Nonlinear robust disturbance rejection controllers for rotating stall and surge in axial flow compressors. - Wassim M. Haddad 001; Alexander Leonessa; VijaySekhar Chellaboina; Jerry L. Fausz (IEEE Trans. Control. Syst. Technol., 1999)

Robust stabilization of axial flow compressors with uncertain pressure-flow maps. - Alexander Leonessa; VijaySekhar Chellaboina; Wassim M. Haddad 001 (IEEE Trans. Control. Syst. Technol., 2000)

Globally stabilizing switching controllers for a centrifugal compressor model with spool dynamics. - Alexander Leonessa; Wassim M. Haddad 001; Hua Li (IEEE Trans. Control. Syst. Technol., 2000)

Adaptive tracking for nonlinear systems with control constraints. - Alexander Leonessa; Wassim M. Haddad 001; Tomohisa Hayakawa (ACC, 2001)

Nonlinear system stabilization via hierarchical switching control. - Alexander Leonessa; Wassim M. Haddad 001; VijaySekhar Chellaboina (IEEE Trans. Autom. Control., 2001)

Direct adaptive control for discrete-time nonlinear uncertain dynamical systems. - Wassim M. Haddad 001; Tomohisa Hayakawa; Alexander Leonessa (ACC, 2002)

Identification of MIMO Hammerstein systems with nonlinear feedback. - Dapeng Luo; Alexander Leonessa (ACC, 2002)

Fixed-order dynamic compensation for axial flow compression systems. - Wassim M. Haddad 001; Joseph R. Corrado; Alexander Leonessa (IEEE Trans. Control. Syst. Technol., 2002)

Direct discrete-time adaptive control with guaranteed parameter error convergence. - Alexander Leonessa; VijaySekhar Chellaboina; Wassim M. Haddad 001; Tomohisa Hayakawa (ACC, 2003)

Nonlinear system identification of a reaction wheel pendulum using subspace method. - Dapeng Luo; Alexander Leonessa (ACC, 2003)

A geometric proof for subspace tracking theorems. - Dapeng Luo; Alexander Leonessa (CDC, 2003)

Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness. - Yannick Morel; Alexander Leonessa (CDC, 2003)

Neural network model reference adaptive control of a surface vessel. - Alexander Leonessa; Tannen S. VanZwieten (CDC, 2004)

Identification of MIMO Hammerstein systems with non-linear feedback. - Dapeng Luo; Alexander Leonessa (IMA J. Math. Control. Inf., 2008)

Prediction-based observation of nonlinear systems non-affine in the unmeasured states. - Yannick Morel; Alexander Leonessa (CDC, 2009)

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 (ICIP, 2010)

Tracking control of a nonholonomic ground vehicle. - Veronica Medina-Garciadiego; Alexander Leonessa (ACC, 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 (CDC/ECC, 2011)

Laser based rangefinder for underwater applications. - Chris Cain; Alexander Leonessa (ACC, 2012)

Humanoid locomotion on uneven terrain using the time-varying divergent component of motion. - Michael A. Hopkins; Dennis W. Hong; Alexander Leonessa (Humanoids, 2014)

Adaptive predictor-based output feedback control for a class of unknown MIMO systems: Experimental results. - Chuong H. Nguyen; Alexander Leonessa (ACC, 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 (Humanoids, 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 (Humanoids, 2015)

Compliant locomotion using whole-body control and Divergent Component of Motion tracking. - Michael A. Hopkins; Dennis W. Hong; Alexander Leonessa (ICRA, 2015)

Embedded joint-space control of a series elastic humanoid. - Michael A. Hopkins; Stephen A. Ressler; Derek F. Lahr; Alexander Leonessa; Dennis W. Hong (IROS, 2015)

Gait design and gain-scheduled balance controller of an under-actuated robotic platform. - Jacob Webb; Alexander Leonessa; Dennis W. Hong (IROS, 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)

Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. - Adam Shoemaker; Alexander Leonessa (J. Robotics, 2015)

Model predictive control for dynamic footstep adjustment using the divergent component of motion. - Robert J. Griffin; Alexander Leonessa (ICRA, 2016)

Disturbance compensation and step optimization for push recovery. - Robert J. Griffin; Alexander Leonessa; Alan T. Asbeck (IROS, 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)

FastSLAM Using Compressed Occupancy Grids. - Chris Cain; Alexander Leonessa (J. Sensors, 2016)

Validation of Underwater Sensor Package Using Feature Based SLAM. - Chris Cain; Alexander Leonessa (Sensors, 2016)

Capture point trajectories for reduced knee bend using step time optimization. - Robert J. Griffin; Sylvain Bertrand; Georg Wiedebach; Alexander Leonessa; Jerry E. Pratt (Humanoids, 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 (IROS, 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)

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. - Coleman Knabe; Robert J. Griffin; James Burton 001; Graham Cantor-Cooke; Lakshitha Dantanarayana; Graham Day; Oliver Ebeling-Koning; Eric Hahn; Michael A. Hopkins; Jordan Neal; Jackson Newton; Chris Nogales; et al. (J. Field Robotics, 2017)

Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems. - Chuong H. Nguyen; Alexander Leonessa (J. Nonlinear Sci., 2017)

Straight-Leg Walking Through Underconstrained Whole-Body Control. - Robert J. Griffin; Georg Wiedebach; Sylvain Bertrand; Alexander Leonessa; Jerry E. Pratt (ICRA, 2018)

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)

Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation. - Daniel Budolak; Alexander Leonessa (IROS, 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)

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)

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps. - Negin Nikafrooz; Alexander Leonessa (Robotics, 2021)

Reduced-Order Adaptive Output Predictors for a Class of Uncertain Dynamical Systems. - Roghaiyeh Ansari; Nicole Abaid; Alexander Leonessa (ACC, 2022)

Whole Body Control for Haptic Interaction with VR. - Benjamin Beiter; Connor W. Herron; Alexander Leonessa (ACC, 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)

Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor. - Negin Nikafrooz; Zachary J. Fuge; Alexander Leonessa (CoRR, 2022)

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)

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, 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, 2023)

PANDORA: The Open-Source, Structurally Elastic Humanoid Robot. - Connor W. Herron; Alexander J. Fuge; Benjamin C. Beiter; Zachary J. Fuge; Nicholas J. Tremaroli; Stephen Welch; Maxwell Stelmack; Madeline Kogelis; Philip Hancock; Ivan Fischman Ekman Simões; Christian Runyon; Isaac Pressgrove; et al. (Humanoids, 2024)

Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. - Connor W. Herron; Robert Schuller; Benjamin Beiter; Robert J. Griffin; Alexander Leonessa; Johannes Englsberger (CoRR, 2024)

Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications. - Zachary J. Fuge; Benjamin Beiter; Alexander Leonessa (CoRR, 2024)

Joint-Space Control of a Structurally Elastic Humanoid Robot. - Connor W. Herron; Christian Runyon; Isaac Pressgrove; Benjamin C. Beiter; Bhaben Kalita; Alexander Leonessa (CoRR, 2024)

Eye-Tracking in Physical Human-Robot Interaction: Mental Workload and Performance Prediction. - Satyajit Upasani; Divya Srinivasan; Qi Zhu; Jing Du 001; Alexander Leonessa (Hum. Factors, 2024)

Shared autonomy and positive power control for powered exoskeletons. - Benjamin Beiter; Divya Srinivasan; Alexander Leonessa (Robotics Auton. Syst., 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; et al. (Sci. Robotics, 2024)

Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots. - Leila Amanzadeh; Taizoon Chunawala; Randall T. Fawcett; Alexander Leonessa; Kaveh Akbari Hamed (IEEE Robotics Autom. Lett., 2024)

Design and development of a locomotion interface for virtual reality lower-body haptic interaction. - An-Chi He; Jungsoo Park; Benjamin Beiter; Bhaben Kalita; Alexander Leonessa (Robotics Auton. Syst., 2025)

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots. - Basit Muhammad Imran; Jeeseop Kim; Taizoon Chunawala; Alexander Leonessa; Kaveh Akbari Hamed (IEEE Robotics Autom. Lett., 2025)