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Luis Sentis

Dr. Sentis is an Assistant Professor in the Department of Mechanical Engineering at the University of Texas at Austin since 2010. He received his Ph.D and M.S. degrees from Stanford University where he was also a Postdoctoral Fellow. He was awarded the La Caixa Graduate Studies award from Europe's leading savings bank. He holds a B.S. (Honors Thesis) degree in Telecommunications and Electronics Engineering from the Polytechnic University of Catalonia (UPC). He worked in Silicon Valley as a Control Systems Engineer where he programmed Fanuc Robots for the Clean Room Automation Industry. In Austin, he directs the Human Centered Robotics Laboratory, an 1100 sqft laboratory with 3 Research Fellows, 6 PhD Students, 1 MS Student, several Undergraduate Students, and 2 humanoid robots. He was the UT Lead for DARPA's Robotics Challenge entry with NASA Johnson Space Center in 2013. His research focuses on whole-body compliant control of human centered robots, safe physical human robot interaction, building and controlling Series Elastic Actuators, mobile manipulation in rough terrains, and phase space motion planning for bipedal locomotion. In his laboratory he and his personnel have built two compliant humanoid robots and created a set up for studies on bipedal rough terrain locomotion and manipulation. His research has been funded by the Office of Naval Research, NASA, DARPA, Hong Kong's AAA Electronics and Willow Garage. He has over 50 peer-reviewed Journal, Thesis and Conference publications, gathering 1207 scientific citations, and an i10 index factor of 18.

Selected Publications

  1. N. Paine, G. Johnson, L. Fok, J.S. Mehling, J. Holley, N. Radford, L. Sentis, "Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots", Journal of Field Robotics, (2014)
  2. Nick Paine, Sehoon Oh, Luis Sentis, "Design and Control Considerations for High Performance Series Elastic Actuators", IEEE/ASME Transactions on Mechatronics, Vol. 19, (2014), Num. 3, pp. 1080-1091
  3. Nicolaus Radford, J.D. Yamokoski, Steve Hart, Kim Hambushen, [...]., Luis Sentis, Gwen Johnson, Liang Fok, Nick Paine, [...], "Valkyrie: NASA's First Bipedal Humanoid Robot", Journal of Field Robotics, (2014)
  4. Nick Paine, Luis Sentis, "A Closed-Form Solution for Selecting Maximum Critically Damped Actuator Impedance Parameters", Journal of Dynamic Systems, Measurement and Control, (2014)
  5. Luis Sentis, Josh Petersen, Roland Philippsen, "Implementation and Stability Analysis of Prioritized Whole-Body Compliant Controllers on Wheeled Humanoid Robots in Uneven Terrains", Springer's Autonomous Robots, Vol. 35, (2013), Num. 4, pp. 301-319

Most Recent Publications

  1. Nicolaus Radford, J.D. Yamokoski, Steve Hart, Kim Hambushen, [...]., Luis Sentis, Gwen Johnson, Liang Fok, Nick Paine, [...], "Valkyrie: NASA's First Bipedal Humanoid Robot," Journal Of Field Robotics, (2014)
  2. Nick Paine, Sehoon Oh, Luis Sentis, "Design and Control Considerations for High Performance Series Elastic Actuators," IEEE/ASME Transactions On Mechatronics, Vol. 19, (2014), Num. 3, pp. 1080-1091
  3. Nick Paine, Luis Sentis, "A Closed-Form Solution for Selecting Maximum Critically Damped Actuator Impedance Parameters," Journal Of Dynamic Systems, Measurement And Control, (2014)
  4. N. Paine, G. Johnson, L. Fok, J.S. Mehling, J. Holley, N. Radford, L. Sentis, "Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots," Journal Of Field Robotics, (2014)
  5. Luis Sentis, Josh Petersen, Roland Philippsen, "Implementation and Stability Analysis of Prioritized Whole-Body Compliant Controllers on Wheeled Humanoid Robots in Uneven Terrains," Springer's Autonomous Robots, Vol. 35, (2013), Num. 4, pp. 301-319
  6. Luis Sentis, Jaeheung Park, Oussama Khatib, "Compliant Control of Multi-Contact and Center of Mass Behaviors in Humanoid Robots," IEEE Transactions In Robotics, Vol. 26, (2010), 3, June, pp. 483-501
  7. Oussama Khatib, Emel Demircan, Vincent DeSapio, Luis Sentis, Thor Besier, Scott Delp, "Robotics-Based Synthesis of Human Motion," Journal Of Physiology, Vol. 103(3-5), (2009), May-September, pp. 211-219
  8. Luis Sentis and Oussama Khatib, "Synthesis of Whole-body Behaviors Through Hierarchical Control of Behavioral Primitives," International Journal Of Humanoid Robotics, Vol. 2(4), (2005), December, pp. 505-518
  9. Oussama Khatib, Oliver Brock, K.C. Chang, Diego Ruspini, Luis Sen- tis, Sriram Viji, "Human-Centered Robotics and Interactive Haptic Simulation," International Journal Of Robotics Research, Vol. 23(2), (2004), February, pp. 167
  10. Oussama Khatib, Luis Sentis, Jae-Heung Park, James Warren, "Whole Body Dynamic Behavior and Control of Human-Like Robots," International Journal Of Humanoid Robotics, Vol. 1(1), (2004), March, pp. 1-15