Compass gait revisited: A human data perspective with extensions to three dimensions. - Ryan W. Sinnet; Matthew J. Powell; Shu Jiang; Aaron D. Ames (CDC/ECC, 2011)

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. - Aaron D. Ames; Eric A. Cousineau; Matthew J. Powell (HSCC, 2012)

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

Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. - Benjamin Morris 001; Matthew J. Powell; Aaron D. Ames (CDC, 2013)

Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. - Aaron D. Ames; Matthew J. Powell (CPSW@CISS, 2013)

Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. - Matthew J. Powell; Ayonga Hereid; Aaron D. Ames (ICRA, 2013)

Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. - Ayonga Hereid; Matthew J. Powell; Aaron D. Ames (CDC, 2014)

Hierarchical control of series elastic actuators through control Lyapunov functions. - Matthew J. Powell; Aaron D. Ames (CDC, 2014)

Planar multi-contact bipedal walking using hybrid zero dynamics. - Jordan Lack; Matthew J. Powell; Aaron D. Ames (ICRA, 2014)

Continuity and smoothness properties of nonlinear optimization-based feedback controllers. - Benjamin J. Morris; Matthew J. Powell; Aaron D. Ames (CDC, 2015)

Model predictive control of underactuated bipedal robotic walking. - Matthew J. Powell; Eric A. Cousineau; Aaron D. Ames (ICRA, 2015)

Valkyrie: NASA's First Bipedal Humanoid Robot. - Nicolaus A. Radford; Philip Strawser; Kimberly A. Hambuchen; Joshua S. Mehling; William K. Verdeyen; A. Stuart Donnan; James Holley; Jairo Sanchez; Vienny Nguyen; Lyndon B. Bridgwater; Reginald Berka; Robert O. Ambrose; et al. (J. Field Robotics, 2015)

Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. - Kenneth Y. Chao; Matthew J. Powell; Aaron D. Ames; Pilwon Hur (ACC, 2016)

Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. - Matthew J. Powell; Aaron D. Ames (ACC, 2016)

Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. - Matthew J. Powell; Wen-Loong Ma; Eric R. Ambrose; Aaron D. Ames (Humanoids, 2016)

Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. - Matthew J. Powell; Aaron D. Ames (IROS, 2016)

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. - Gerardo Bledt; Matthew J. Powell; Benjamin Katz; Jared Di Carlo; Patrick M. Wensing; Sangbae Kim (IROS, 2018)

Optimized Jumping on the MIT Cheetah 3 Robot. - Quan Nguyen; Matthew J. Powell; Benjamin Katz; Jared Di Carlo; Sangbae Kim (ICRA, 2019)

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. - Chiheb Boussema; Matthew J. Powell; Gerardo Bledt; Auke Jan Ijspeert; Patrick M. Wensing; Sangbae Kim (IEEE Robotics Autom. Lett., 2019)