All publications

Publications

PhD Thesis

  • Gabriel A. D. Lopes. Perception based navigation for underactuated robots. PhD thesis, University of Michigan, 2008

Journals

J1.
Subramanya P. Nageshrao, Gabriel A. D. Lopes, Dimitri Jeltsema, and Robert Babuška. Port-hamiltonian systems in adaptive and learning control: A survey. IEEE Transactions on Automatic Control, 61(5):1–1, 2015
J2.
Olivier Sprangers, Robert Babuška, Subramanya P. Nageshrao, and Gabriel A. D. Lopes. Reinforcement learning for port-hamiltonian systems. IEEE Transactions on Cybernetics, 45(5):1003–1013, 2015
J3.
Wouter J. Wolfslag, Michiel C. Plooij, Wouter Caarls, Sander van Weperen, and Gabriel A. D. Lopes. Dissipatively actuated manipulation. Control Engineering Practice, 34:68–76, 2015
J4.
Ke-Jung Huang, Shen-Chiang Chen, Haldun Komsuoglu, Gabriel A. D. Lopes, Jonathan Clark, and Pei-Chun Lin. Design and performance evaluation of a bio-inspired and single-motor-driven hexapod robot with dynamical gaits. Journal of Mechanisms and Robotics, 7(3):031.017, 2015
J5.
Esmaeil Najafi, Robert Babuška, and Gabriel A. D. Lopes. Learning sequential composition control. Accepted to: IEEE Transactions on Cybernetics, 2015
J6.
A.A. Alvarez Cabrera, Gabriel A. D. Lopes, and T. Tomiyama. An architecture-level specification for automated supervisory controller design. Accepted to: Journal of Integrated Design and Process Science Special issue on: Design Of Multidisciplinary Cyber Physical Systems, 2015
J7.
Gabriel A. D. Lopes, Bart Kersbergen, Ton van den Boom, Bart De Schutter, and Robert Babuška. Modeling and control of legged locomotion via switching max-plus models. IEEE Transactions on Robotics, 30(3):652–665, 2014
J8.
Gabriel A. D. Lopes, Bart Kersbergen, Bart De Schutter, Ton van den Boom, and Robert Babuška. Synchronization of a class of cyclic discrete-event systems describing legged locomotion. Discrete Event Dynamic Systems, pages 1–37, 2014
J9.
Subramanya P. Nageshrao, Gabriel A. D. Lopes, Dimitri Jeltsema, and Robert Babuška. Passivity-based reinforcement learning control of a 2-dof manipulator arm. Mechatronics, 24(8):1001–1007, 2014
J10.
Ivo Grondman, Lucian Buşoniu, Gabriel A. D. Lopes, and Robert Babuška. A survey of actor-critic reinforcement learning: Standard and natural policy gradients. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, 42(6):1291–1307, 2012
J11.
Gabriel A. D. Lopes and Daniel E. Koditschek. Visual servoing for nonholonomically constrained three degree of freedom kinematic systems. International Journal of Robotics Research, 26(7):715–736, 2007
J12.
Gabriel A. D. Lopes and Daniel E. Koditschek. Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation. Journal Advanced Robotics, 19(10):1081–1096, 2005
J13.
Jorge Ambrósio, Gabriel A. D. Lopes, José Costa, and Joã o Abrantes. Spatial reconstruction of the human motion based on images of a single camera. Journal of Biomechanics, 34(9):1217–1221, 2001
J14.
Jorge Ambrósio, João Abrantes, and Gabriel A. D. Lopes. Spatial reconstruction of human motion by means of a single camera and a biomechanical model. Human Movement Science, 20(6):829–851, 2001

Papers in edited Books

B1.
Suzanne Weller, Joost Broekens, and Gabriel A. D. Lopes. The effect of gravity on perceived affective quality of robot movement. In Abe and Laumond, editors, Dance Notations and Robot Motion, Tracts in Advanced Robotics (STAR). Springer, 2015
B2.
Gabriel A. D. Lopes, Esmaeil Najafi, Subramanya P. Nageshrao, and Robert Babuška. Learning complex behaviors via sequential composition and passivity-based control. In Busoniu and Levente, editors, Visual Perception and Intelligent Control for Single and Multiple Robots. Springer, 2015
B3.
Gabriel A. D. Lopes. Abstractions for legged locomotion. In Kozlowski, Tokhi, and Virk, editors, Mobile Service Robots. World Scientific, 2014
B4.
Gabriel A. D. Lopes and Daniel E. Koditschek. Navigation functions for dynamical, nonholonomically constrained mechanical systems. In Arimoto, editor, Advances in Robot Control, pages 135–155. Springer Berlin Heidelberg, 2006
B5.
Jorge Ambrósio, Gabriel A. D. Lopes, and Miguel Silva. Reconstruction of the Spatial Motion of Biomechanical Systems by Means of Computer Vision and Multibody Dynamics, chapter Advances in Multibody Systems and Mechatronics. Gerhard-Mercator-Universität Duisburg, 1999

Conference Proceedings and Workshops

C1.
Paolo Forni, Gabriel A. D. Lopes, and Dimitri Jeltsema. Adaptive trajectory tracking and rejection of sinusoidal disturbances with unknown frequencies for uncertain mechanical systems. In Proceedings of the IEEE Conference on Decision and Control, 2015
C2.
Paolo Forni, Dimitri Jeltsema, and Gabriel A. D. Lopes. Port-hamiltonian formulation of rigid-body attitude control. In Proceedings of the IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2015
C3.
Subramanya P. Nageshrao, Gabriel A. D. Lopes, Dimitri Jeltsema, and Robert Babuška. Control by interconnection of a manipulator arm using reinforcement learning. In Proceedings of the IEEE Multi-Conference on Systems and Control, 2015
C4.
Mohammad Shahbazi, Robert Babuška, and Gabriel A. D. Lopes. Analytical approximation for the double-stance phase of a walking robot. In Proceedings of the IEEE Conference on Robotics and Automation, pages 5754–5760, 2015
C5.
Mohammad Shahbazi and Gabriel A. D. Lopes. A max-plus based synchronization controller for multiple spring-mass hoppers. In Proceedings of the IEEE Conference on Decision and Control, 2015
C6.
Esmaeil Najafi, Robert Babuška, and Gabriel A. D. Lopes. An application of sequential composition control to cooperative systems. In Proceedings of the International Workshop on Robot Motion and Control. IEEE, 2015
C7.
Subramanya P. Nageshrao, Gabriel A. D. Lopes, Dimitri Jeltsema, and Robert Babuška. Interconnection and damping assignment control via reinforcement learning. In Proceedings of the IFAC World Congress, volume 19, pages 1760–1765, 2014
C8.
Mohammad Shahbazi, Gabriel A. D. Lopes, and Robert Babuška. Automated transitions between walking and running in legged robots. In Proceedings of the IFAC World Congress, volume 19, pages 2171–2176, 2014
C9.
Esmaeil Najafi, Gabriel A. D. Lopes, Subramanya P. Nageshrao, and Robert Babuška. Rapid learning in sequential composition control. In Proceedings of the IEEE Conference on Decision and Control, pages 5171–5176, 2014
C10.
Esmaeil Najafi, Gabriel A. D. Lopes, and Robert Babuška. Balancing a legged robot using state-dependent Riccati equation control. In Proceedings of the IFAC World Congress, volume 19, pages 2177–2182, 2014
C11.
Gabriel A. D. Lopes and Fankai Zhang. Design and sensing of a flexible robot leg. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4072–4077, 2013
C12.
Ton van den Boom, Gabriel A. D. Lopes, and Bart De Schutter. A modeling framework for model predictive scheduling using switching max-plus linear models. In Proceedings of the IEEE Conference on Decision and Control, pages 5456–5461, 2013
C13.
Mohammad Shahbazi, Gabriel A. D. Lopes, and Robert Babuška. Observer-based postural balance control for humanoid robots. In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pages 891–896, 2013
C14.
Esmaeil Najafi, Gabriel A. D. Lopes, and Robert Babuška. Reinforcement learning for sequential composition control. In Proceedings of the IEEE Conference on Decision and Control, pages 7265–7270, 2013
C15.
Fankai Zhang, Gabriel A. D. Lopes, and Robert Babuška. Stiffness and damping scheduling for legged locomotion. In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pages 1801–1806, 2013
C16.
Gabriel A. D. Lopes, Bart De Schutter, and Ton van den Boom. On the synchronization of cyclic discrete-event systems. In Proceedings of the IEEE Conference on Decision and Control, pages 5810–5815, 2012
C17.
Maarten Vaandrager, Robert Babuška, Lucian Buşoniu, and Gabriel A. D. Lopes. Imitation learning with non-parametric regression. In IEEE International Conference on Automation Quality and Testing Robotics, pages 91–96, 2012
C18.
Gabriel A. D. Lopes, Bart Kersbergen, Ton van den Boom, Bart De Schutter, and Robert Babuška. On the eigenstructure of a class of max-plus linear systems. In Proceedings of the IEEE Conference on Decision and Control, pages 1823–1828, 2011
C19.
Bart Kersbergen, Gabriel A. D. Lopes, Ton van den Boom, Bart De Schutter, and Robert Babuška. Optimal gait switching for legged locomotion. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2729–2734, 2011
C20.
David van der Lijn, Gabriel A. D. Lopes, and Robert Babuška. Motion estimation based on predator/prey vision. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3435–3440, 2010
C21.
Gabriel A. D. Lopes, Ton van den Boom, Bart De Schutter, and Robert Babuška. Modeling and control of legged locomotion via switching max-plus systems. In Proc. of the Int. Workshop on Discrete Event Systems, pages 392–397, 2010
C22.
Gabriel A. D. Lopes, Robert Babuška, Bart De Schutter, and Ton van den Boom. Switching max-plus models for legged locomotion. In Proceedings of the IEEE International Conference on Robotics and Biomimetics, pages 221–226, 2009
C23.
Maarten Vaandrager, Robert Babuška, Lucian Buşoniu, and Gabriel A. D. Lopes. Model-based imitation for learning control. In Philips Conference on Applications of Control Technology, pages 83–87, 2009
C24.
Gabriel A. D. Lopes and Daniel E. Koditschek. Level sets and stable manifold approximations for perceptually driven nonholonomically constrained navigation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 2, pages 1481–1486, 2004
C25.
Joel Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, and Daniel E. Koditschek. Automated gait adaptation for legged robots. In Proceedings of the IEEE Conference on Robotics and Automation, volume 3, pages 2153–2158, 2004
C26.
Gabriel A. D. Lopes and Daniel E. Koditschek. Visual registration and navigation using planar features. In Proceedings of the IEEE Conference on Robotics and Automation, volume 3, pages 3935–3940, 2003
C27.
Noah J Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek. Rigid body visual servoing using navigation functions. In Proceedings of the IEEE Conference on Decision and Control, volume 4, pages 3920–3926, 2000
C28.
Jorge Ambrósio, Miguel Silva, and Gabriel A. D. Lopes. Reconstrução do movimento humano e dinâmica inversa utilizando ferramentas numéricas baseadas em sistemas multicorpo. In Proceedings of the IV Congreso de Métodos Numéricos en Ingeniería, Sevilha, pages 7–10, 1999
C29.
Jorge Ambrósio, Gabriel A. D. Lopes, and José Costa. Human spatial attitude control by means of zero momentum turns. In DYCONS99 Dynamics and Control of Multibody Systems, Chateau Laurier, Ottawa, Canada, 1999
C30.
Gabriel A. D. Lopes, José Costa, Jorge Ambrósio, and João Abrantes. Three-dimensional reconstruction of the human motion based on images from a single camera. In Hartmut Riheb, editor, Proceedings of XVI Symposium on Biomechanics in Sports, Konstanz, Germany, 1998