Publications | Carlos Gonzalez

2025

SII

RPC: A modular framework for robot planning, control, and deployment

Seung Hyeon Bang, Carlos Gonzalez, Gabriel Moore, and 4 more authors

In IEEE/SICE International Symposium on System Integration (SII), 2025

@inproceedings{Bang2025RPC,
  author = {Bang, Seung Hyeon and Gonzalez, Carlos and Moore, Gabriel and Kang, Dong Ho and Seo, Mingyo and Gupta, Ryan and Sentis, Luis},
  title = {{RPC}: {A} modular framework for robot planning, control, and deployment},
  booktitle = {IEEE/SICE International Symposium on System Integration (SII)},
  year = {2025},
  pages = {1142-1148},
  doi = {10.1109/SII59315.2025.10871130},
}

2024

Humanoids

Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization

Carlos Gonzalez and Luis Sentis

In IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), 2024

DOI Bib HTML

@inproceedings{Gonzalez2024Humanoids,
  author = {Gonzalez, Carlos and Sentis, Luis},
  title = {Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization},
  booktitle = {IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  year = {2024},
  doi = {10.1109/Humanoids58906.2024.10769791},
}

CDC

Variable inertia model predictive control for fast bipedal maneuvers

Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez, and 1 more author

In IEEE Conference on Decision and Control, 2024

DOI Bib

@inproceedings{Bang2024CDC,
  author = {Bang, Seung Hyeon and Lee, Jaemin and Gonzalez, Carlos and Sentis, Luis},
  title = {Variable inertia model predictive control for fast bipedal maneuvers},
  booktitle = {IEEE Conference on Decision and Control},
  year = {2024},
  doi = {10.1109/CDC56724.2024.10886064},
}

2023

Fr. Rob. AI

Control and evaluation of a humanoid robot with rolling contact joints on its lower body

Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn, and 2 more authors

Frontiers in Robotics and AI, 2023

DOI Bib

@article{Bang2023,
  author = {Bang, Seung Hyeon and Gonzalez, Carlos and Ahn, Junhyeok and Paine, Nicholas and Sentis, Luis},
  title = {Control and evaluation of a humanoid robot with rolling contact joints on its lower body},
  journal = {Frontiers in Robotics and AI},
  volume = {10},
  year = {2023},
  doi = {10.3389/frobt.2023.1164660},
}

Humanoids

Deep imitation learning for humanoid loco-manipulation through human teleoperation

Mingyo Seo, Steve Han, Kyutae Sim, and 4 more authors

In IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023

DOI Bib

@inproceedings{Seo2023Humanoids,
  author = {Seo, Mingyo and Han, Steve and Sim, Kyutae and Bang, Seung Hyeon and Gonzalez, Carlos and Sentis, Luis and Zhu, Yuke},
  title = {Deep imitation learning for humanoid loco-manipulation through human teleoperation},
  booktitle = {IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)},
  year = {2023},
  doi = {10.1109/Humanoids57100.2023.10375203},
}

CDC

Learning Adaptive Horizon Maps Based on Error Forecast for Model Predictive Control

Carlos Gonzalez, Seung Hyeon Bang, Po-han Li, and 2 more authors

In IEEE Conference on Decision and Control, 2023

DOI Bib

@inproceedings{Gonzalez2023CDC,
  author = {Gonzalez, Carlos and Bang, Seung Hyeon and Li, Po-han and Chinchali, Sandeep and Sentis, Luis},
  title = {Learning Adaptive Horizon Maps Based on Error Forecast for Model Predictive Control},
  booktitle = {IEEE Conference on Decision and Control},
  year = {2023},
  doi = {10.1109/CDC49753.2023.10384131},
}

ASME-IDETC

Design of a Person-Carrying Robot for Contact Compliant Navigation

Carlos Gonzalez, Samantha Lee, Francisco Montano, and 5 more authors

In Proceedings of the ASME International Design Engineering Technical Conference, 2023

DOI Bib

@inproceedings{Gonzalez2023ASME,
  author = {Gonzalez, Carlos and Lee, Samantha and Montano, Francisco and Ortega, Steven and Kang, Dong Ho and Jaiswal, Mehar and Jiao, Junfeng and Sentis, Luis},
  title = {Design of a Person-Carrying Robot for Contact Compliant Navigation},
  booktitle = {Proceedings of the {ASME} International Design Engineering Technical Conference},
  year = {2023},
  doi = {10.1115/DETC2023-117215},
}

2022

JNER

Team IHMC at the 2020 Cybathlon: a user-centered approach towards personal mobility exoskeletons

Brandon Peterson, Mark Daniel, Vishnu Subra Mani, and 9 more authors

Journal of NeuroEngineering and Rehabilitation, Sep 2022

DOI Bib

@article{Peterson2022,
  title = {Team {IHMC} at the 2020 Cybathlon: a user-centered approach
                  towards personal mobility exoskeletons},
  author = {Peterson, Brandon and Daniel, Mark and Subra Mani, Vishnu and Arnold, Brooke and Craig, Travis and Gines, Jeremy and Gonzalez, Carlos and Howell, William and Shrewsbury, Brandon and Bellman, Matthew and Neuhaus, Peter and Griffin, Robert},
  journal = {Journal of NeuroEngineering and Rehabilitation},
  volume = {19},
  number = {103},
  month = sep,
  year = {2022},
  doi = {10.1186/s12984-022-01074-8},
}

Humanoids

Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion

Junhyeok Ahn, Seung Hyeon Bang, Carlos Gonzalez, and 2 more authors

In IEEE-RAS International Conference on Humanoid Robots, Sep 2022

DOI Bib

@inproceedings{Ahn2022Humanoids,
  author = {Ahn, Junhyeok and Bang, Seung Hyeon and Gonzalez, Carlos and Yuan, Yuanchen and Sentis, Luis},
  title = {Data-Driven Safety Verification and Explainability for Whole-Body Manipulation and Locomotion},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year = {2022},
  doi = {10.1109/Humanoids53995.2022.10000221},
}

2020

IROS

Line walking and balancing for legged robots with point feet

Carlos Gonzalez, Victor Barasuol, Marco Frigerio, and 3 more authors

In IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2020

DOI Bib Video

@inproceedings{Gonzalez2020IROS,
  author = {Gonzalez, Carlos and Barasuol, Victor and Frigerio, Marco and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
  title = {Line walking and balancing for legged robots with point feet},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = {2020},
  doi = {10.1109/IROS45743.2020.9341743},
}

2018

JMR

Contact-Dependent Balance Stability of Biped Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, and 1 more author

Journal of Mechanisms and Robotics, Sep 2018

DOI Bib

@article{Mummolo2018,
  author = {Mummolo, Carlotta and Peng, William Z. and Gonzalez, Carlos and Kim, Joo H.},
  title = {Contact-Dependent Balance Stability of Biped Robots},
  journal = {Journal of Mechanisms and Robotics},
  volume = {10},
  number = {2},
  pages = {021009},
  year = {2018},
  doi = {10.1115/1.4038978},
}

ASME-IDETC

Sensitivity of balancing in legged systems under torque constraint variations

Carlos Gonzalez, Carlotta Mummolo, and Joo H. Kim

In Proceedings of the ASME International Design Engineering Technical Conference, Sep 2018

DOI Bib

@inproceedings{Gonzalez2018ASME,
  author = {Gonzalez, Carlos and Mummolo, Carlotta and Kim, Joo H.},
  title = {Sensitivity of balancing in legged systems under torque constraint variations},
  booktitle = {Proceedings of the {ASME} International Design Engineering Technical Conference},
  pages = {1--9},
  year = {2018},
  doi = {10.1115/DETC2018-86063},
}

2017

ASME-IDETC

Contact-Dependent Balance Stability of Walking Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, and 1 more author

In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Sep 2017

DOI Bib

@inproceedings{Mummolo2017ASME,
  author = {Mummolo, Carlotta and Peng, William Z. and Gonzalez, Carlos and Kim, Joo H},
  title = {Contact-Dependent Balance Stability of Walking Robots},
  booktitle = {ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
  pages = {1--7},
  year = {2017},
  doi = {10.1115/DETC2017-68272},
}

2015

SMS

An IPMC microgripper with integrated actuator and sensing for constant finger-tip displacement

Carlos Gonzalez and Ron Lumia

Smart Materials and Structures, Sep 2015

DOI Bib

@article{Gonzalez2015,
  author = {Gonzalez, Carlos and Lumia, Ron},
  title = {An {IPMC} microgripper with integrated actuator and sensing for constant finger-tip displacement},
  journal = {Smart Materials and Structures},
  volume = {24},
  number = {5},
  pages = {55011},
  year = {2015},
  doi = {10.1088/0964-1726/24/5/055011},
}

IFAC-ADHS

Detection of manual tracking submovements in Parkinson’s disease through hybrid optimization

Carlos Gonzalez, Daniel Svenkeson, Diana J. Kim, and 2 more authors

In IFAC-PapersOnLine, Sep 2015

DOI Bib

@inproceedings{Gonzalez2015IFAC,
  author = {Gonzalez, Carlos and Svenkeson, Daniel and Kim, Diana J. and McKeown, Martin J. and Oishi, Meeko},
  title = {Detection of manual tracking submovements in {Parkinson's} disease through hybrid optimization},
  booktitle = {IFAC-PapersOnLine},
  volume = {48},
  number = {27},
  pages = {291--297},
  year = {2015},
  doi = {10.1016/j.ifacol.2015.11.190},
}