UT Shield

The Human Centered Robotics Group

Decision and Control of Human Centered Robots

cockrell school of engineering

Publications

Recently Submitted Papers

  1. Junette Hsin, Shubhankar Agarwal, Adam Thorpe, Luis Sentis, and David Fridovich-Keil, paper topic: “Symbolic Regression on Sparse and Noisy Data”, Under Review, 2024
  2. Ryan Gupta, Emily Norman, Hyonyoung Shin, Zhiyun Deng, Maria, Esteva, Nanshu Lu, Keri K. Stephens and Luis Sentis, Indoor Human-Mobile Robot Encounters: A Transdisciplinary Study on Perceived Safety, under review, Munich 2024
  3. Apurva Patil, Takashi Tanaka, Luis Sentis, Task Hierarchical Control via Null-Space Projection and Path Integral Approach, under review, 2024

Pre-Prints, Published and Recently Accepted Journal Papers

  1. Mingyo Seo, H. Andy Park, Shenli Yuan, Yuke Zhu, Luis Sentis, LEGATO: Cross-Embodiment Imitation Using a Grasping Tool, arXiv:2411.03682 [cs.RO], 2024
  2. Jeeeun Lee, Robert Sun, Andrew Bylard, Luis Sentis, Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers, arXiv:2408.03498 [cs.RO], 2024
  3. Hongbian Li, Hyonyoung Shin, Luis Sentis, Ka-Chun Siu, José del R. Millán, Nanshu Lu, Combining VR with electroencephalography (EEG) as a frontier of brain-computer interfaces, Cell Device, In Press, 2024.
  4. Seunghyeon Bang, Carlos Gonzalez, Junhyeok Ahn, Nicholas Paine, Luis Sentis, Control and Evaluation of a Humanoid Robot with Rolling Contacts on its Lower Body, arXiv Preprint, Frontiers in Robot and AI, Volume 10, October 2023
  5. Hongbian Li, Hyonyoung Shin, Minsu Zhang, Andrew Yu, Heeyong Huh, Gubeum Kwon, Nicholas Riveira, Sangjun Kim, Susmita Gangopadahyay, Jessie Peng, Zhengjie Li, Yifan Rao, Luis Sentis, Jośe del R. Millán, Nanshu Lu, Hair-Compatible Sponge Electrodes Integrated on VR Headset for Electroencephalography, Soft Science, Soft Science 2023;3:22, July 2023
  6. Kunye Chen, Raghav Mahalingam, Neal Ormsbee, Binghan He, Rachel Schlossman, Luis Sentis, Decentralized Actuator Control Laboratory, IEEE Transactions on Education,  DOI: 10.1109/TE.2023.3298266, July 2023
  7. Jennifer (Mi) Shin, Hua Qian, Jeeeun Lee, Luis Sentis, Silvia I. Maberti, Estimating Exposures from Consumer Spray Products using Robotic  Simulations, Annals of Work Exposures and Health, Annals of Work Exposures and Health, Volume 67, Issue 8, October 2023, Pages 979–989, October 2023
  8. Miguel Arduengo, Adria Colome, Juan Lobo-Prat, Luis Sentis, Carme Torras, Gaussian-Process-based Robot Learning from Demonstration, Journal of Ambient Intelligence and Humanized Computing, https://doi.org/10.1007/s12652-023-04551-7, January 2023
  9. Minkyu Kim, Ryan Gupta, Luis Sentis, CONCERTS: Coverage Competency Based Target Search for Heterogeneous Robot Teams, Applied Science, 12, no. 17: 8649. https://doi.org/10.3390/app12178649, 29 August 2022
  10. Jee-Eun Lee, Tirthankar Bandyopadhyay, Luis Sentis, Adaptive Robot Climbing with Magnetic Feet in Unknown Slippery Structures, Frontiers in Robotics and AI, https://doi.org/10.3389/frobt.2022.949460, 29 August 2022
  11. Oussama Khatib, Mikael Jorda, Jaeheung Park, Luis Sentis and Shu Yun Chung, Constraint-Consistent Task-Oriented Whole-Body Robot Formulation: Task, Posture, Constraints, Multiple Contacts, and Balance. The International Journal of Robotics Research (2022): 02783649221120029, October 2022
  12. Jaemin Lee, Efstathios Bakolas, Luis Sentis, Hierarchical Task-Space Optimal Covariance Control with Chance Constraints, Control Systems Letters, in IEEE Control Systems Letters, vol. 6, pp. 2359-2364, March 2022
  13. Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu, Reactive Task and Motion Planning  for Robust Whole-Body Dynamic Locomotion in Constrained Environments, arXiv Preprint, The International Journal of Robotics Research, doi:10.1177/02783649221077714, May 2022
  14. Minkyu Kim and Luis Sentis, Active Object Tracking using Context Estimation, Applied Intelligence (2022). https://doi.org/10.1007/s10489-021-03116-5
  15. Jaemin Lee, Junhyeok Ahn, Donhyun Kim, Seung Hyeon Bang, Luis Sentis, Online Gain Adaptation for Whole-Body Control of Legged Robots with Unknown Disturbances, Frontiers in Robotics and AI, 8:408, January 2022
  16. Gray Thomas, Orion Campbell, Nick Nichols, Nicholas Brissonneau, Binghan He, Josh James, Nick Paine,  and Luis Sentis,  Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons, Frontier in Robotics and AI, 8:295, doi: 10.3389/frobt.2021.720231, August 2021
  17. Junhyeok Ahn, Steven Jorgensen, Seun Hyeon Bang, Luis Sentis, Versatile Locomotion Planning and Control for Humanoid Robots, Frontier in Robotics and AI, Frontiers in Robotics and AI, 8:257, doi: 10.3389/frobt.2021.712239, August 2021
  18. Miguel Arduengo, Carme Torras, and Luis Sentis, Robust and Adaptive Door Operation with a Mobile Robot, Link to Preprint, Intelligent Service Robotics, https://doi.org/10.1007/s11370-021-00366-7, May 2021
  19. Miguel Arduengo, Adria Colomé, Julia Borràs, Luis Sentis, Carme Torras, Task-Adaptive Robot Learning from Demonstration under Replication with Gaussian Process Models, IEEE Robotics and Automation Letters, 6(2):966-973, April 2021
  20. Jaemin Lee, Efstathios Bakolas, Luis Sentis, An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces, Autonomous Robots, 45(1), 135-153, January 2021
  21. Gray Thomas, Joshua Mehling, James Holley, Luis Sentis, Phase-Relaxed-Passive Full State Feedback Gain Limits for Series Elastic Actuators, IEEE/ASME Transactions on Mechatronics, 26(1):586-591, February 2021
  22. Nicolas Brissonneau, Binghan He, Gray Thomas, Luis Sentis, Biologically-Inspired Impedance Control with Hysteretic Damping, IEEE Controls and Systems Letter, 5(5):1717 – 1722, December 2020
  23. Binghan He, Huang Huang, Gray Thomas, Luis Sentis, A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(11): 2468 – 2477, 2020
  24. Donghyun Kim, Steven Jorgensen, Jaemin Lee, Junhyeok Ahn, Jianwen Luo, and Luis Sentis, Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control, The International Journal of Robotics Research, 39(8):936-956, 2020
  25. Miguel Arduengo, Luis Sentis, Robot Economy: Here It Comes, The International Journal of Social Robotics, https://doi.org/10.1007/s12369-020-00686-1, 2020
  26. Junhyeok Ahn, Jaemin Lee, and Luis Sentis, Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model, IEEE Robotics and Automation Letters, 5(3):4376-4383, July 2020
  27. Gray Thomas and Luis Sentis, Quadric Inclusion Programs: an LMI Approach to H Infinity Model Identification, IEEE Transactions on Automatic Control, 64(10):4229 – 4236, 2019
  28. Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, and C. Fu, Robust Bipedal Locomotion Based on a Hierarchical Control Structure, Robotica, 38(4), 760-760, 2019
  29. Kenan Isik, Gray Thomas, Luis 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
  30. Steven Jorgensen, James Holley, Frank Mathis, Joshua Mehling, Luis Sentis, Thermal Recovery of Multi-Limbed Robots with Electric Actuators, IEEE Robotics and Autonomous Letters, 4(2):1077-1084, 2018
  31. D.H. Kim, J.H. Ahn, O. Campbell, N. Paine, L. Sentis, Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators, IEEE/ASME Transactions on Mechatronics, 26(3): 2704 – 2714, 2018
  32. Pei-Chi Huang, Luis Sentis, Joel Lehman, Chienliang Fok, Aloysius Mok, Risto 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
  33. Ye Zhao, Luis Sentis, Impedance Control and Performance Measure of Series Elastic Actuators, IEEE Transactions on Industrial Electronics, 65(3): 2817-2827, March 2018
  34. Ye Zhao, Benito Fernandez, Luis 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
  35. Kenan Isik, Shunde He, Joseph Ho, Luis Sentis, Re-Engineering a High Performance Electrical Series Elastic Actuator for Low-Cost Industrial Applications, Actuators, 6(1):5, January 2017
  36. Donghyun Kim, Ye Zhao, Gray Thomas, Benito Fernandez, Luis Sentis, Stabilizing Series-Elastic Point-Foot Bipeds using Whole-Body Operational Space Control, IEEE Transactions on Robotics, 32(6), pp. 1362 – 1379, December 2016
  37. Bing Ai, Luis Sentis, Nicholas Paine, Song Han, Aloysius Mok, Chien-Liang 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
  38. Chien-Liang Fok, Gwen Johnson, John D. Yamokoski, Aloysius Mok, Luis Sentis, ControlIt! – A Middleware for Whole-Body Operational Space Control, International Journal of Humanoid Robotics, 13(1): 1550040, March 2016
  39. Kwansuk Kim, Travis Llado, Luis Sentis, Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction, Autonomous Robots, 40(2), 325-341, January 2016
  40. Nicholas Paine, Luis 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
  41. Quang Anh. Nguyen, Steven Jorgensen, Joseph Ho, Luis Sentis, Characterization and Testing of an Electrorheological Fluid Valve for Control of ERF, Actuators, Vol. 4, Issue 3, pp. 135-155, June 2015
  42. Ye Zhao, Nicholas Paine, Kwansuk Kim, Luis 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
  43. Nicholas Paine, Gwen Johnson, Chien-Liang Fok, Joshua Mehling, James Holley, Nicholas Radford, Luis 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
  44. 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., Gwen Johnson, Chien-Liang Fok, Nicholas Paine, Luis 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
  45. Nicholas Paine, Luis 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
  46. Nicholas Paine, Seehong Oh, Luis 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
  47. Luis Sentis, Joshua Petersen, Roland 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
  48. 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
  49. 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
  50. 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
  51. 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
  52. 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
  53. 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
  54. 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

Conference Publications

  1. Sizhe Sui, Luis Sentis, Andrew Bylard, Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs, Video Link, arXiv:2409.09918 [cs.RO], 2024
  2. Ryan Gupta, Kyle Morgenstein, Steven Ortega, Luis Sentis, Fast LiDAR Informed Visual Search in Unseen Indoor Environments, Project Site, arXiv Link, IEEE/SICE International Symposium on System Integration (SII 2024), 2024
  3. Mirko Baglioni, Apurva Patil, Luis Sentis, and Anahita Jamshidnejad, Achieving multi-UAV best viewpoint coordination in obstructed environments, arXiv:2410.08602  [eess.SY], 2024
  4. Seung Hyeon Bang, Carlos Gonzalez, Gabriel Moore, Dong Ho Kang, Mingyo Seo and Luis Sentis, A Modular Framework for Robot Planning, Control, and Deployment, arXiv:2409.10015 [cs.RO], IEEE/SICE International Symposium on System Integration (SII 2024), September 2024
  5. Carlos Gonzalez and Luis Sentis, Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), Nancy, France, November 2024
  6. Seung Hyeon Bang, Carlos Arribalzaga Jove, and Luis Sentis, RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024), Nancy, France, November 2024
  7. Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez, and Luis Sentis, Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers, IEEE Conference on Decision and Control (CDC 2024), Milano, 2024
  8. Emily Norman, Ryan Gupta, Keri Stephens, Luis Sentis, Utilizing Organizational Communication Theory for Community Embedded Robotics, Workshop on Trust, Acceptance and Social Cues in Human-Robot Interaction (SCRITAS), Pasadena, August 2024
  9. Ryan Gupta, Hyonyoung Shin, Emily Norman, Keri K. Stephens, Nanshu Lu, and Luis Sentis, Human Stress Response and Perceived Safety during Encounters with Quadruped Robots, accepted to IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Video experiments: https://youtu.be/3xu5AoBYi44,  Preprint: arXiv:2403.17270v1, Pasadena, August 2024
  10. Jeeeun Lee, Andrew Bylard, Robert Sun, Luis Sentis, On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators, IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, May 2024
  11. Norman, E., Stephens, K. K., Shorey, S., Biswas, J., Hart, J. W., Hauser, E., & Sentis, L. (2023). Bringing training, learning, and development into team science: Effectively freeing team members from disciplinary barriers in research, National Communication Association Conference (NCA), National Harbor, MD, November 2023
  12. Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, and Yuke Zhu, Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation, Link to the project site, IEEE International Conference of Humanoid Robotics (Humanoids 2023), Austin, December 2023
  13. Luca Rossini, Enrico Mingo Hoffman, Seung Hyeon Bang, Luis Sentis, and Nikos G. Tsagarakis, A Real-Time Approach for Humanoid Robot Walking including Dynamic Obstacles Avoidance, IEEE International Conference of Humanoid Robotics (Humanoids 2023), Austin, December 2023
  14. Carlos Gonzales, Seunghyeon Bang, Pohan Li, Sandeep Chinchali, Luis Sentis, Learning Adaptive Horizon Maps Based on Error Forecast for Model Predictive Control, IEEE Conference on Decision and Control, Singapore, December 2023
  15. Carlos Gonzalez, Samantha Lee, Francisco Montano, Steven Ortega, Dong Ho Kang, Mehar Jaiswal, Junfeng Jiao, Luis Sentis, Design of a Person-Carrying Robot for Contact Compliant Navigation, ASME International Design Engineering Technical Conferences (IDETC 2023), Boston, August 2023
  16. Jaemin Lee, Mingyo Seo, Andrew Bylard, Robert Sun, Luis Sentis, Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control, IEEE International Conference on Robotics and Automation (ICRA 2023), London, May 2023
  17. Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, Yuke Zhu, Learning to Walk by Steering, link to project’s website, IEEE International Conference on Robotics and Automation (ICRA 2023), London, May 2023
  18. Jee-Eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay, Luis Sentis, Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries, IEEE International Conference on Robotics and Automation (ICRA 2023), London, May 2023
  19. Junhyeok Ahn, Seung Hyeon Bang, Carlos Gonzalez, Yuanchen Yuan, and Luis Sentis, Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion, IEEE International Conference on Humanoid Robots (Humanoids 2022), Remote, November 2022
  20. Ce Xu, Adria Colome, Luis Sentis, Carme Torras, Mixtures of Controlled Gaussian Processes for Dynamical Modeling of Deformable Objects, Proceedings of the 3rd Conference on Learning for Dynamics and Control (L4DC), Palo Alto, June 2022
  21. Riley Bowyer, Jacob Oestrich, Noa Thouard, James Barker, Jee Eun Lee, Luis Sentis, Tirthankar Bandyopadhyay, In-Situ Foothold Evaluation for a Magnetic Climbing Robot, Australasian Conference of Robotics and Automation, December 2021
  22. Binghan He, Mahsa Ghasemi, Ufuk Topcu, Luis Sentis, A Barrier Pair Method for Safe Human-Robot Shared Autonomy, IEEE Conference on Decision and Control, December 2021
  23. Junhyeok Ahn and Luis Sentis, Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System, Proceedings of the 3rd Conference on Learning for Dynamics and Control (L4DC), PMLR 144:779-790, 2021
  24. Minkyu Kim, Miguel Arduengo, Nick Walker, Yuqian Jiang, Justin Hart, Peter Stone, and Luis Sentis, Active Target Search for Autonomous Person Following, AAAI Spring Symposium on Machine Learning for Mobile Robot Navigation in the Wild, March 2021
  25. Asha Jain, Max Svetlik, Nick Machak, Kavan Sikand, Cem Karamanli, Kaiyou Zhou, Justin Hart, Joydeep Biswas, Luis Sentis, Junfeng Jiao, An Open-Source Framework for Last Mile Delivery with Heterogeneous Robots,  AAAI Spring Symposium on Machine Learning for Mobile Robot Navigation in the Wild, 2021
  26. B. He, J. Lee, U. Topcu, L. Sentis, BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning, IEEE Conference on Decision and Control (CDC 2020)
  27. J. Lee, S.H. Bang, E. Bakolas, L. Sentis, MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks, IEEE Conference on Decision and Control (CDC 2020)
  28. J. Lee, J. Ahn, E. Bakolas, L. Sentis, Reachability-based Trajectory Optimization for Robotic Systems Given Sequences of Rigid Contacts, American Control Conference (ACC 2020)
  29. H. Huang, H. Cappel, G.C. Thomas, B. He, L. Sentis, Adaptive Compliance Shaping with Human Impedance Estimation, American Control Conference (ACC 2020)
  30. B. He, G.C. Thomas, L. Sentis, Robust Estimator-Based Safety Verification: A Vector Norm Approach, American Control Conference (ACC 2020)
  31. J. Jorgensen, M. Vedantam, R. Gupta, H. Cappel, L. Sentis, Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold, IEEE International Conference on Robotics and Automation (ICRA 2020)
  32. 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)
  33. 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)
  34. 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)
  35. 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)
  36. 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)
  37. 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)
  38. J. Lee, E. Bakolas, L. Sentis, Trajectory Generation for Robotic Systems with Contact Force Constraints, American Control Conference (ACC 2019)
  39. 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)
  40. R. Schlossman, G.C. Thomas, O. Campbell, L. Sentis, Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming, IEEE International Conference on Robotics and Biomimetics (ROBIO 2018)
  41. 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.
  42. 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.
  43. 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
  44. 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
  45. 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
  46. 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
  47. 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
  48. G.C. Thomas and L. Sentis, MIMO Identification of Frequency-Domain Unreliability in SEAs, IEEE American Control Conference (ACC 2017), May 2017
  49. 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
  50. 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
  51. 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
  52. 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
  53. 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
  54. 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
  55. 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
  56. 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
  57. 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
  58. 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
  59. 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)
  60. 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)
  61. 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),
  62. 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)
  63. 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)
  64. 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)
  65. 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
  66. 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
  67. 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)
  68. “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
  69. “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
  70. “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
  71. “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)
  72. “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
  73. “Open Source Whole-Body Control Framework for Human-Friendly Robots”, Workshop of Human Friendly Robots (HFR 2011), R. Philippsen, L.Sentis, 2011
  74. “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
  75. “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
  76. “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
  77. “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
  78. “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
  79. “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
  80. 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.
  81. “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
  82. “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)
  83. L. Sentis and O. Khatib, Task-Oriented Control of Humanoid Robots Through Prioritization, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), Santa Monica, USA, November 2004.

Theses and Reports

  1. Carlos Arribalzaga Jove, BS Thesis, Robust Bipedal Locomotion through and MPC-based Residual Learning Framework, The Polytechnic University of Catalonia and The University of Texas at Austin, 2024
  2. Kyle Morgenstein, MS Report, Learning Simultaneous Contact Force Estimation and Locomotion for Legged Robots, The University of Texas at Austin, 2024
  3. Mehar Jaiswal, MS Thesis, Design and Imitation Learning Study on the Bumpybot Robot, The University of Texas at Austin, 2023
  4. Minkyu Kim, PhD Thesis, Endowing Human-Centered Behaviors to Single and Multiple Robots for Safe, Robust, and Efficient Operation in Human Environments, The University of Texas at Austin, 2022
  5. Junhyeok Ahn, PhD Thesis, Towards Versatile, High-performing and Interactive Humanoids, The University of Texas at Austin, 2022
  6. Jaemin Lee, PhD Thesis, Whole-Body Trajectory Generation and Control Strategies for Multi-Contact Robots, The University of Texas at Austin, 2022
  7. Seunheung Bang, MS Thesis, Operational Space Control of Compliant Isoelastic Robots and Their Interaction with the DIARC Cognitive Architecture, The University of Texas at Austin, 2022
  8. Ce Xu Zheng, BS Thesis, Gaussian Process Applied to Modeling the Dynamics of a Deformable Material, The Polytechnic University of Catalonia and The University of Texas at Austin, 2021
  9. Binghan He, PhD Thesis, Towards a Safe and Responsive Control Framework for Human-Centered Robots, The University of Texas at Austin, 2021
  10. Nick Machak, MS Thesis, Short to Medium Autonomous Delivery System (SMADS), The University of Texas at Austin, 2021
  11. Henry Cappel, MS Thesis, A Hierarchical Multi-Robot Mapping Architecture Subject to Communication Constraints, The University of Texas at Austin, 2021
  12. Steven J. Jorgensen, PhD Thesis, Towards Deploying Legged Humanoids in Human Environments, The University of Texas at Austin, 2020
  13. Nicolas Brissonneau, MS Thesis, Force Amplification for Exoskeletons and Human-Inspired Robotics Controllers, The University of Texas at Austin, 2020
  14. Huang Huang, MS Thesis, Adaptive Compliance Shaping with Human Impedance Estimation, The University of Texas at Austin, 2020
  15. Dominick Mulder, MS Thesis, Development of Algorithms for Service Robots in Domestic Environments, The University of Texas at Austin, 2020
  16. Gray Thomas, PhD Thesis, Control Strategies for Series Elastic, Multi-Contact Robots, The University of Texas at Austin, 2019
  17. Miguel Arduengo, BS Thesis, Robust Door Operation with the Toyota Human Support Robot, The Polytechnic University of Catalonia and The University of Texas at Austin, 2019
  18. Rachel Schlossman, MS Thesis, Dynamically Consistent Trajectory Planners and Human-Aware Controllers for Human-Centered Robots, The University of Texas at Austin, 2019
  19. Orion Campbell, MS Thesis, A Framework for Whole Body Augmentative Exoskeleton Control, The University of Texas at Austin, 2018
  20. Donghyun Kim, PhD Thesis, Sensor-Based Robust Whole-Body Control of Highly Dynamic Legged Humanoid Robots, The University of Texas at Austin, 2017
  21. Jack Hall, PhD Thesis, Cognition in Dynamical Systems, The University of Texas at Austin, 2017
  22. Kwan Suk Kim, PhD Thesis, Intelligent Collision Management in Dynamic Environments for Human-Centered Robots, The University of Texas at Austin, 2017
  23. Kenan Isik, PhD Thesis, Performance and Manufacturing Considerations for Series Elastic Actuators, The University of Texas at Austin, 2017
  24. Steven J.M. Jorgensen, MS Thesis, Human Detection, Gesture Recognition, and Policy Generation for Human-Aware Robots, The University of Texas at Austin, 2016
  25. Ye Zhao, PhD Thesis, A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance,  arXiv Preprint, The University of Texas at Austin, 2016
  26. Joshua James, MS Thesis, Additive Robotic Systems, The University of Texas at Austin, 2016
  27. Nick Paine, PhD Thesis, High-Performance Series Elastic Actuation, The University of Texas at Austin, 2014
  28. Ye Zhao, MS Thesis, Phase Space Planning for Robust Locomotion, The University of Texas at Austin, 2013
  29. Michael Slovich, MS Thesis, Case Studies in Multi-Contact Locomotion, The University of Texas at Austin, 2012
  30. Pius Wong, MS Thesis, Methodology for Creating Human-Centered Robots: Design and System Integration of a Compliant Mobile Base, The University of Texas at Austin, 2012
  31. Somudro Gupta, MS Thesis, Mechatronics of Holonomic Mobile Base for Compliant Manipulation, The University of Texas at Austin, 2011
  32. Matt Gonzales, MS Report, Engineering a Compliant Muscle Joint for Dynamic Locomotion in Very Rough Terrain, The University of Texas at Austin, Master’s Report, 2011
  33. Luis Sentis, PhD Thesis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Stanford University, PhD Thesis, supervised by Oussama Khatib (2007)

Patents

  1. Avinash Verma, Robert Holmberg, Gil Matzliach, Luis Sentis, Salvador Perez, Samir Menon, Zhouwen Sun, Robot with Seven or More Degrees of Freedom, US 2024/0075615 A1, March 2024

E-Papers

  1. M. Arduengo, A. Colomé, J. Lobo-Prat, L. Sentis, and C. Torras, Gaussian-Process-Based Robot Learning from Demonstration, 2020
  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 Robots,  arXiv: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 Approach,  arXiv:1809.08750 [cs.RO], 2018
  6. B. He, K. Chen, R. Schlossman, N. Ormsbee, M. Altman, N. Young, M. Mangum, L. Sentis, Decentralized Control Systems Laboratory Using Human-Centered Robotic Actuators, arXiv:1803.11119 [cs.RO], 2018
  7. D.H. Kim, J.M. Lee, L. Sentis, Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller, arXiv: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 Systems, arXiv: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. Kyle Morgenstein, Junfeng Jiao, Luis Sentis, What Goes Bump in the Night: Learning Tactile Control for Vision-Occluded Crowd Navigation, Workshop on Embracing Contacts at the IEEE International Conference on Robotics and Automation, 2023
  2. Kyle Morgenstein, Junfeng Jiao, Luis Sentis, Learning Contact-based Navigation in Crowds, 2nd Workshop on Human-Interactive Robot Learning (HIRL 2023) at ACM/IEEE International Conference on Human-Robot Interaction 2023
  3. Elliott Hauser, Justin Hart, Sam Baker, Luis Sentis, Embedding Spatiotemporal Context for Conversations with Autonomous Mobile Robots, Workshop on Human-Robot Conversational Interaction (HRCI 2023) at ACM/IEEE International Conference on Human-Robot Interaction 2023
  4. Minkyu Kim, Ryan Gupta, Luis Sentis, Information-Theoretic Based Target Search with Multiple Agents, RSS Workshop on ​​Robotics for People: Perspectives on Interaction, Learning, and Safety, July 2021
  5. Minkyu Kim, Jaemin Lee, Steven Jens Jorgensen, Luis Sentis, Social Navigation Based on People’s Awareness of Robots, HRI workshop on Exploring Applications for Autonomous Nonverbal Human-Robot Interaction, 2021
  6. 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
  7. 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
  8. 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 Magazine, Luis 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