Adrian B. Ghansah

According to our database, Adrian B. Ghansah authored at least 6 papers between 2023 and 2025.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2025

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics.

Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames

CoRR, September, 2025

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion.

Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2025

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models.

Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames

Proceedings of the 24th IEEE-RAS International Conference on Humanoid Robots, 2025

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots.

Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames

Proceedings of the 24th IEEE-RAS International Conference on Humanoid Robots, 2025

2024

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP.

Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

2023

Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics.

Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023