Simulating Prosthetic Devices with Human-Inspired Hybrid Control. - Ryan W. Sinnet; Huihua Zhao; Aaron D. Ames (IROS, 2011)

Outputs of human walking for bipedal robotic controller design. - Shu Jiang; Shawanee Partrick; Huihua Zhao; Aaron D. Ames (ACC, 2012)

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. - Matthew J. Powell; Huihua Zhao; Aaron D. Ames (ICRA, 2012)

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. - Huihua Zhao; Shishir Nadubettu Yadukumar; Aaron D. Ames (IROS, 2012)

Learning impedance controller parameters for lower-limb prostheses. - Navid Aghasadeghi; Huihua Zhao; Levi J. Hargrove; Aaron D. Ames; Eric J. Perreault; Timothy Bretl (IROS, 2013)

Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. - Huihua Zhao; Aaron D. Ames (ACC, 2014)

Human-inspired multi-contact locomotion with AMBER2. - Huihua Zhao; Wen-Loong Ma; Aaron D. Ames; Michael B. Zeagler (ICCPS, 2014)

Human-inspired walking via unified PD and impedance control. - Wen-Loong Ma; Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

Quadratic programming and impedance control for transfemoral prosthesis. - Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (CDC, 2015)

Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. - Huihua Zhao; Jake Reher; Jonathan Horn; Victor Paredes; Aaron D. Ames (HSCC, 2015)

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. - Huihua Zhao; Jake Reher; Jonathan Horn; Victor Paredes; Aaron D. Ames (ICCPS, 2015)

3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. - Huihua Zhao; Ayonga Hereid; Eric R. Ambrose; Aaron D. Ames (CDC, 2016)

Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (IEEE Trans Autom. Sci. Eng., 2016)

Robust control of a powered transfemoral prosthesis device with experimental verification. - Vahid Azimi; Tony Shu; Huihua Zhao; Eric R. Ambrose; Aaron D. Ames; Dan Simon (ACC, 2017)

Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. - Huihua Zhao; Eric R. Ambrose; Aaron D. Ames (ICRA, 2017)

First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (Auton. Robots, 2017)

Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Corrigendum: Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Magnetic Milli-Robot Swarm Platform: A Safety Barrier Certificate Enabled, Low-Cost Test Bed. - Allen Hsu; Huihua Zhao; Martin Gaudreault; Annjoe Wong-Foy; Ron Pelrine (IEEE Robotics Autom. Lett., 2020)

Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. - Vahid Azimi; Tony Shu; Huihua Zhao; Rachel Gehlhar; Dan Simon; Aaron D. Ames (IEEE Trans. Syst. Man Cybern. Syst., 2021)

Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice. - Duy-Nguyen Ta; Eric Cousineau; Huihua Zhao; Siyuan Feng 003 (CoRR, 2022)

X-MOBILITY: End-To-End Generalizable Navigation via World Modeling. - Wei Liu; Huihua Zhao; Chenran Li; Joydeep Biswas; Billy Okal; Pulkit Goyal; Yan Chang; Soha Pouya (CoRR, 2024)

COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis. - Wei Liu; Huihua Zhao; Chenran Li; Joydeep Biswas; Soha Pouya; Yan Chang (CoRR, 2025)