PUBLICATIONS

25. C. Karakasis, I. Poulakakis, and P. Artemiadis, “A Biomechanic-inspired and Energy-based Framework for Robust Dynamic Bipedal Walking over Compliant Terrain,” Frontiers in Robotics and AI; in review.
24. K. S. Narkhede, A. M. Kulkarni, D. A. Thanki and I. Poulakakis, “A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments,” in IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 11831-11838, Oct. 2022.
23. P. Chand, S. Veer and I. Poulakakis, “Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees,” in IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 4149-4156, April 2022.
22. S. Veer and I. Poulakakis “Switched Systems with Multiple Equilibria Under Disturbances: Boundedness and Practical Stability,” in the IEEE Transactions of Automatic Control, Vol. 65, No. 6, pp. 2371-2386, June 2020. Early versions available at arXiv:1809.02750v1 [cs.SY]
21. S. Veer, Rakesh, and I. Poulakakis “Input-to-State Stability of Periodic Orbits of Systems With Impulse Effects via Poincar\’e Analysis,” in the IEEE Transactions of Automatic Control, Vol. 64, No. 11, pp. 4583 – 4598, November 2019. Early versions available at arXiv:1712.03291v2 [cs.SY] .
20. X. Liu, A. Rossi, and I. Poulakakis “A Switchable Parallel Elastic Actuator and its Application to Leg Design for Running Robots,” in the IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 6, pp. 2681-2692, December 2018.
19. I. Yadav, C. D. Pahlajani, H. G. Tanner, and I. Poulakakis “Information-Sharing and Decision-Making in Networks of Radiation Detectors,” in Autonomous Robots, Vol. 42, No. 8, pp. 1715-1730, December 2018.
18. K. Karydis, I. Poulakakis, and H. G. Tanner, “A Navigation and Control Strategy for Miniature Legged Robots,” in the IEEE Transactions of Robotics, Vol. 33, No. 1, pp. 214-219, February 2017.
17. Q. Cao, and I. Poulakakis, “Quadrupedal Running with a Flexible Torso: Control and Speed Transitions with Sums-of-Squares Verification,” invited in Artificial Life and Robotics: Special Issue on Swarm Behavior and Bio-Inspired Robotics. Vol. 21, No. 4, pp. 384-392, December 2016.
16. I. Poulakakis, G. F. Young, L. Scardovi, and N. Leonard, “Information Centrality and Ordering of Nodes for Accuracy in Noisy Decision-Making Networks,” in the IEEE Transactions of Automatic Control, Vol. 61, No. 4, pp. 1040-1046, April 2016. Extended version available at arXiv:1210.4235v1 [cs.SC] .
15. Q. Cao, and I. Poulakakis, “On the Energetics of Quadrupedal Running: Predicting the Metabolic Cost of Transport via a Flexible-torso Model,” in the Bioinspiration and Biomimetics. Vol. 10, No. 5, 056008 (20pp), September 2015.
14. K. Karydis, I. Poulakakis, J. Sun, and H. B. Tanner, “Probabilistically Valid Stochastic Extensions of Deterministic models for Systems with Uncertainty,” in the International Journal for Robotics Research, Vol. 34, No. 10, pp. 1278-1295, August 2015. Appeared online: doi = {10.1177 / 0278364915576336}, May 28 2015.
13. K. Karydis, Y. Liu, I. Poulakakis, and H. B. Tanner, “A Template Candidate for Miniature Legged Robots in Quasi-static Motion,” in Autonomous Robots, Vol. 38, No. 2, pp.193-209, February 2015. Appeared online: doi={10.1007/s10514-014-9401-4}.
12. C. D. Pahlajani, J. Sun, I. Poulakakis, H. G. Tanner, “Performance Bounds for Mismatched Decision Schemes with Poisson Process Observations,” in Systems and Control Letters, Vol. 75, pp. 69-76, January 2015.
11. C. Pahlajani, J. Sun, I. Poulakakis, and H. G. Tanner, “Error Probability Bounds for Nuclear Detection: Improving Accuracy through Controlled Mobility,” in Automatica, Vol. 50, No. 10, pp. 2470-2481, October 2014.
10. C. Pahlajani, I. Poulakakis, and H. B. Tanner, “Networked Decision Making for Poisson Processes: Application to Nuclear Detection,” in the IEEE Transactions on Automatic Control, Vol. 59, No. 1, pp. 193-198, January 2014.
9. Q. Cao, and I. Poulakakis, “Quadrupedal Bounding with a Segmented Flexible Torso: Passive Stability and Feedback Control,” in Bioinspiration and Biomimetics, Vol. 8, No. 4, 046007 (16pp), December 2013.
8. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, “Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL,” in the International Journal of Robotics Research, Vol. 32, No. 3, pp. 324-345, March 2013.
7. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, “A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL,” in the International Journal of Robotics Research, Vol. 30, No. 9, pp. 1170-1193, Aug. 2011.
6. J. A. Smith, I. Poulakakis, M. Trentini, and I. Sharf, “Bounding with Active Wheels and Liftoff Velocity Adjustment,” in the International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, Apr. 2010.
5. I. Poulakakis, and J. W. Grizzle, “The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper,” in the IEEE Transactions on Automatic Control, Vol. 54, No. 8, pp. 1779-1793, Aug. 2009.
4. I. Poulakakis, E. Papadopoulos, and M. Buehler, “On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait,” in the International Journal of Robotics Research, Vol. 25, No. 7, pp. 669-687, July 2006.
3. E. Papadopoulos, I. Papadimitriou, and I. Poulakakis, “Polynomial-based Obstacle Avoidance Techniques for Nonholonomic Mobile Manipulator Systems,” in the Journal of Robotics and Autonomous Systems, Vol. 51, No. 4, pp. 229-247, June 2005.
2. I. Poulakakis, J. A. Smith, and M. Buehler, “Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot,” in the International Journal of Robotics Research, Vol. 24, No. 4, pp. 239-256, April 2005.
1. E. Papadopoulos, I. Poulakakis, and I. Papadimitriou, “On Path Planning and Obstacle Avoidance for Nonholonomic Mobile Manipulators: A Polynomial Approach,” in the International Journal of Robotics Research, Vol. 21, No. 4, pp. 367-383, April 2002.

7. C. D. Pahlajani, I. Yadav, H. G. Tanner, and I. Poulakakis, “Decision-Making Accuracy for Networks of Sensors Observing Time-Inhomogenous Poisson Processes,” contributed chapter in Distributed Autonomous Robotic Systems, R. Gross, A. Koling, S. Berman, E. Frazzoli, A. Martinoli, F. Matsuno, M. Gauci (Eds.), pp. 177-190, Springer Proceedings in Advanced Robotics (SPAR), Vol. 6, 2018.

6. K. Karydis, A. Stager, H. G. Tanner, and I. Poulakakis, “Experimental Validation of a Template for Navigation of Miniature Legged Robots,” contributed chapter in Experimental Robotics, Kulic D., Nakamura Y., Khatib O. Venture G. (Eds), pp. 420-430, Springer Proceedings in Advanced Robotics (SPAR), Vol. 1, 2017.

5. I. Poulakakis, J. A. Smith, and M. Buehler, “On the Dynamics of Bounding and Extensions Towards the Half-Bound and the Gallop Gaits,” contributed chapter in Adaptive Motion of Animals and Machines, H. Kimura, K. Tsuchiya, A. Ishiguro, and H. Witte (Eds.), pp. 79-88, Springer-Verlag, 2005.

4. S. Talebi, I. Poulakakis, E. Papadopoulos, and M. Buehler, “Quadruped Robot Running with a Bounding Gait”, contributed chapter in Experimental Robotics VII, D. Rus, and S. Singh, (Eds.), pp. 281-289, Lecture Notes in Control and Information Sciences Series, Springer-Verlag, 2001.

3. A. Ames, and I. Poulakakis, “Hybrid Zero Dynamics Control of Legged Robots,” contributed chapter in Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, M. Sharbafi, and A. Seyfarth (Eds.), pp. 292-331, Butterworth-Heinemann, 1st Edition, 2017.

2. K. Hosoda, M. Weckx, M, Sharbafi, and I. Poulakakis, “Human-Inspired Bipeds,” contributed chapter in Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, M. Sharbafi, and A. Seyfarth (Eds.), pp. 506-526, Butterworth-Heinemann, 1st Edition, 2017.

1. I. Poulakakis, “Bioinspired Robotic Quadrupeds,” contributed chapter in Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, M. Sharbafi, and A. Seyfarth (Eds.), pp. 527-561, Butterworth-Heinemann, 1st Edition, 2017.

48. C. Karakasis, I. Poulakakis, and, P. Artemiadis, “Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain,” Proceedings of the IEEE Mediterranean Conference on Control and Automoation (MED); Athens, Greece, June 28- July 1, 2022.

47. P. Chand, S. Veer and I. Poulakakis, “An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31- June 4, 2020.

46. S. Veer and I. Poulakakis, “Robustness of Periodic Orbits of Impulsive Systems \`a la Poincar\’e” Proceedings of the IEEE Conference On Decision and Control (CDC), Nice, France, December 11-13, 2019.

45. S. Veer and I. Poulakakis, “Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances,” Proceedings of the American Control Conference (ACC), Philadelphia, PA, USA, July 10-12, 2019.

44. S. Veer and I. Poulakakis, “Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers,” Proceedings of the IEEE International Conference On Robotics and Automation (ICRA), Montreal, Canada, May 20-24, 2019. Extended version available at arXiv:1810.00527 [cs.RO] .

43. S. Veer, M. S. Motahar, and I. Poulakakis, “Generation of a Continuum of Limit Cycles and Switching between them for Hybrid Zero Dynamics based Bipedal Robots,” Proceedings of the IEEE Conference On Decision and Control (CDC), Melbourne, Australia, December 12-15, 2017. Also available at arXiv:1703.07197 [math.DS] .

42. S. Veer, M. S. Motahar, and I. Poulakakis, “Adaptation of Limit-Cycle Walkers for Collaborative Tasks: A Supervisory Switching Control Approach,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24-28, 2017.

41. M. S. Motahar, S. Veer, and I. Poulakakis, “Steering a 3D Limit-Cycle Walker for Collaboration with a Leader,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24-28, 2017.

40. S. Veer, M. S. Motahar, and I. Poulakakis, “Almost Driftless Navigation of 3D Limit-Cycle Walking Bipeds,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24-28, 2017.

39. M. S. Motahar, S. Veer, and I. Poulakakis, “Composing Limit Cycles for Motion Planning of 3D Bipedal Walkers,” Proceedings of the IEEE Conference On Decision and Control (CDC), Las Vegas, NV, USA, December 12-14, 2016.

38. S. Veer, M. S. Motahar and I. Poulakakis, “Local Input-to-State Stability of Dynamic Walking Under Persistent External Excitation using Hybrid Zero Dynamics,” Proceedings of the American Control Conference (ACC), Boston, MA, USA, July 6-8, 2016.

37. X. Liu and I. Poulakakis, “On the Stability of Symmetric Quadrupedal Bounding Gaits via Factored Poincaré Maps,” Proceedings of the American Control Conference (ACC), Boston, MA, USA, July 6-8, 2016.

36. X. Liu, C. Semini, and I. Poulakakis, “Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ,” in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015. See also the video accompanying this paper (size: 3.5 MB).

35. X. Liu, and I. Poulakakis, “On the Energetics of a Switchable Parallel Elastic Actuator Design for Monopedal Running,” in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015.

34. D.Myrisiotis, I. Poulakakis, and E. G. Papadopoulos, “On the Effects of Design Parameters on Quadruped Robot Gaits,” in the Proceedings of the IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015.

33. Q. Cao, E. Papadopoulos and I. Poulakakis, “Control of Quadrupedal Bounding with Flexible Torso and Speed Transitions with Sums of Squares Verification,” in the International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan, October 28-30, 2015.

32. M. S. Motahar, S. Veer, J. Huang, and I. Poulakakis, “Integrating Dynamic Walking and Arm Impedance Control for Cooperative Transportation,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 7.4 MB).

31. S. Veer, M. S. Motahar, and I. Poulakakis, “On the Adaptation of Dynamic Walking to Persistent External Forcing using Hybrid Zero Dynamics Control,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015.

30. Q. Cao, A. T. van Rijn, and I. Poulakakis, “On the Control of Gait Transitions in Quadrupedal Running,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 3.6 MB).

29. X. Liu, A. Rossi, and I. Poulakakis, “SPEAR: A Monopedal Robot with Switchable Parallel Elastic Actuator,” in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28-October 02, 2015. See also the video accompanying this paper (size: 4.6 MB).

28. K. Karydis, Y. Liu, I. Poulakakis, and H. G. Tanner, “Navigation of Miniature Legged Robots Using a New Template,” in the Proceedings of the IEEE Mediterranean Conference on Control and Automation, Torremolinos, Spain, June 16-19, 2015.

27. J. Sun, H. G. Tanner, and I. Poulakakis, “Active Sensor Networks for Nuclear Detection,” Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA, USA, May 26-30, 2015.

26. Q. Cao and I. Poulakakis, “On the Energetics of Quadrupedal Bounding With and Without Torso Compliance,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014.

25. K. Karydis, D. Zarrouk, I. Poulakakis, R. Fearing, and H. G. Tanner, “Planning with the STAR(s),” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014.

24. C. Pahlajani, J. Sun, I. Poulakakis, and H. G. Tanner, “Error Probabilities and Threshold Selection in Networked Nuclear Detection,” Proceedings of the IEEE Conference on Decision and Control (CDC), Florence, Italy, Dec. 10-13, 2013.

23. Q. Cao, and I. Poulakakis, “Passive Stability and Control of Quadrupedal Bounding with a Flexible Torso,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013. See also the video accompanying this paper (size: 4.9 MB)

22. C. Pahlajani, I. Poulakakis, and H. B. Tanner, “Decision Making in a Sensor Network with Poisson Process Observations,” Proceedings of the IEEE Mediterranean Conference on Control and Automation (MED), Chania, Crete, Greece, June 25-28, 2013.

21. K. Karydis, I. Poulakakisand H. G. Tanner, “Probabilistic Validation of a Stochastic Kinematic Model for an Eight-legged Robot,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013.

20. Q. Cao and I. Poulakakis, “Self-stable Bounding with a Flexible Torso,” International Symposium of Adaptive Motion in Animals and Machines (AMAM), Darmstadt, Germany, March 11-14, 2013.

19. X. Liu and I. Poulakakis, “A Simple Controller for Quadrupedal Bounding,” International Symposium of Adaptive Motion in Animals and Machines (AMAM), Darmstadt, Germany, March 11-14, 2013.

18. I. Poulakakis, L. Scardovi, and N. E. Leonard, “Node Certainty in Collective Decision Making,” Proceedings of the IEEE Conference on Decision and Control (CDC), Maui, HI, USA, Dec. 10-13, 2012.

17. Q. Cao and I. Poulakakis, “Passive Quadrupedal Bounding with a Segmented Flexible Torso,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, Oct. 7-12, 2012. See also the video accompanying this paper (size: 5.4 MB)

16. K. Karydis, I. Poulakakis, and B. Tanner, “A Switching Kinematic Model of an Octapedal Robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, Oct. 7-12, 2012.

15. K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, “Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller for Walking on MABEL,” Proceedings of the IEEE Conference on Decision and Control (CDC), Atlanta, GA, USA, Dec. 15-17, 2010.

14. I. Poulakakis, L. Scardovi, and N. E. Leonard, “Coupled Stochastic Differential Equations and Collective Decision Making in the Two-Alternative Forced-Choice Task,” Proceedings of the American Control Conference (ACC), Baltimore, MD, USA, Jun. 30 – Jul. 2, 2010.

13. I. Poulakakis, “Spring Loaded Inverted Pendulum Embedding: Extensions toward the Control of Compliant Running Robots,” in Proceedings of the IEEE International Conference on on Robotics and Automation (ICRA), Anchorage, AK, USA, May 3 – 8, 2010.

12. I. Poulakakis, and J. W. Grizzle, “Modeling and Control of the Monopedal Robot Thumper,” in Proceedings of the IEEE International Conference on on Robotics and Automation (ICRA), Kobe, Japan, May 12 – 17, 2009. See also the video accompanying this paper (size: 5 MB).

11. I. Poulakakis, and J. W. Grizzle, “Monopedal Running Control: SLIP Embedding and Virtual Constraint Controllers,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, USA, Oct. 29 – Nov. 2, 2007.

10. I. Poulakakis, and J. W. Grizzle, “Formal Embedding of the Spring Loaded Inverted Pendulum in an Asymmetric Hopper,” in Proceedings of the European Control Conference (ECC), Kos, Greece, July 2-5, 2007.

9. J. A. Smith, and I. Poulakakis, “Rotary Gallop in the Untethered Quadrupedal Robot Scout II”, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 3, pp. 2556-2561, Sendai, Japan, Sep. 28 – Oct. 2, 2004.

8. I. Poulakakis, J. A. Smith, and M. Buehler, “Experimentally Validated Bounding Models for the Scout II Quadrupedal Robot”, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Vol. 3, pp. 2595-2600, New Orleans, USA, April 26 – May 1, 2004.

7. I. Poulakakis, E. Papadopoulos, and M. Buehler, “On the Stable Dynamics of Quadrupedal Running”, in Proceedings of the IEEE International Conference on Robotics and Automation Automation (ICRA), Vol. 1, pp. 1368-1373, Taipei, Taiwan, Sep. 14-19, 2003.

6. I. Poulakakis, J. A. Smith, and M. Buehler, “On the Dynamics of Bounding and Extensions Towards the Half-Bound and the Gallop Gaits,” in Proceedings of the 2nd International Symposium of Adaptive Motion in Animals and Machines (AMAM), Kyoto, Japan, March 4-8, 2003.

5. I. Poulakakis, J. Smith, E. Papadopoulos, and M. Buehler, “Opportunities for Adaptation and Learning in Dynamically Stable Legged Robots”, in the 11th Yale Workshop on Adaptive and Learning Systems, pp. 129-134, Center for Systems Science, Yale University, New Haven, CT, USA, June 4-6, 2001.

4. E. Papadopoulos, and I. Poulakakis, “Planning and Obstacle Avoidance for Mobile Robots,” in Proceedings of the IEEE International Conference on Robotics and Automation Automation (ICRA), Vol. 4, pp. 3967-3972, Seoul, Korea, May 21-26, 2001.

3. E. Papadopoulos, and J. Poulakakis, “Planning and Model Based Control for Mobile Manipulators,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Vol. 3, pp. 1810-1815, Takamatsu, Japan, Oct. 30 – Nov. 5, 2000.

2. E. Papadopoulos, and J. Poulakakis, “Trajectory Planning and Control for Mobile Manipulator Systems,” in Proceedings of the 8th IEEE Mediterranean Conference on Control and Automation, Patra, Greece, July 17-19, 2000.

1. E. Papadopoulos, and J. Poulakakis, “On Motion Planning of Nonholonomic Mobile Robots,” in Proceedings of the 31st International Symposium on Robotics (ISR), pp. 77-82, Montreal, Canada, May 14-17, 2000.

1. J. W Grizzle and I. Poulakakis, “Delft Pneumatic Bipeds, by Martijn Wisse and Richard Q. van der Linde, Springer Tracts in Advanced Robotics, Vol. 34, 2007, ISBN 978-3-540-72807-8,” Book Review, Control Systems Magazine, Vol. 28, No. 4, pp. 99-101, August 2008.

14. G. Kim, A Virtual Pivot Point Approach to the Control of Quadrupedal Robot Running, M.S. Thesis, University of Delaware, Newark, DE, USA, 2020.
13. S. Veer, Composing Motion Primitives Under Disturbances: A Switched Systems Approach, Ph.D. Dissertation, University of Delaware, Newark, DE, USA, 2018.
12. D. Wei, The First Step to a Framework for Gait-training with a Bilateral Approach, M.S. Thesis, University of Delaware, Newark, DE, USA,  2018.
11. A. Rossi, Switchable Parallel Elastic Actuators in Monopod and Quadruped Applications, M.S. Thesis, University of Delaware, Newark, DE, USA, 2018.
10. M. S. Motahar, Control and Motion Planning of Dynamically Walking Bipeds for Cooperative Transportation, Ph.D. Dissertation, University of Delaware, Newark, DE, USA, 2017.
9. X. Liu, Harnessing Compliance in the Design and Control of Running Robots, Ph.D. Dissertation, University of Delaware, Newark, DE, USA,  2017.
8. Q. Cao, A Modeling Hierarchy of Quadrupedal Running with Torso Compliance, Ph.D. Dissertation, University of Delaware, Newark, DE, USA, 2015.
7. K. Karydis, A Data-driven Hierarchical Framework for Planning, Navigation, and Control of Uncertain Systems: Applications to Miniature Legged Robots, Ph.D. Dissertation, University of Delaware, Newark, DE, USA, 2015.
6. Y. Liu, Intrinsic Geometric Path for a New Kinematic Template, M.S. Thesis, University of Delaware, Newark, DE, USA, 2014.
5. J. Huang, Studying of Biped Robot Walking on Flat Ground and Staircase, M.S. Thesis, University of Delaware, Newark, DE, USA, 2013.
4. I. Poulakakis, Stabilizing Monopedal Robot Running: Reduction-by-Feedback and Compliant Hybrid Zero Dynamics, Ph.D. Dissertation, University of Michigan, Ann Arbor, MI, USA, 2009.
3. I. Poulakakis, On the Passive Dynamics of Quadrupedal Running, M.Eng. Thesis McGill University, Montreal, QC, Canada, 2002.
2. I. Poulakakis, Obstacle Avoidance and Nonlinear Control of Nonholonomic Mobile Manipulators, Postgraduate Specialization Thesis, National Technical University of Athens, Greece, (in Greek), 2001.
1. I. Poulakakis, Analysis and Control of Robotic Manipulators Mounted on Nonholonomic Wheeled Vehicles, Diploma Thesis, Department of Mechanical Engineering, National Technical University of Athens, Greece (in Greek), 1999.