, IEEE American Control Conference (ACC 2017), May 2017
  22. 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
  23. P. Rao, G.C. Thomas, L. Sentis, A. Deshpande, Analyzing Achievable Stiffness Control Bounds of Robotic Hands With Coupled Finger JointsIEEE International Conference on Robotics and Automation (ICRA 2017), May-June 2017
  24. Y. Zhao, J.S. Matthis, S.L. Barton, M. Hayhoe, L. Sentis, Towards Understanding Visually-Guided Locomotion over Complex and Rough Terrain, IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO 2017), March 2017
  25. 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
  26. 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
  27. 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
  28. 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
  29. 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
  30. D. Kim, G. Thomas, L. Sentis,  A Method for Dynamically Balancing a Point Foot RobotIEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), November 2015
  31. 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
  32. 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),
  33. 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)
  34. 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)
  35. 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)
  36. 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)
  37. 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)
  38. 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)
  39. 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
  40. 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
  41. “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
  42. “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
  43. “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
  44. “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
  45. “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)
  46. “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
  47. “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
  48. “Open Source Whole-Body Control Framework for Human-Friendly Robots”, Workshop of Human Friendly Robots (HFR 2011), R. Philippsen, L.Sentis, 2011
  49. “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
  50. “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
  51. “Design, Construction and Control of a Fluidic Robotic Joint for Compliant Legged Locomotion”, IEEE International Symposium of Industrial Electronics (ISIE 2011), L. Sentis, J. Gamez, B. Fernandez, M. Gonzales, N. Paine, June 2011
  52. “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
  53. 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.
  54. “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
  55. “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)
  56. L. Sentis and O. Khatib, Task-Oriented Control of Humanoid Robots Through PrioritizationIEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), Santa Monica, USA, November 2004.

Graduate Theses and Reports

  1. Orion Campbell, MS Thesis, A Framework for Whole Body Augmentative Exoskeleton Control, The University of Texas at Austin2018
  2. Donghyun Kim, PhD Thesis, Sensor-Based Robust Whole-Body Control of Highly Dynamic Legged Humanoid Robots, The University of Texas at Austin2017
  3. Jack Hall, PhD ThesisCognition in Dynamical SystemsThe University of Texas at Austin2017
  4. Kwan Suk Kim, PhD Thesis, Intelligent Collision Management in Dynamic Environments for Human-Centered Robots, The University of Texas at Austin2017
  5. Kenan Isik, PhD Thesis, Performance and Manufacturing Considerations for Series Elastic Actuators, The University of Texas at Austin2017
  6. Steven J.M. Jorgensen, MS ThesisHuman Detection, Gesture Recognition, and Policy Generation for Human-Aware RobotsThe University of Texas at Austin2016
  7. Ye Zhao, PhD ThesisA Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance arXiv PreprintThe University of Texas at Austin2016
  8. Joshua James, MS Thesis, Additive Robotic SystemsThe University of Texas at Austin, 2016
  9. Nick Paine, PhD ThesisHigh-Performance Series Elastic Actuation, The University of Texas at Austin, 2014
  10. Ye Zhao, MS ThesisPhase Space Planning for Robust Locomotion, The University of Texas at Austin, 2013
  11. Michael Slovich, MS ThesisCase Studies in Multi-Contact Locomotion, The University of Texas at Austin, 2012
  12. 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
  13. Somudro Gupta, MS ThesisMechatronics of Holonomic Mobile Base for Compliant Manipulation, The University of Texas at Austin, 2011
  14. 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
  15. Luis Sentis, PhD Thesis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Stanford University, PhD Thesis, supervised by Oussama Khatib (2007)

E-Papers

  1. M. Arduengo, L. SentisRobot Economy: Ready or Not, Here It Comes, 2019
  2. K.S. Kim, L. Sentis, On Blocking Collisions between People, Objects and other Robots, 2019
  3. M. Kim, M. Arduengo, N. Walker, Y. Jiang, J.W. Hart, P. Stone, L. Sentis, An Architecture for Person-Following using Active Target Search, 2018
  4. M. Kim, J. Lee, S. Jorgensen, L. Sentis, Social Navigation Planning Based on People’s Awareness of RobotsarXiv:1809.08780 [cs.RO], 2018
  5. S.J. Jorgensen, O. Campbell, T. Llado, J. Lee, B. Shang, L. Sentis, Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value ApproacharXiv:1809.08750 [cs.RO], 2018
  6. B. He, K. Chen, R. Schlossman, N. Ormsbee, M. Altman, N. Young, M. Mangum, L. SentisDecentralized Control Systems Laboratory Using Human-Centered Robotic ActuatorsarXiv:1803.11119 [cs.RO], 2018
  7. D.H. Kim, J.M. Lee, L. Sentis, Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body ControllerarXiv:1708.02205 [cs.RO], 2017
  8. 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
  9. 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

Book Chapters

  1. Y. Zhao and L. Sentis, Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation, Stability, Elsevier Control and Application of Time-delay Systems Book, 2019
  2. F. Moro and L. Sentis, Whole-Body Control of Humanoid Robots, Springer Handbook on Humanoid Robotics, 2017
  3. 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
  4. 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
  5. 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

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

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

Conference Abstracts with Oral Presentations

  1. 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
  2. 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
  3. 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
  4. “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