Publications

Stiffness Design for a spatial 3-DOF Serial Compliant Manipulator Based on Impact Configuration Decomposition
Dongming Gan, N.G.Tsagarakis, Jian S. Dai, Dai, Darwin G. Caldwell, Lakmal D. Seneviratne
ASME Transaction Journal of Mechanisms and Robotics (accepted)

A Haptic System for Aiding the Weak Upper Limb Motion during Mouse based Interaction
N.G.Tsagarakis and D.G.Caldwell
IEEE Transactions on Systems Man and Cybernetics (accepted)

Teleoperation with Impedance Regulation Using a Body-Machine Interface
A. Ajoudani, N. G. Tsagarakis, A. Bicchi
International Journal of Robotics Research (IJRR) (accepted)

A New Actuator with Adjustable Stiffness based on a Variable Ratio Lever Mechanism
Amir Jafari, N. G. Tsagarakis, Irene Sardellitti and Darwin G. Caldwell
IEEE Transactions Mechatronics (accepted)

The role of Physical Damping in Compliant Robotic Joints
Matteo Laffranchi, N.G.Tsagarakis and Darwin G. Caldwell
IEEE Transactions Mechatronics (accepted)

Variable Impedance Actuators: Moving the Robots of Tomorrow
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel Catalano, Gowrishankar Ganesh, Manolo Garabini, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, N.G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf, Markus Grebenstein
International Conference on Intelligent Robots and Systems (IROS 2012), (accepted)

Internal Model Control Strategy in Cartesian Space for a Compliant Humanoid Robot
Luca Colasanto*, N.G. Tsagarakis, Zhibin Li, Darwin G. Caldwell
International Conference on Intelligent Robots and Systems (IROS 2012), (accepted)

The Role of Physical Damping in Compliant Actuation Systems
Matteo Laffranchi*, Lisha Chen, N.G. Tsagarakis, Darwin G. Caldwell
International Conference on Intelligent Robots and Systems (IROS 2012), (accepted)

Integration of a Tactile Display in Teleoperation of a Soft Robotic Finger Using Model Based Tactile Feedback
Ioannis Sarakoglou*, Nadia Vanessa Garcia Hernandez, N.G.Tsagarakis, Darwin G. Caldwell
International Conference on Intelligent Robots and Systems (IROS 2012), (accepted)

The Anatomy of a Fall: Automated Real-Time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans
Petar Kormushev, Barkan Ugurlu, Luca Colasanto, N.G. Tsagarakis, Darwin G. Caldwell
International Conference on Intelligent Robots and Systems (IROS 2012), (accepted)

CompAct™ Arm: a Compliant Manipulator with Intrinsic Variable Physical Damping
Matteo Laffranchi, Nikos Tsagarakis, Darwin Caldwell
Robotics Science and Systems (RSS2012)

A Novel Curve Fitting-Based Discrete Velocity Estimator for High Performance Motion Control
Lisha Chen, Matteo Laffranchi, N.G. Tsagarakis, and Darwin G. Caldwell
IEEE Advanced Intelligent Mechatronics, (AIM 2012)

Comparison of Various Active Impedance Control Approaches, Modeling, Implementation, Passivity, Stability and Trade-offs
M. Mosadeghzad, Gustavo. A. Medrano-Cerda, Jody. A. Saglia, N. G. Tsagarakis and Darwin. G. Caldwell
IEEE Advanced Intelligent Mechatronics, (AIM 2012)

Design, Modeling and Control of a Series Elastic Actuator for an Assistive Knee Exoskeleton
Nikos C. Karavas, N.G. Tsagarakis and Darwin G. Caldwell
BioRob2012

A Compact Model for the Compliant Humanoid Robot COMAN
L. Colasanto, N.G. Tsagarakis, DG Caldwell
BioRob 2012

Hopping at the Resonance Frequency: A Pattern Generation Technique for Bipedal Robots with Elastic Joints
Barkan Ugurlu, Jody Saglia, N.G. Tsagarakis, D.G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

A Compact Tactile Display Suitable for Integration in VR and Teleoperation
Ioannis Sarakoglou, N.G. Tsagarakis, D.G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

How Design can affect the Energy Required to Regulate the Stiffness in Variable Stiffness Actuators
A. Jafari, N.G. Tsagarakis, I. Sardellitti, D.G. Caldwell
(ICRA 2012), St Paul, Minnesota

Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots
A. Ajoudani, N.G.Tsagarakis, A. Bicchi
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

A Position and Stiffness Control Strategy for Variable Stiffness Actuators
I. Sardellitti, G.M. Cerda,  N.G.Tsagarakis, A. Jafari, D.G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

Implementing a Variable Impedance Actuator
M. Catalano, G. Grioli, M. Garabini, F. Weilemann Belo, A. di Basco, N.G. Tsagarakis, A. Bicchi
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

Efficient Human-Like Walking for the COmpliant huMANoid COMAN based on Kinematic Motion Primitives
F.L. Moro, N.G.Tsagarakis, D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

Walking Trajectory Generation for a Humanoid Robot with Compliant Joints
Zhibin Li, N.G.Tsagarakis, D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

Compliant Humanoid Stabilization under Impact Disturbances Using Passive Structures and Active Compliance Control
Zhibin Li, Bram Vanderborght, N.G.Tsagarakis, D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota

A Novel Intrinsically Energy Efficient Development of a Novel Actuator with Adjustable Stiffness (AwAS)
Amir Jafari, N.G.Tsagarakis, Darwin G. Caldwell
IEEE Transactions Mechatronics

MACCEPA 2.0: Compliant Actuator used for Energy Efficient Hopping Robot Chobino1D
Bram Vanderborght, N.G Tsagarakis, Ronald Van Ham, Ivar Thorson, Darwin Caldwell
Autonomous Robots

The role of Physical Damping in Compliant Robotic Joints
Matteo Laffranchi, N.G.Tsagarakis, Darwin G. Caldwell
IEEE Transactions Mechatronics

Towards Improved Mouse Interaction for Users with Impaired Upper Limb gross Coordination
N.G.Tsagarakis, D.G.Caldwell
Journal of Applied Bionics and Biomechanics: Special Issue on Assistive and Rehabilitation Robotics

Sampled Data Control of a Compliant Actuated Joint Using On/Off Solenoid Valves
V. A. Tsachouridis, N. G. Tsagarakis, D. G. Caldwell
Journal of Engineering Science and Technology Review 4 (1), pp.14-24, 2011

Joint Stiffness Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts
D.M. Gan, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell
13th World Congress in Mechanism and Machine Science

The Design of the Lower Body of the Compliant Humanoid Robot “cCub
N.G. Tsagarakis, Zhibin Li, Jody Alessandro Saglia, Darwin G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

VSA-CubeBot: a modular variable stiffness platform for multiple degrees of freedom robots
Manuel Catalano, Giorgio Grioli, Manolo Garabini, Fabio Bonomo, N.G. Tsagarakis, Antonio Bicchi
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

A Decoupled Impedance Observer for a Variable Stiffness Robot
Alessandro Serio, Giorgio Grioli, Irene Sardellitti, N.G. Tsagarakis, Antonio Bicchi
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

AwAS-II: A Novel Actuator with Adjustable Stiffness Based on Variable Ratio Lever Concept
Amir Jafari, N.G.Tsagarakis,  D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

Exploiting Natural Dynamics for Energy Minimization using an Actuator with Adjustable Stiffness
Amir Jafari, N.G.Tsagarakis, D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

A Compact Compliant Actuator with Variable Physical Damping
M. Laffranchi, N.G.Tsagarakis, D.G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai

Compliant Actuation: Enhancing the Interaction Ability of Cognitive Robotics Systems
N.G.Tsagarakis, M.Laffranchi, B. Vanderborght, Darwin G.Caldwell
Chapter in “Advances in Cognitive Systems”, IET Press 2010

Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion
Zhibin Li, Bram Vanderborght, N.G. Tsagarakis,  Darwin G. Caldwell
IEEE ROBIO 2010

A Novel Variable Stiffness Actuator: Minimizing the Energy Requirements for the Stiffness Regulation
N. G. Tsagarakis, Amir Jafari, Darwin G. Caldwell
32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010)

Assessment of the Assistive Performance of an Ankle Exerciser using Electromyographic Signals
J. A. Saglia, N.G. Tsagarakis, J. S. Dai, Darwin G. Caldwell,
IEEE 32nd International Conference on Engineering in Medicine and Biology, EMBC 2010

A Novel Actuator with Adjustable Stiffness (AwAS)
Amir Jafari, N. G. Tsagarakis, Bram Vanderborght, Darwin G. Caldwell
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2010), pp 4201 – 4206

Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub
Zhibin Li, Bram Vanderborght, N. G. Tsagarakis, Darwin G. Caldwell
UKACC International Conference on CONTROL 2010

Antagonistically Actuated Compliant Joint: Torque and Stiffness control
I. Sardellitti, G.Palli, N.G. Tsagarakis, Darwin G. Caldwell
International Conference on Intelligent Robots and Systems (IROS 2010)

Control Strategies for Ankle Rehabilitation using a High Performance Ankle Exerciser
Jody A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2010), Anchorage

A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints
M. Laffranchi, N.G.Tsagarakis, and Darwin G.Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2010), Anchorage

Design of a 2-Finger Hand Exoskeleton for Finger stiffness measurements
Angelo Emanuele Fiorilla, N.G.Tsagarakis, Francesco Nori, Giulio Sandini
Journal of Applied Bionics and Biomechanics:Special Issue on "Upper and Lower Limb Exoskeletons, Vol. 6, No. 2, June 2009, pp 217–228.

A High Performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation
J. A. Saglia, N.G.Tsagarakis, J. S. Dai and Darwin G. Caldwell
International Journal of Robotics Research, 2009.

“Inverse Kinematics Based Control of a Redundantly Actuated Platform for Rehabilitation”
J.A. Saglia, N.G.Tsagarakis, J.S. Dai and Darwin G. Caldwell
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, IMechE Vol. 223, pp53-70, 2009.

The Mechanical Design of the New Lower Body for the Child Humanoid robot ‘iCub’
N.G.Tsagarakis, Bram Vanderborght, Matteo Laffranchi and Darwin G.Caldwell
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Antagonistic and Series Elastic Actuators: a Comparative Analysis on the Energy Consumption
M. Laffranchi, N.G.Tsagarakis, F. Cannella, and Darwin G.Caldwell
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Safe Human Robot Interaction via Energy regulation control
Matteo Laffranchi, N.G.Tsagarakis, Darwin G. Caldwell
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 200

Water vs. Oil Hydraulic Actuation for a Robot Leg
Y. S. Yang, C. Semini, E. Guglielmino, N..Tsagarakis, Darwin G. Caldwell
IEEE Int. Conf. on Mechatronics and Automation (ICMA), 2009

A Compact Soft Actuator Unit for Small Scale Human Friendly Robots
N.G.Tsagarakis, Matteo Laffranchi, Bram Vanderborght, Darwin G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp4356-4362

A High Performance 2-dof Over-Actuated Parallel Mechanism for Ankle Rehabilitation
Jody A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp2180-2186

MACCEPA 2.0: Compliant Actuator used for Energy Efficient Hopping Robot CHOBIN
Bram Vanderborght, N.G.Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell
IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp544-549.

Case Study: Soft-Actuated Exoskeleton for Use in Physiotherapy and Training
N.G. Tsagarakis, S.Kousidou, Darwin G.Caldwell
Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons, ISBN10: 0470512946, pp 270-278, 2007

iCub –The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research
N.G.Tsagarakis, G.Metta, G.Sandini, D.Vernon, R.Beira, F.Becchi, L.Righetti, J.S.Victor, A.J. Ijspeert, M.C.Carrozza, Darwin G.Caldwell
International Journal of Advanced Robotics, Special Issue on "Robotic platforms for Research in Neuroscience", Vol.21, No.10, pp, 1151-1175, 2007

Soft Exoskeletons for Upper and Lower Body Rehabilitation – Design, Control and Testing
Darwin G. Caldwell, N.G. Tsagarakis, S. Kousidou, N. Costa and Y. Sarakoglou
International Journal of Humanoids Robotics: Special issue on active exoskeletons, Vol.4 No. 3 , pp. 549-573, 2007

Lower Body Design of the ‘iCub’ a Human-baby like Crawling Robot
N.G.Tsagarakis, Francesco Becchi , Martin Singlair, Giorgio Metta, Darwin G.Caldwell and G. Sandini
IEEE International Conference on Humanoid Robots, (IROS 2007), pp 450-455, 2007