Alexander Leonessa

According to our database, Alexander Leonessa authored at least 53 papers between 1999 and 2024.

Collaborative distances:

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

2024

iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, Lorenzo Rapetti, Riccardo Grieco, Kourosh Darvish, Gianluca Milani, Enrico Valli, Ines Sorrentino, Paolo Maria Viceconte, Alessandro Scalzo, Silvio Traversaro, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci

Sci. Robotics, January, 2024

Shared autonomy and positive power control for powered exoskeletons.

Benjamin Beiter, Divya Srinivasan, Alexander Leonessa

Robotics Auton. Syst., January, 2024

2023

Design, development, and analysis of the lower body of next-generation 3D-printed humanoid research platform: PANDORA.

Alexander J. Fuge, Connor W. Herron, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa

Robotica, July, 2023

Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons.

Connor W. Herron, Zachary J. Fuge, Madeline Kogelis, Nicholas J. Tremaroli, Bhaben Kalita, Alexander Leonessa

Sensors, January, 2023

Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator.

Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa

IROS, 2023

2022

Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor.

Negin Nikafrooz, Zachary J. Fuge, Alexander Leonessa

CoRR, 2022

Human-Centered Intelligent Training for Emergency Responders.

Ranjana K. Mehta, Jason Moats, Rohith Karthikeyan, Joseph L. Gabbard, Divya Srinivasan, Eric Jing Du, Alexander Leonessa, Garret Burks, Andrew Stephenson, Ron Fernandes

AI Mag., 2022

Whole Body Control for Haptic Interaction with VR.

Benjamin Beiter, Connor W. Herron, Alexander Leonessa

Proceedings of the American Control Conference, 2022

Reduced-Order Adaptive Output Predictors for a Class of Uncertain Dynamical Systems.

Roghaiyeh Ansari, Nicole Abaid, Alexander Leonessa

Proceedings of the American Control Conference, 2022

2021

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps.

Negin Nikafrooz, Alexander Leonessa

Robotics, 2021

Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park.

Sunwook Kim, Divya Srinivasan, Maury A. Nussbaum, Alexander Leonessa

IEEE Access, 2021

2020

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach.

Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames

IEEE Robotics Autom. Lett., 2020

Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation.

Daniel Budolak, Alexander Leonessa

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

2019

Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation.

Robert J. Griffin, Alexander Leonessa

Int. J. Humanoid Robotics, 2019

2018

Straight-Leg Walking Through Underconstrained Whole-Body Control.

Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems.

Chuong H. Nguyen, Alexander Leonessa

J. Nonlinear Sci., 2017

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge.

Coleman Knabe, Robert J. Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dantanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael A. Hopkins, Jordan Neal, Jackson Newton, Chris Nogales, Viktor L. Orekhov, John Peterson, Michael Rouleau, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa

J. Field Robotics, 2017

Radiation search operations using scene understanding with autonomous UAV and UGV.

Gordon A. Christie, Adam Shoemaker, Kevin Kochersberger, Pratap Tokekar, Lance McLean, Alexander Leonessa

J. Field Robotics, 2017

Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas.

Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Capture point trajectories for reduced knee bend using step time optimization.

Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Validation of Underwater Sensor Package Using Feature Based SLAM.

Chris Cain, Alexander Leonessa

Sensors, 2016

FastSLAM Using Compressed Occupancy Grids.

Chris Cain, Alexander Leonessa

J. Sensors, 2016

Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot.

Michael A. Hopkins, Alexander Leonessa, Brian Y. Lattimer, Dennis W. Hong

Int. J. Humanoid Robotics, 2016

Disturbance compensation and step optimization for push recovery.

Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Model predictive control for dynamic footstep adjustment using the divergent component of motion.

Robert J. Griffin, Alexander Leonessa

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles.

Adam Shoemaker, Alexander Leonessa

J. Robotics, 2015

Dynamic Walking on Uneven Terrain Using the Time-Varying Divergent Component of Motion.

Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa

Int. J. Humanoid Robotics, 2015

Gait design and gain-scheduled balance controller of an under-actuated robotic platform.

Jacob Webb, Alexander Leonessa, Dennis W. Hong

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Embedded joint-space control of a series elastic humanoid.

Michael A. Hopkins, Stephen A. Ressler, Derek F. Lahr, Alexander Leonessa, Dennis W. Hong

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Compliant locomotion using whole-body control and Divergent Component of Motion tracking.

Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Design of a series elastic humanoid for the DARPA Robotics Challenge.

Coleman Knabe, John Seminatore, Jacob Webb, Michael A. Hopkins, Tomonari Furukawa, Alexander Leonessa, Brian Y. Lattimer

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Design of a compliant bipedal walking controller for the DARPA Robotics Challenge.

Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

Adaptive predictor-based output feedback control for a class of unknown MIMO systems: Experimental results.

Chuong H. Nguyen, Alexander Leonessa

Proceedings of the American Control Conference, 2015

2014

Humanoid locomotion on uneven terrain using the time-varying divergent component of motion.

Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2012

Laser based rangefinder for underwater applications.

Chris Cain, Alexander Leonessa

Proceedings of the American Control Conference, 2012

2011

Nonlinear motion control of CPG-based movement with applications to a class of swimming robots.

Yannick Morel, Mathieu Porez, Alexander Leonessa, Auke Jan Ijspeert

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Tracking control of a nonholonomic ground vehicle.

Veronica Medina-Garciadiego, Alexander Leonessa

Proceedings of the American Control Conference, 2011

2010

A real-time grid map generation and object classification for ground-based 3D LIDAR data using image analysis techniques.

Sang-Mook Lee, Jeong Joon Im, Bo-Hee Lee, Alexander Leonessa, Andrew Kurdila

Proceedings of the International Conference on Image Processing, 2010

2009

Prediction-based observation of nonlinear systems non-affine in the unmeasured states.

Yannick Morel, Alexander Leonessa

Proceedings of the 48th IEEE Conference on Decision and Control, 2009

2008

Identification of MIMO Hammerstein systems with non-linear feedback.

Dapeng Luo, Alexander Leonessa

IMA J. Math. Control. Inf., 2008

2004

Neural network model reference adaptive control of a surface vessel.

Alexander Leonessa, Tannen S. VanZwieten

Proceedings of the 43rd IEEE Conference on Decision and Control, 2004

2003

Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness.

Yannick Morel, Alexander Leonessa

Proceedings of the 42nd IEEE Conference on Decision and Control, 2003

A geometric proof for subspace tracking theorems.

Dapeng Luo, Alexander Leonessa

Proceedings of the 42nd IEEE Conference on Decision and Control, 2003

Nonlinear system identification of a reaction wheel pendulum using subspace method.

Dapeng Luo, Alexander Leonessa

Proceedings of the American Control Conference, 2003

Direct discrete-time adaptive control with guaranteed parameter error convergence.

Alexander Leonessa, VijaySekhar Chellaboina, Wassim M. Haddad, Tomohisa Hayakawa

Proceedings of the American Control Conference, 2003

2002

Fixed-order dynamic compensation for axial flow compression systems.

Wassim M. Haddad, Joseph R. Corrado, Alexander Leonessa

IEEE Trans. Control. Syst. Technol., 2002

Identification of MIMO Hammerstein systems with nonlinear feedback.

Dapeng Luo, Alexander Leonessa

Proceedings of the American Control Conference, 2002

Direct adaptive control for discrete-time nonlinear uncertain dynamical systems.

Wassim M. Haddad, Tomohisa Hayakawa, Alexander Leonessa

Proceedings of the American Control Conference, 2002

2001

Nonlinear system stabilization via hierarchical switching control.

Alexander Leonessa, Wassim M. Haddad, VijaySekhar Chellaboina

IEEE Trans. Autom. Control., 2001

Adaptive tracking for nonlinear systems with control constraints.

Alexander Leonessa, Wassim M. Haddad, Tomohisa Hayakawa

Proceedings of the American Control Conference, 2001

2000

Globally stabilizing switching controllers for a centrifugal compressor model with spool dynamics.

Alexander Leonessa, Wassim M. Haddad, Hua Li

IEEE Trans. Control. Syst. Technol., 2000

Robust stabilization of axial flow compressors with uncertain pressure-flow maps.

Alexander Leonessa, VijaySekhar Chellaboina, Wassim M. Haddad

IEEE Trans. Control. Syst. Technol., 2000

1999

Nonlinear robust disturbance rejection controllers for rotating stall and surge in axial flow compressors.

Wassim M. Haddad, Alexander Leonessa, VijaySekhar Chellaboina, Jerry L. Fausz

IEEE Trans. Control. Syst. Technol., 1999