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)

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. - Jacob Reher; Eric A. Cousineau; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. - Jacob P. Reher; Ayonga Hereid; Shishir Kolathaya; Christian M. Hubicki; Aaron D. Ames (WAFR, 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)

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)

Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. - Shishir Kolathaya; Jacob Reher; Ayonga Hereid; Aaron D. Ames (ACC, 2018)

Towards a framework for realizable safety critical control through active set invariance. - Thomas Gurriet; Andrew Singletary; Jacob Reher; Laurent Ciarletta; Eric Feron; Aaron D. Ames (ICCPS, 2018)

Input to State Stability of Bipedal Walking Robots: Application to DURUS. - Shishir Kolathaya; Jacob Reher; Aaron D. Ames (CoRR, 2018)

Dynamic Walking with Compliance on a Cassie Bipedal Robot. - Jacob Reher; Wen-Loong Ma; Aaron D. Ames (ECC, 2019)