Conferences

  1. H. Dallali E.M. Ficanha and M. Rastgaar, Dynamic Modeling of a 2-DOF Cable Driven Powered Ankle-Foot Prosthesis, In the ASME Dynamic Systems and Control Conference Conferences, DSCC, 12 October, 2016, Minneapolis, Minnesota, USA. 

  2. Lee, Jinoh, Houman Dallali, Maloin Jin, Darwin Caldwell, and Nikolaos Tsagarakis. Robust and adaptive whole-body controller for humanoids with multiple tasks under uncertain disturbances. In 2016 IEEE International Conf. on Robotics and Automation (ICRA), pp. 5683-5689. IEEE, 2016.

  3. Rehman, Bilal Ur, Michele Focchi, Jinoh Lee, Houman Dallali, Darwin G. Caldwell, and Claudio Semini. Towards a multi-legged mobile manipulator. In 2016 IEEE International Conf. on Robotics and Automation (ICRA), pp. 3618-3624. IEEE, 2016.

  4. T. Habra,  H. Dallali A. Cardellino, L. Natale, N. Tsagarakis, P. Fisette, R. Ronsse, Robotran-Yarp Interface: A Framework For Real-Time Controller Development Based On Multibody Dynamics Simulation, accepted at ECCOMAS Thematic Conference on Multibody Dynamics June 29 - July 2, 2015, Barcelona, Spain.

  5. A. Zobova, T. Habra, N. Van der Noot,  H. Dallali N. G. Tsagarakis, P. Fisette, R. Ronsse, Multi-physics Modelling of a Compliant Humanoid Robot, accepted at ECCOMAS Thematic Conference on Multibody Dynamics June 29 - July 2, 2015, Barcelona, Spain.

  6. W. Choi,  H. Dallali N. G. Tsagarakis, G. A. Medrano-Cerda, D. G. Caldwell, How Leg/Foot Compliance and Posture affects Impact Forces during Landing, in Proc. of IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 961-967, Dec 2014.

  7. H. Dallali P. Kormushev, N. Tsagarakis, D. Caldwell. Can Active Impedance Protect Robots from Landing Impact?, in Proc. of IEEE Int. Conf. on Humanoid Robots, pages 1022-1027, Madrid-Spain, 2014.

  8. H. Dallali G. Medrano-Cerda, N. Kashiri, N. Tsagarakis, D. Caldwell, Decentralized Feedback Design for a Compliant Robot Arm, in Proc. of UKSim-AMSS European Modelling Symposium on Mathematical Modelling and Computer Simulation, pages 269-274, Pisa-Italy, Oct. 2014.

  9. Z. Li, C. Zhou,  H. Dallali N. Tsagarakis, D. Caldwell, Comparison Study of Two Inverted Pendulum Models for Balance Recovery, in Proc. of IEEE Int. Conf. on Humanoid Robots 2014.

  10. N. Tsagarakis,  H. Dallali F. Negrello, G. Medrano-Cerda, Compliant Antagonistic Joint Tuning for Gravitational Load Cancellation and Improved Efficient Mobility, in Proc. of IEEE Int. Conf. on Humanoid Robots, Nov. 2014.

  11. C. Zhou, Z. Li, J. Castano,  H. Dallali N. G. Tsagarakis, D. G. Caldwell, A Passivity Based Compliance Stabilizer for Humanoid Robots, in Proc. of IEEE International Conference on Robotics and Automation (ICRA) pages 1487--1492, 2014.

  12. N. Tsagarakis, S. Morfey,  H. Dallali G. Medrano -Cerda, D. Caldwell, An Asymmetric Compliant Antagonistic Joint Design for High Performance Mobility, in Proc. of Int. Conf. on Intelligent Robots and Systems (IROS), 3-8 Nov. 2013, Tokyo, Japan.

  13. M. Mosadeghzad, Z. Li, N. Tsagarakis, G. Medrano -Cerda,  H. Dallali D.G. Caldwell, Optimal Ankle Compliance Regulation for Humanoid Balancing Control, in Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 3-8 Nov. 2013, Tokyo, Japan.

  14. J. Lee,  H. Dallali N. Tsagarakis and D. Caldwell, Robust and Model -Free Link Position Tracking Control for Humanoid COMAN with Multiple Compliant Joints, in Proc. of IEEE Int. Conf. on Humanoid Robots, Oct. 15-17, 2013, Atlanta, Georgia, USA.

  15. H. Dallali M. Mosadeghzad, G. Medrano -Cerda, N. Tsagarakis, D. Caldwell, A Dynamic Simulator for the Compliant Humanoid Robot, COMAN, in Proc. of ICRA Workshop on Developments of Simulation Tools for Robotics and Bio-mechanics, Karlsruhe, Germany, May 10, 2013.

  16. H. Dallali M. Mosadeghzad, G. A. Medrano-Cerda, N. Docquier, P. Kormushev, N. Tsagarakis, Z. Li, D. Caldwell, Development of a Dynamic Simulator for a Compliant Humanoid Robot Based on a Symbolic Multibody Approach, in Proc. of IEEE Int. Conf. on Mechatronics, Vicenza, Italy, 2013.

  17. H. Dallali M. Brown and G. Medrano -Cerda, Toward dynamic walking with a compliant humanoid robot, Hybrid Systems Mini-symposium session held as part of the 7th European Nonlinear Dynamics Conf. (ENOC), 24-29 July 2011, Rome, Italy.

  18. H. Dallali G.A. Medrano-Cerda and M. Brown, A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking. UK Automatic Control Conf. (UKACC), Coventry, 7 -10 September, 2010.

  19. G. A. Medrano-Cerda,  H. Dallali M. Brown, N. G. Tsagarakis, D. G. Caldwell, Modelling and Simulation of the Locomotion of Humanoid Robots. UK Automatic Control Conf. (UKACC), Coventry, 7 -10 September, 2010.

Journals

  1. H. Dallali, L. Knop, L. Castelino, E.M. Ficanha and M. Rastgaar, Estimating the Multivariable Human Ankle Impedance in Dorsi-Plantarflexion and Inversion-Eversion Directions Using EMG Signals and Artificial Neural NetworkInternational Journal of Intelligent Robotics and Applications, Jan. 2017.                                                                                                                                       
  2. A. Zobova, T. Habra, N. Van der Noot, H. Dallali, N. Tsagarakis, P. Fisette, and R. Ronsse, Multi-physics modelling of a compliant humanoid robot. Multibody System Dynamics, 2016: p. 1-20.                                                                                                                 
  3.  M.W.L.M. Rijnen, A.T. van Rijn, H. Dallali, A. Saccon, H. Nijmeijer, Hybrid Trajectory Tracking for a Hopping Robotic Leg, IFAC-PapersOnLine, Volume 49, Issue 14, 2016, Pages 107-112, ISSN 2405-8963.                                                                                                    
  4.  N.G. Tsagarakis, D.G. Caldwell, A. Bicchi, F. Negrello, M. Garabini, W. Choi, V.G. Loc, L. Baccelliere, J. Noorden, M. Catalano, H. Dallali, et. al., WALK-MAN: A High Performance Humanoid Platform for Realistic Environments. Journal of Field Robotics (JFR), 2016.                                                                                                                                                                                                                
  5. T. Habra, H. Dallali, A. Cardellino, L. Natale, N. Tsagarakis, P. Fisette, and R. Ronsse, Robotran-YARP Interface: A Framework for Real-Time Controller Developments Based on Multibody Dynamics Simulations, in Multibody Dynamics. 2016, Springer. p. 147-164.                                                                                                                                                                                                                                  
  6. E.M. Ficanha, G.A. Ribeiro, H. Dallali, and M. Rastgaar, Design and Preliminary evaluation of a Two DOFs cable-Driven ankle–Foot Prosthesis with active Dorsiflexion–Plantarflexion and inversion–eversion. Frontiers in bioengineering and biotechnology, 2016. 4.                                                                                                                                                                                                   
  7. H. Dallali, J. Lee, N.G. Tsagarakis, and D.G. Caldwell. Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints. in 11th IFAC Symposium on Robot Control. 2015. Elsevier.                                                                                                                     
  8. H. Dallali, G. Medrano-Cerda, M. Focchi, T. Boaventura, M. Frigerio, C. Semini, J.B. Caldwell, and D., On The Use of Positive Feedback for Improved Torque Control. Control Theory and Technology, 2015. 13(3): p. 266-285.                                                                                                
  9. H. Dallali, P. Kormushev, Z. Li, and D. Caldwell, On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning. Cybernetics and Information Technologies, 2012. 12(3): p. 39-52.                                                                              
  10. G. Medrano-Cerda, H. Dallali, and M. Brown, Control Of A Compliant Humanoid Robot In Double Support Phase: A Geometric Approach. International Journal of Humanoid Robotics, 2012. 9(01).                                                                                                                                        
  11. H. Dallali, M. Brown, and B. Vanderborght, Using The Torso To Compensate For Non-Minimum Phase Behaviour In ZMP Bipedal Walking, in Advances in Robotics Research. 2009, Springer Berlin Heidelberg. p. 191-202.