4. Publications

Manuscripts under review:

  1. D. Baek, B. Peng, S. Gupta, J. Ramos, “Learning Inertial Parameter Identification of Unknown Object with Humanoid Robot using Sim-to-Real Adaptation“, 2024
  2. D. Baek, Y. Sim, A. Purushottam, S. Gupta, J. Ramos, “Real-to-Sim Adaptation via High-Fidelity Simulation to Control a Wheeled-Humanoid Robot with Unknown Dynamics”, 2024
  3. K. Murphy, J. Soares, J. Yim, D. Nottage, A. Soylemezoglu, J. Ramos, “Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing”, 2024.

Journal publications:

  1. A. Purushottam, Y. Jung, X. Christopher, and J. Ramos, “Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid“, IEEE Robotics and Automation Letters, 2024. Video: https://youtu.be/QqcJsSH0YjY?si=uI7DdqIZqiF93QRU
  2. D. Baek, Y. Chang, J. Ramos “A Study of Shared-Control with Force Feedback for Obstacle Avoidance in Whole-body Telelocomotion of a Wheeled Humanoid“, IEEE Robotics and Automation Letters, 2023. Video: https://youtu.be/UZNC3JiCCDw
  3. Y. Jung and J. Ramos, “A Large Force Haptic Interface with Modular Linear Actuators“, Actuators 2023, 12(7), 293; https://doi.org/10.3390/act12070293. Video: https://youtu.be/E-qoVcBS_cA
  4. K. Darvish, L. Penco, J. Ramos, R. Cisneros Limon J. Pratt, E. Yoshida, S. Ivaldi, D. Pucci, “Teleoperation of Humanoid Robots: A Survey,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2023.3236952.
  5. Y. Sim and J. Ramos, “Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots,” in IEEE Robotics and Automation Letters, 2022, doi: 10.1109/LRA.2022.3188122. Video: https://youtu.be/mn8tCtYHzHI
  6. S. Wang and J. Ramos, “Dynamic Locomotion Teleoperation of a Reduced Model of a Wheeled Humanoid Robot Using a Whole-Body Human-Machine Interface,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 1872-1879, April 2022, doi: 10.1109/LRA.2021.3138521. (presented at ICRA 2022).
  7. J. Ramos and S. Kim, “Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation”, Vol. 4, Issue 35, Science Robotics, 2019.
  8. J. Ramos and S. Kim, “Dynamic Bilateral Teleoperation of the Cart-Pole: A Study Toward the Synchronization of Human Operator and Legged Robot,” in IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3293-3299, Oct. 2018 (presented at IROS 2018).
  9. J. Ramos and S. Kim, “Humanoid Dynamic Synchronization Through Whole-Body Bilateral Feedback Teleoperation,” in IEEE Transactions on Robotics, vol. 34, no. 4, pp. 953-965, Aug. 2018 (presented at ICRA 2019).

Conference Proceedings and Presentations:

  1. S. Song, N. Marin, C. Xiao, M. Mansouri, J. Ramos, Y. Chen, A. Bleakney, D. Mcdonagh, W. Norris, J. Elliott, P. Malik, and E. Hsiao-Wecksler. “Driving a Ballbot Wheelchair with Hands-Free Torso Control“. 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’24). https://doi.org/10.1145/3610977.3634957
  2. Y. Sim, G. Colin, and J. Ramos, “Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Optimization“, IEEE-RAS 22nd International Conference on Humanoid Robots, 2023
  3. G. Colin, J. Byrnes, Y. Sim, P. Wensing, and J. Ramos, “Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation“, IEEE-RAS 22nd International Conference on Humanoid Robots, 2023
  4. C. Xiao, M. Mansouri, D. Lam, J. Ramos, and E. T. Hsiao-Wecksler, “Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload“, IEEE IROS, 2023
  5. S. Song, Y. Guo, C. Yuan, N. Marin, C. Xiao, A. Bleakney, J. Elliott, J. Ramos, E. Hsiao-Wecksler, “Design and Validation of a Torso-DynamicsEstimation System (TES) for Hands-Free Physical Human-Robot Interaction“, IEEE RO-MAN, 2023
  6. G. Colin, Y. Sim, and J. Ramos, “Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion“, IEEE International Conference on Robotics and Automation (ICRA), 2022. Video: https://youtu.be/WHsDsnbL8uU
  7. D. Baek, A. Purushottam, and J. Ramos, “Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
  8. A. Purushottam, Y. Jung, K. Murphy, D. Baek, and J. Ramos, “Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. Video: https://youtu.be/aY3463d03Ks
  9. Youngwoo Sim and Joao. Ramos, “On the design of the dynamic humanoid Tello”, Dynamic Walking 2022.
  10. Yeongtae Jung, Sunyu Wang, Kevin Murphy, Amartya Purushottam, and Joao Ramos, “A Whole-Body Human-Machine Interface for Bilateral Teleoperation of Wheeled Humanoid Robots“, IROS 2021 Workshop on Human-like Behavior and Cognition in Robots, 2021 (best poster award).
  11. Song, S.Y., Xiao, C., Chen, Y., Ramos, J., Hsiao-Wecksler, E.T. “Hands-free Interface for a Self-balancing Omnidirectional Riding Ballbot,” 45th American Society of Biomechanics Annual Meeting (virtual), Atlanta, GA, August 10-13, 2021.
  12. Joao Ramos, Yanran Ding, Young-woo Sim, Kevin Murphy, and Daniel Block, “HOPPY: An Open-source Kit for Education with Dynamic Legged Robots“, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),  2021
  13. Sunyu Wang, Kevin Murphy, Dillan Kenney, and Joao Ramos, “A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests“, IEEE International Conference on Robotics and Automation (ICRA), 2021 (accepted)
    Video: https://youtu.be/i96plYqnk2A 
  14. Young-woo Sim and Joao Ramos, “The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots”, IEEE International Conference on Robotics and Automation (ICRA), 2021 (accepted)
  15. Ramos, B. Katz, M. Y. M. Chuah and S. Kim, “Facilitating Model-Based Control Through Software-Hardware Co-Design,” 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 566-572.
  16. Ramos and S. Kim, “Improving humanoid posture Teleoperation by Dynamic Synchronization through operator motion anticipation,” IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 5350-5356.
  17. Ramos, A. Wang and S. Kim, “Robot-human balance state transfer during full-body humanoid teleoperation using Divergent Component of Motion dynamics,” IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 1587-1592.
  18. Ramos, A. Wang, W. Ubellacker, J. Mayo and S. Kim, “A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system,” IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, 2015, pp. 844-850.
  19. A. Wang, J. Ramos, J. Mayo, W. Ubellacker, J. Cheung and S. Kim, “The HERMES humanoid system: A platform for full-body teleoperation with balance feedback,” IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, 2015, pp. 730-737.
  20. Ramos, A. Wang and S. Kim, “A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 4229-4235.
  21. Joao Luiz A. S. Ramos, and Marco A. Meggiolaro, “Use of Surface Electromyography for Human Amplification Using an Exoskeleton Driven by Artificial Pneumatic Muscles”, 5th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Sao Paulo, Brazil, August 12-15, 2014.
  22. Joao Luiz A. S. Ramos, and Marco A. Meggiolaro, “Use of Surface Electromyography to Control an Active Upper Limb Exoskeleton Actuated by Pneumatic Artificial Muscles and Optimized with Genetic Algorithms”, 22nd International Congress of Mechanical Engineering, Ribeirao Preto, Brazil, November 3 – 7, 2013.
  23. Joao Luiz A. S. Ramos, and Marco A. Meggiolaro, “Torque Control of an Active Upper Limb Exoskeleton with Pneumatic Artificial Muscles Using sEMG and a Modified Hill-Type Muscle Model”, 4th National Meeting of Biomechanical Engineering, Vitoria, ES, Brazil, April 25th – 27th, 2013.
  24. Joao Luiz A. S. Ramos, and Marco A. Meggiolaro, “Drum Shape Design and Optimization using Genetic Algorithms”, Robogames Scientific Symposium, San Mateo, CA, 2012.

Magazine Articles:

  1. J. Ramos, A. Wang and S. Kim, “The brain in the machine: MIT is building robots that use full-body teleoperation to move with greater agility,” in IEEE Spectrum, vol. 56, no. 6, pp. 22-27, June 2019, doi: 10.1109/MSPEC.2019.8727142.
  2. IEEE Spectrum “This MIT Robot Wants to Use Your Reflexes to Walk and Balance“, 2019.
  3. IEEE Spectrum “MIT Robot Steals Human Brains to Help it Balance”, 2015.
  4. MIT MechE Connects (cover): “Robotics in the 21st Century – Building Robots for the People”, 2015.