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)

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)

Removing phase variables from biped robot parametric gaits. - Alireza Mohammadi 001; Jonathan Horn; Robert D. Gregg (CCTA, 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)

Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. - Alireza Mohammadi 001; Seyed Abolfazl Fakoorian; Jonathan C. Horn; Dan Simon; Robert D. Gregg (CDC, 2018)

Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints. - Jonathan C. Horn; Alireza Mohammadi 001; Kaveh Akbari Hamed; Robert D. Gregg (IEEE Control. Syst. Lett., 2019)

Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking. - Jonathan C. Horn; Alireza Mohammadi 001; Kaveh Akbari Hamed; Robert D. Gregg (IEEE Robotics Autom. Lett., 2020)

Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics. - Vinay R. Kamidi; Jonathan C. Horn; Robert D. Gregg; Kaveh Akbari Hamed (IEEE Control. Syst. Lett., 2021)

Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds. - Jonathan C. Horn; Robert D. Gregg (IEEE Trans. Control. Syst. Technol., 2022)