Gordon Cheng
146 publications
11 venues
H Index 35
Affiliation
Technical University Munich, GermanyLinks
| Name | Venue | Year | citations |
|---|---|---|---|
Multi-Modal Graph Convolutional Network with Sinusoidal Encoding for Robust Human Action Segmentation.
|
IROS | 2025 | 0 |
| Skin-Machine Interface with Multimodal Contact Motion Classifier.
|
Humanoids | 2025 | 0 |
| Human-Inspired Soft Anthropomorphic Hand System for Neuromorphic Object and Pose Recognition Using Multimodal Signals.
|
IROS | 2025 | 0 |
| Transporting Heavy Payloads with a Humanoid riding a Hoverboard.
|
IROS | 2025 | 0 |
| Towards Open-World Human Action Segmentation Using Graph Convolutional Networks.
|
IROS | 2025 | 2 |
| RNN-Based Visual Guidance for Enhanced Sense of Agency in Teleoperation With Time-Varying Delays.
|
IEEE Robotics and Automation Letters | 2024 | 1 |
| Passivity-Based Teleoperation With Variable Rotational Impedance Control.
|
IEEE Robotics and Automation Letters | 2024 | 5 |
| Real-time Coordinated Motion Generation: A Hierarchical Deep Predictive Learning Model for Bimanual Tasks.
|
IROS | 2024 | 2 |
| Contact Stability Control of Stepping Over Partial Footholds Using Plantar Tactile Feedback.
|
IROS | 2024 | 2 |
| A Bio-Plausible Approach to Realizing Heat-Evoked Nociceptive Withdrawal Reflex on the Upper Limb of a Humanoid Robot.
|
IEEE Robotics and Automation Letters | 2023 | 4 |
| Learning Causal Relationships of Object Properties and Affordances Through Human Demonstrations and Self-Supervised Intervention for Purposeful Action in Transfer Environments.
|
IEEE Robotics and Automation Letters | 2022 | 3 |
| In-Hand Admittance Controller for a Robotic Assistive Walker Based on Tactile Grasping Feedback.
|
IEEE Robotics and Automation Letters | 2022 | 7 |
| Preemptive Foot Compliance to Lower Impact During Biped Robot Walking Over Unknown Terrain.
|
IEEE Robotics and Automation Letters | 2022 | 10 |
| Admittance Model Optimization for Gait Balance Assistance of a Robotic Walker: Passive Model-based Mechanical Assessment.
|
ICRA | 2022 | 3 |
| Optimal Order Pick-and-Place of Objects in Cluttered Scene by a Mobile Manipulator.
|
IEEE Robotics and Automation Letters | 2021 | 14 |
| Second-order Kinematics for Floating-base Robots using the Redundant Acceleration Feedback of an Artificial Sensory Skin.
|
ICRA | 2020 | 2 |
| Real-Time Robot Reach-To-Grasp Movements Control Via EOG and EMG Signals Decoding.
|
ICRA | 2020 | 5 |
| The Robot as Scientist: Using Mental Simulation to Test Causal Hypotheses Extracted from Human Activities in Virtual Reality.
|
IROS | 2020 | 19 |
| Online Configuration Selection for Redundant Arrays of Inertial Sensors: Application to Robotic Systems Covered with a Multimodal Artificial Skin.
|
IROS | 2020 | 0 |
| TACTO-Selector: Enhanced Hierarchical Fusion of PBVS with Reactive Skin Control for Physical Human-Robot Interaction.
|
ICRA | 2020 | 4 |
| Robot Self/Other Distinction: Active Inference Meets Neural Networks Learning in a Mirror.
|
ECAI | 2020 | 39 |
| Attention-based active visual search for mobile robots.
|
Autonomous Robots | 2020 | 0 |
| A survey on semantic-based methods for the understanding of human movements.
|
Robotics and Autonomous Systems | 2019 | 21 |
| Multi-Contacts Force-Reactive Walking Control during Physical Human-Humanoid Interaction.
|
Humanoids | 2019 | 7 |
| Whole-Body Active Compliance Control for Humanoid Robots with Robot Skin.
|
ICRA | 2019 | 33 |
| Evaluation of a Large Scale Event Driven Robot Skin.
|
IEEE Robotics and Automation Letters | 2019 | 10 |
| Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance.
|
IEEE Robotics and Automation Letters | 2019 | 13 |
| CHiMP: A Contact based Hilbert Map Planner.
|
ICRA | 2019 | 0 |
| Pressure-Driven Body Compliance Using Robot Skin.
|
IEEE Robotics and Automation Letters | 2019 | 13 |
| Tactile-based active object discrimination and target object search in an unknown workspace.
|
Autonomous Robots | 2019 | 0 |
| Efficient Event-Driven Forward Kinematics of Open Kinematic Chains with O(Log n) Complexity.
|
ICRA | 2018 | 0 |
| Efficient Distributed Torque Computation for Large Scale Robot Skin.
|
IROS | 2018 | 9 |
| Adaptive Robot Body Learning and Estimation Through Predictive Coding.
|
IROS | 2018 | 77 |
| Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback.
|
Humanoids | 2018 | 25 |
| A Robust and Efficient Dynamic Network Protocol for a large-scale artificial robotic skin.
|
IROS | 2018 | 7 |
| Adaptive Friction Compensation for Humanoid Robots without Joint-Torque Sensors.
|
Humanoids | 2018 | 3 |
| Using intentional contact to achieve tasks in tight environments.
|
ICRA | 2017 | 3 |
| Transferring skills to humanoid robots by extracting semantic representations from observations of human activities.
|
Artificial Intelligence | 2017 | 138 |
| Efficient event-driven reactive control for large scale robot skin.
|
ICRA | 2017 | 12 |
| On-line simultaneous learning and recognition of everyday activities from virtual reality performances.
|
IROS | 2017 | 48 |
| Tactile-based object center of mass exploration and discrimination.
|
Humanoids | 2017 | 32 |
| O (logn) algorithm for forward kinematics under asynchronous sensory input.
|
ICRA | 2017 | 3 |
| Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.
|
ICRA | 2017 | 26 |
| TOMM: Tactile omnidirectional mobile manipulator.
|
ICRA | 2017 | 47 |
| A Tactile-Based Framework for Active Object Learning and Discrimination using Multimodal Robotic Skin.
|
IEEE Robotics and Automation Letters | 2017 | 63 |
| Extracting general task structures to accelerate the learning of new tasks.
|
Humanoids | 2016 | 16 |
| From multi-modal tactile signals to a compliant control.
|
Humanoids | 2016 | 0 |
| Event-based signaling for large-scale artificial robotic skin - realization and performance evaluation.
|
IROS | 2016 | 38 |
| General recognition models capable of integrating multiple sensors for different domains.
|
Humanoids | 2016 | 8 |
| Re-using prior tactile experience by robotic hands to discriminate in-hand objects via texture properties.
|
ICRA | 2016 | 30 |
| Tactile-based compliance with hierarchical force propagation for omnidirectional mobile manipulators.
|
Humanoids | 2016 | 15 |
| A neuro-based method for detecting context-dependent erroneous robot action.
|
Humanoids | 2016 | 18 |
| Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach.
|
Humanoids | 2016 | 2 |
| Tactile-based manipulation of deformable objects with dynamic center of mass.
|
Humanoids | 2016 | 79 |
| Robust second order sliding mode control for 6D position based visual servoing with a redundant mobile manipulator.
|
Humanoids | 2015 | 9 |
| Event-based signaling for reducing required data rates and processing power in a large-scale artificial robotic skin.
|
IROS | 2015 | 34 |
| Robust semantic representations for inferring human co-manipulation activities even with different demonstration styles.
|
Humanoids | 2015 | 20 |
| Online prediction of activities with structure: Exploiting contextual associations and sequences.
|
Humanoids | 2015 | 2 |
| In-hand object recognition via texture properties with robotic hands, artificial skin, and novel tactile descriptors.
|
Humanoids | 2015 | 65 |
| Humanoids learn object properties from robust tactile feature descriptors via multi-modal artificial skin.
|
Humanoids | 2014 | 38 |
| A concurrent real-time biologically-inspired visual object recognition system.
|
ICRA | 2014 | 1 |
| Automatic segmentation and recognition of human activities from observation based on semantic reasoning.
|
IROS | 2014 | 35 |
| Realising Herbert: An affordable design approach of an anthropometrically correct compliant humanoid robot.
|
Humanoids | 2014 | 4 |
| 3D spatial self-organization of a modular artificial skin.
|
IROS | 2014 | 26 |
| Learning diverse motor patterns with a single multi-layered multi-pattern CPG for a humanoid robot.
|
Humanoids | 2014 | 9 |
| Bootstrapping humanoid robot skills by extracting semantic representations of human-like activities from virtual reality.
|
Humanoids | 2014 | 21 |
| Hierarchical inequality task specification for indirect force controlled robots using quadratic programming.
|
IROS | 2014 | 5 |
| A fast and scalable system for visual attention, object based attention and object recognition for humanoid robots.
|
Humanoids | 2014 | 6 |
| A new method for solving 6D Image-Based Visual Servoing with virtual composite camera model.
|
Humanoids | 2014 | 4 |
| Automatic robot kinematic modeling with a modular artificial skin.
|
Humanoids | 2014 | 12 |
| Constrained manipulation in unstructured environment utilizing hierarchical task specification for indirect force controlled robots.
|
ICRA | 2014 | 6 |
| When to engage in interaction - And how? EEG-based enhancement of robot's ability to sense social signals in HRI.
|
Humanoids | 2014 | 0 |
| A practical approach to generalized hierarchical task specification for indirect force controlled robots.
|
IROS | 2013 | 7 |
| A general tactile approach for grasping unknown objects with a humanoid robot.
|
IROS | 2013 | 12 |
| Integrating discrete force cells into multi-modal artificial skin.
|
Humanoids | 2012 | 41 |
| Automatic face replacement for a humanoid robot with 3D face shape display.
|
Humanoids | 2012 | 8 |
| A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms.
|
IROS | 2012 | 4 |
| 3D surface reconstruction for robotic body parts with artificial skins.
|
IROS | 2012 | 26 |
| Open-loop self-calibration of articulated robots with artificial skins.
|
ICRA | 2012 | 27 |
| "Mask-Bot 2i": An active customisable robotic head with interchangeable face.
|
Humanoids | 2012 | 0 |
| Fast adaptation for effect-aware pushing.
|
Humanoids | 2011 | 27 |
| Extracting and generalizing primitive actions from sparse demonstration.
|
Humanoids | 2011 | 6 |
| Self-organizing sensory-motor map for low-level touch reactions.
|
Humanoids | 2011 | 14 |
| Accelerometer based robotic joint orientation estimation.
|
Humanoids | 2011 | 11 |
| "Mask-bot": A life-size robot head using talking head animation for human-robot communication.
|
Humanoids | 2011 | 0 |
| A control strategy for operating unknown constrained mechanisms.
|
ICRA | 2010 | 25 |
| Prediction of action outcomes using an object model.
|
IROS | 2010 | 12 |
| Lightweight high performance integrated actuator for humanoid robotic applications: Modeling, design & realization.
|
ICRA | 2009 | 19 |
| Experience-based learning mechanism for neural controller adaptation: Application to walking biped robots.
|
IROS | 2009 | 11 |
| Humanoid technologies: "Know-how".
|
Robotics and Autonomous Systems | 2008 | 3 |
| Humanoid batting with bipedal balancing.
|
Humanoids | 2008 | 7 |
| Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot.
|
IJRR | 2008 | 296 |
| Inverse kinematics with floating base and constraints for full body humanoid robot control.
|
Humanoids | 2008 | 74 |
| Low-dimensional feature extraction for humanoid locomotion using kernel dimension reduction.
|
ICRA | 2008 | 24 |
| CB: Exploring neuroscience with a humanoid research platform.
|
ICRA | 2008 | 24 |
| Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator.
|
ICRA | 2008 | 7 |
| Simulation and design of 3-DOF eye mechanism using Listing's law.
|
Humanoids | 2008 | 0 |
| A simple approach to diverse humanoid locomotion.
|
Humanoids | 2007 | 5 |
| Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks.
|
ICRA | 2007 | 16 |
| Improving humanoid locomotive performance with learnt approximated dynamics via Gaussian processes for regression.
|
IROS | 2007 | 27 |
| Exploiting similarities for robot perception.
|
IROS | 2007 | 4 |
| Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids.
|
Humanoids | 2007 | 9 |
| Disturbance Rejection for Biped Humanoids.
|
ICRA | 2007 | 64 |
| Extensive Human Training for Robot Skill Synthesis: Validation on a Robotic Hand.
|
ICRA | 2007 | 14 |
| Synthesizing goal-directed actions from a library of example movements.
|
Humanoids | 2007 | 23 |
| Unconstrained Real-time Markerless Hand Tracking for Humanoid Interaction.
|
Humanoids | 2006 | 40 |
| Gravity Compensation and Full-Body Balancing for Humanoid Robots.
|
Humanoids | 2006 | 54 |
| Passivity-Based Full-Body Force Control for Humanoids and Application to Dynamic Balancing and Locomotion.
|
IROS | 2006 | 77 |
| Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking.
|
ICRA | 2006 | 97 |
| Coaching: An Approach to Efficiently and Intuitively Create Humanoid Robot Behaviors.
|
Humanoids | 2006 | 38 |
| CB: A Humanoid Research Platform for Exploring NeuroScience.
|
Humanoids | 2006 | 252 |
| Dexterous Skills Transfer by Extending Human Body Schema to a Robotic Hand.
|
Humanoids | 2006 | 31 |
| Learning feature representations for an object recognition system.
|
Humanoids | 2006 | 10 |
| Learning Similar Tasks From Observation and Practice.
|
IROS | 2006 | 37 |
| Foveated Vision Systems with two Cameras per Eye.
|
ICRA | 2006 | 68 |
| Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid.
|
AAAI | 2005 | 46 |
| Imitation bootstrapping: experiments on a robotic hand.
|
Humanoids | 2005 | 17 |
| Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO.
|
ICRA | 2005 | 148 |
| Distributed visual attention on a humanoid robot.
|
Humanoids | 2005 | 52 |
| Real-time stereo facial feature tracking: mimicking human mouth movement on a humanoid robot head.
|
Humanoids | 2005 | 7 |
| Poincaré-Map-Based Reinforcement Learning For Biped Walking.
|
ICRA | 2005 | 0 |
| An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control.
|
ICRA | 2004 | 125 |
| Acquisition of a biped walking pattern using a Poincare map.
|
Humanoids | 2004 | 6 |
| A Simple Reinforcement Learning Algorithm for Biped Walking.
|
ICRA | 2004 | 109 |
| A full body human motion capture system using particle filtering and on-the-fly edge detection.
|
Humanoids | 2004 | 31 |
| Learning tasks from observation and practice.
|
Robotics and Autonomous Systems | 2004 | 137 |
| A framework for learning biped locomotion with dynamical movement primitives.
|
Humanoids | 2004 | 44 |
| Discovering optimal imitation strategies.
|
Robotics and Autonomous Systems | 2004 | 201 |
| Learning from demonstration and adaptation of biped locomotion.
|
Robotics and Autonomous Systems | 2004 | 487 |
| An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives.
|
IROS | 2004 | 16 |
| Support vector machines and Gabor kernels for object recognition on a humanoid with active foveated vision.
|
IROS | 2004 | 19 |
| Combining peripheral and foveal humanoid vision to detect, pursue, recognize and act.
|
IROS | 2003 | 32 |
| Learning from Observation and from Practice Using Behavioral Primitives.
|
ISRR | 2003 | 17 |
| Learning implicit models during target pursuit.
|
ICRA | 2003 | 3 |
| Discovering imitation strategies through categorization of multi-dimensional data.
|
IROS | 2003 | 26 |
| Learning to select primitives and generate sub-goals from practice.
|
IROS | 2003 | 12 |
| Humanoid robot learning and game playing using PC-based vision.
|
IROS | 2002 | 60 |
| Continuous humanoid interaction: : An integrated perspective - gaining adaptivity, redundancy, flexibility - in one.
|
Robotics and Autonomous Systems | 2001 | 46 |
| ETL-Humanoid-A high-performance full body humanoid system for versatile actions.
|
IROS | 2001 | 16 |
| ETL-Humanoid: A Research Vehicle for Open-Ended Action Imitation.
|
ISRR | 2001 | 35 |
| Supervised Autonomy: A Framework for Human-Robot Systems Development.
|
Autonomous Robots | 2001 | 0 |
| Development of a high-performance upper-body humanoid system.
|
IROS | 2000 | 18 |
| Complex Continuous Meaningful Humanoid Interaction: A Multi Sensory-Cue Based Approach.
|
ICRA | 2000 | 45 |
| Goal-Oriented Behaviour-Based Visual Navigation.
|
ICRA | 1998 | 17 |
| Supervised autonomy: a paradigm for teleoperating mobile robots.
|
IROS | 1997 | 26 |
| Real-time visual behaviours for navigating a mobile robot.
|
IROS | 1996 | 53 |