Aaron D. Ames

According to our database1, Aaron D. Ames authored at least 261 papers between 2004 and 2021.

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Bibliography

2021
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.
IEEE Trans. Syst. Man Cybern. Syst., 2021

Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts.
IEEE Trans. Control. Netw. Syst., 2021

SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.
IEEE Robotics Autom. Lett., 2021

Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion.
IEEE Robotics Autom. Lett., 2021

Decentralized Task and Path Planning for Multi-Robot Systems.
IEEE Robotics Autom. Lett., 2021

Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions.
IEEE Control. Syst. Lett., 2021

Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays.
IEEE Control. Syst. Lett., 2021

Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion.
IEEE Control. Syst. Lett., 2021

Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems.
IEEE Control. Syst. Lett., 2021

Separable Control Lyapunov Functions With Application to Prostheses.
IEEE Control. Syst. Lett., 2021

Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators.
IEEE Control. Syst. Lett., 2021

Online Decentralized Decision Making With Inequality Constraints: An ADMM approach.
IEEE Control. Syst. Lett., 2021

Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach.
IEEE Control. Syst. Lett., 2021

Integral Control Barrier Functions for Dynamically Defined Control Laws.
IEEE Control. Syst. Lett., 2021

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety.
CoRR, 2021

Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State.
CoRR, 2021

Backup Control Barrier Functions: Formulation and Comparative Study.
CoRR, 2021

Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control.
CoRR, 2021

Iterative Model Predictive Control for Piecewise Systems.
CoRR, 2021

Risk-Averse Stochastic Shortest Path Planning.
CoRR, 2021

Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions.
CoRR, 2021

Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach.
CoRR, 2021

Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs.
CoRR, 2021

Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions.
CoRR, 2021

Time-Optimal Navigation in Uncertain Environments with High-Level Specifications.
CoRR, 2021

Learning Controller Gains on Bipedal Walking Robots via User Preferences.
CoRR, 2021

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization.
CoRR, 2021

2020
Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking.
IEEE Trans. Control. Syst. Technol., 2020

Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping.
IEEE Robotics Autom. Lett., 2020

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach.
IEEE Robotics Autom. Lett., 2020

Towards Variable Assistance for Lower Body Exoskeletons.
IEEE Robotics Autom. Lett., 2020

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach.
IEEE Control. Syst. Lett., 2020

Unified Multi-Rate Control: from Low Level Actuation to High Level Planning.
CoRR, 2020

Constrained Risk-Averse Markov Decision Processes.
CoRR, 2020

Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty.
CoRR, 2020

Lidar-based exploration and discretization for mobile robot planning.
CoRR, 2020

Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning.
CoRR, 2020

Model-Dependent Prosthesis Control with Interaction Force Estimation.
CoRR, 2020

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots.
CoRR, 2020

ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes.
CoRR, 2020

Reactive motion planning with probabilistic safety guarantees.
CoRR, 2020

Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion.
CoRR, 2020

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
CoRR, 2020

Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions.
CoRR, 2020

Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance.
CoRR, 2020

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking.
CoRR, 2020

Dynamic Walking: Toward Agile and Efficient Bipedal Robots.
CoRR, 2020

Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization.
CoRR, 2020

Safety-Critical Kinematic Control of Robotic Systems.
CoRR, 2020

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
CoRR, 2020

Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies.
CoRR, 2020

A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety.
CoRR, 2020

ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions.
CoRR, 2020

Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator.
CoRR, 2020

A Scalable Safety Critical Control Framework for Nonlinear Systems.
IEEE Access, 2020

Safety-Critical Control of Active Interventions for COVID-19 Mitigation.
IEEE Access, 2020

Partially Observable Games for Secure Autonomy.
Proceedings of the 2020 IEEE Security and Privacy Workshops, 2020

Learning for Safety-Critical Control with Control Barrier Functions.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Preference-Based Learning for Exoskeleton Gait Optimization.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Safety-Critical Rapid Aerial Exploration of Unknown Environments.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Passive Dynamic Balancing and Walking in Actuated Environments.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems.
Proceedings of the 11th ACM/IEEE International Conference on Cyber-Physical Systems, 2020

Control Barrier Functions for Sampled-Data Systems with Input Delays.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Barrier Functions for Multiagent-POMDPs with DTL Specifications.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Adaptive Safety with Control Barrier Functions.
Proceedings of the 2020 American Control Conference, 2020

An Inverse Dynamics Approach to Control Lyapunov Functions.
Proceedings of the 2020 American Control Conference, 2020

On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction.
Proceedings of the 2020 American Control Conference, 2020

Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs.
Proceedings of the 2020 American Control Conference, 2020

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach.
Proceedings of the 2020 American Control Conference, 2020

Invariant Sets for Integrators and Quadrotor Obstacle Avoidance.
Proceedings of the 2020 American Control Conference, 2020

Density Functions for Guaranteed Safety on Robotic Systems.
Proceedings of the 2020 American Control Conference, 2020

Optimal Safe Controller Synthesis: A Density Function Approach.
Proceedings of the 2020 American Control Conference, 2020

Risk-Averse Planning Under Uncertainty.
Proceedings of the 2020 American Control Conference, 2020

2019
Input-to-State Safety With Control Barrier Functions.
IEEE Control. Syst. Lett., 2019

Stabilization of Exoskeletons through Active Ankle Compensation.
CoRR, 2019

Optimal Motion Planning for Multi-Modal Hybrid Locomotion.
CoRR, 2019

Control of Separable Subsystems with Application to Prostheses.
CoRR, 2019

Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems.
CoRR, 2019

Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems.
CoRR, 2019

Duality between density function and value function with applications in constrained optimal control and Markov Decision Process.
CoRR, 2019

Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems<sup>*</sup>.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Online Active Safety for Robotic Manipulators.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Design and Comparative Analysis of 1D Hopping Robots.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage.
Proceedings of the International Conference on Robotics and Automation, 2019

Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping.
Proceedings of the International Conference on Robotics and Automation, 2019

Dynamic Walking with Compliance on a Cassie Bipedal Robot.
Proceedings of the 17th European Control Conference, 2019

Control Barrier Functions: Theory and Applications.
Proceedings of the 17th European Control Conference, 2019

Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Safety Functionals for Time Delay Systems.
Proceedings of the 2019 American Control Conference, 2019

Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers.
Proceedings of the 2019 American Control Conference, 2019

Realizable Set Invariance Conditions for Cyber-Physical Systems.
Proceedings of the 2019 American Control Conference, 2019

Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts.
Proceedings of the 2019 American Control Conference, 2019

2018
Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization.
IEEE Trans. Robotics, 2018

Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control.
IEEE Trans Autom. Sci. Eng., 2018

Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers.
IEEE Robotics Autom. Lett., 2018

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking.
CoRR, 2018

Input to State Stability of Bipedal Walking Robots: Application to DURUS.
CoRR, 2018

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.
Proceedings of the Robotics: Science and Systems XIV, 2018

Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Towards a framework for realizable safety critical control through active set invariance.
Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems, 2018

Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

An Online Approach to Active Set Invariance.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion.
Proceedings of the 2018 Annual American Control Conference, 2018

Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion.
Proceedings of the 2018 Annual American Control Conference, 2018

Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking.
Proceedings of the 2018 Annual American Control Conference, 2018

Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations.
Proceedings of the 6th IFAC Conference on Analysis and Design of Hybrid Systems, 2018

2017
Safety Barrier Certificates for Collisions-Free Multirobot Systems.
IEEE Trans. Robotics, 2017

Control Barrier Function Based Quadratic Programs for Safety Critical Systems.
IEEE Trans. Autom. Control., 2017

Corrigendum: Multi-contact bipedal robotic locomotion.
Robotica, 2017

Multi-contact bipedal robotic locomotion.
Robotica, 2017

Abstracting Partially Feedback Linearizable Systems Compositionally.
IEEE Control. Syst. Lett., 2017

First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach.
Auton. Robots, 2017

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons.
IEEE Access, 2017

Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments.
Proceedings of the Robotics: Science and Systems XIII, 2017

A stability region criterion for flat-footed bipedal walking on deformable granular terrain.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

FROST∗: Fast robot optimization and simulation toolkit.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Safe certificate-based maneuvers for teams of quadrotors using differential flatness.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

The Robotarium: A remotely accessible swarm robotics research testbed.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Footstep and motion planning in semi-unstructured environments using randomized possibility graphs.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment.
Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, 2017

Data-driven control for feedback linearizable single-input systems.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Closed-form controlled invariant sets for pedestrian avoidance.
Proceedings of the 2017 American Control Conference, 2017

Robust control of a powered transfemoral prosthesis device with experimental verification.
Proceedings of the 2017 American Control Conference, 2017

2016
Correct-by-Construction Adaptive Cruise Control: Two Approaches.
IEEE Trans. Control. Syst. Technol., 2016

Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control.
IEEE Trans Autom. Sci. Eng., 2016

Safe, Remote-Access Swarm Robotics Research on the Robotarium.
CoRR, 2016

System Identification and Control through Efficient SVA Based Regressor Computation.
CoRR, 2016

Traversing Environments Using Possibility Graphs with Multiple Action Types.
CoRR, 2016

Footstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs.
CoRR, 2016

Traversing Environments Using Possibility Graphs for Humanoid Robots.
CoRR, 2016

Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems.
CoRR, 2016

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Efficient HZD gait generation for three-dimensional underactuated humanoid running.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Tractable terrain-aware motion planning on granular media: An impulsive jumping study.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Humanoid manipulation planning using backward-forward search.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Establishing trust in remotely reprogrammable systems.
Proceedings of the International Conference on Human-Computer Interaction in Aerospace, 2016

3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

3D dynamic walking on stepping stones with control barrier functions.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Safety barrier certificates for heterogeneous multi-robot systems.
Proceedings of the 2016 American Control Conference, 2016

Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion.
Proceedings of the 2016 American Control Conference, 2016

Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.
Proceedings of the 2016 American Control Conference, 2016

Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs.
Proceedings of the 2016 American Control Conference, 2016

2015
The Ach Library: A New Framework for Real-Time Communication.
IEEE Robotics Autom. Mag., 2015

Valkyrie: NASA's First Bipedal Humanoid Robot.
J. Field Robotics, 2015

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs.
IEEE Access, 2015


Model predictive control of underactuated bipedal robotic walking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis.
Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems, 2015

Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control.
Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, 2015

First steps toward formal controller synthesis for bipedal robots.
Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, 2015

A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Continuity and smoothness properties of nonlinear optimization-based feedback controllers.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Energy shaping of hybrid systems via control Lyapunov functions.
Proceedings of the American Control Conference, 2015

Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars.
Proceedings of the American Control Conference, 2015

Control barrier function based quadratic programs with application to bipedal robotic walking.
Proceedings of the American Control Conference, 2015

Robustness of Control Barrier Functions for Safety Critical Control.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015

Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015

Control Barrier Certificates for Safe Swarm Behavior.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015

2014
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics.
IEEE Trans. Autom. Control., 2014

Human-Inspired Control of Bipedal Walking Robots.
IEEE Trans. Autom. Control., 2014

Models, feedback control, and open problems of 3D bipedal robotic walking.
Autom., 2014

Composing Dynamical Systems to Realize Dynamic Robotic Dancing.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Quadratic programming and impedance control for transfemoral prosthesis.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Human-inspired walking via unified PD and impedance control.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Planar multi-contact bipedal walking using hybrid zero dynamics.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Human-inspired multi-contact locomotion with AMBER2.
Proceedings of the ACM/IEEE International Conference on Cyber-Physical Systems, 2014

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control.
Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control (part of CPS Week), 2014

Hierarchical control of series elastic actuators through control Lyapunov functions.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Preliminary results on correct-by-construction control software synthesis for adaptive cruise control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Quadratic program based nonlinear embedded control of series elastic actuators.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Control barrier function based quadratic programs with application to adaptive cruise control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion.
Proceedings of the American Control Conference, 2014

Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty.
Proceedings of the American Control Conference, 2014

2013
Lyapunov Theory for Zeno Stability.
IEEE Trans. Autom. Control., 2013

Correct Software Synthesis for Stable Speed-Controlled Robotic Walking.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013

Learning impedance controller parameters for lower-limb prostheses.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

Enclosing the behavior of a hybrid system up to and beyond a Zeno point.
Proceedings of the 1st IEEE International Conference on Cyber-Physical Systems, 2013

Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs.
Proceedings of the Control of Cyber-Physical Systems, 2013

A stabilization result with application to bipedal locomotion.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

2012
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots.
J. Robotics Mechatronics, 2012

From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Achieving bipedal locomotion on rough terrain through human-inspired control.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

First steps toward underactuated human-inspired bipedal robotic walking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report).
Proceedings of the 32nd International Conference on Distributed Computing Systems Workshops (ICDCS 2012 Workshops), 2012

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics.
Proceedings of the Hybrid Systems: Computation and Control (part of CPS Week 2012), 2012

Control lyapunov functions and hybrid zero dynamics.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Zeno behavior in electromechanical hybrid systems: From theory to experimental validation.
Proceedings of the American Control Conference, 2012

Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction.
Proceedings of the American Control Conference, 2012

Outputs of human walking for bipedal robotic controller design.
Proceedings of the American Control Conference, 2012

2011
Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems.
IEEE Trans. Autom. Control., 2011

A core language for executable models of cyber physical systems: work in progress report.
SIGBED Rev., 2011

Simulating Prosthetic Devices with Human-Inspired Hybrid Control.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Human-data based cost of bipedal robotic walking.
Proceedings of the 14th ACM International Conference on Hybrid Systems: Computation and Control, 2011

Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach.
Proceedings of the 14th ACM International Conference on Hybrid Systems: Computation and Control, 2011

Rank deficiency and superstability of hybrid systems with application to bipedal robots.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Compass gait revisited: A human data perspective with extensions to three dimensions.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

2010
Mathematical equations as executable models of mechanical systems.
Proceedings of the ACM/IEEE 1st International Conference on Cyber-Physical Systems, 2010

Rank properties of poincare maps for hybrid systems with applications to bipedal walking.
Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control, 2010

2009
Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems.
Proceedings of the Hybrid Systems: Computation and Control, 12th International Conference, 2009

Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach.
Proceedings of the Hybrid Systems: Computation and Control, 12th International Conference, 2009

3D bipedal walking with knees and feet: A hybrid geometric approach.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

2D bipedal walking with knees and feet: A hybrid control approach.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Formal and practical completion of Lagrangian hybrid systems.
Proceedings of the American Control Conference, 2009

2008
Approximate reduction of dynamic systems.
Syst. Control. Lett., 2008

Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems.
Proceedings of the Hybrid Systems: Computation and Control, 11th International Workshop, 2008

Stability of Zeno equilibria in Lagrangian hybrid systems.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Complexity and fragility in stability for linear systems.
Proceedings of the American Control Conference, 2008

2007
Composition of Dynamical Systems for Estimation of Human Body Dynamics.
Proceedings of the Hybrid Systems: Computation and Control, 10th International Workshop, 2007

Discrete mechanics and optimal control applied to the compass gait biped.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

A geometric approach to three-dimensional hipped bipedal robotic walking.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions.
Proceedings of the American Control Conference, 2007

2006
Beyond Zeno: Get on with It!
Proceedings of the Hybrid Systems: Computation and Control, 9th International Workshop, 2006

On the Stability of Zeno Equilibria.
Proceedings of the Hybrid Systems: Computation and Control, 9th International Workshop, 2006

Approximate Reduction of Dynamical Systems.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Hybrid Geometric Reduction of Hybrid Systems.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

2005
Online safety calculations for glide-slope recapture.
Innov. Syst. Softw. Eng., 2005

A Homology Theory for Hybrid Systems: Hybrid Homology.
Proceedings of the Hybrid Systems: Computation and Control, 8th International Workshop, 2005

2004
Affine Hybrid Systems.
Proceedings of the Hybrid Systems: Computation and Control, 7th International Workshop, 2004


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