Design and Comparative Analysis of 1D Hopping Robots. - Eric R. Ambrose; Noel Csomay-Shanklin; Yizhar Or; Aaron D. Ames (IROS, 2019)

Passive Dynamic Balancing and Walking in Actuated Environments. - Jenna Reher; Noel Csomay-Shanklin; David L. Christensen; Bobby Bristow; Aaron D. Ames; Lanny S. Smoot (ICRA, 2020)

Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots. - Wen-Loong Ma; Noel Csomay-Shanklin; Aaron D. Ames (IROS, 2020)

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. - Maegan Tucker; Noel Csomay-Shanklin; Wen-Loong Ma; Aaron D. Ames (ICRA, 2021)

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. - Wyatt Ubellacker; Noel Csomay-Shanklin; Tamás G. Molnár; Aaron D. Ames (IROS, 2021)

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. - Noel Csomay-Shanklin; Ryan K. Cosner; Min Dai; Andrew J. Taylor; Aaron D. Ames (L4DC, 2021)

Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. - Wen-Loong Ma; Noel Csomay-Shanklin; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. - Wen-Loong Ma; Noel Csomay-Shanklin; Shishir Kolathaya; Kaveh Akbari Hamed; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. - Yu Sun; Wyatt Ubellacker; Wen-Loong Ma; Xiang Zhang 020; Changhao Wang; Noel Csomay-Shanklin; Masayoshi Tomizuka; Koushil Sreenath; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

A Machine Learning Strategy for Locomotion Classification and Parameter Estimation Using Fusion of Wearable Sensors. - Jonathan Camargo; Will Flanagan; Noel Csomay-Shanklin; Bharat Kanwar; Aaron J. Young (IEEE Trans. Biomed. Eng., 2021)

Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. - Noel Csomay-Shanklin; Andrew J. Taylor; Ugo Rosolia; Aaron D. Ames (CDC, 2022)

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (Humanoids, 2022)

Learning Controller Gains on Bipedal Walking Robots via User Preferences. - Noel Csomay-Shanklin; Maegan Tucker; Min Dai; Jenna Reher; Aaron D. Ames (ICRA, 2022)

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. - Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (L4DC, 2022)

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (CoRR, 2022)

Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. - Yuxiao Chen 001; Ugo Rosolia; Wyatt Ubellacker; Noel Csomay-Shanklin; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Feature tables and source code for Camargo et al. A Machine Learning Strategy for Locomotion Classification and Parameter Estimation using Fusion of Wearable Sensors. Transactions on Biomedical Engineering. 2021. - Jonathan Camargo; Will Flanagan; Noel Csomay-Shanklin; Bharat Kanwar; Aaron J. Young (IEEE DataPort, 2022)

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. - Noel Csomay-Shanklin; Victor D. Dorobantu; Aaron D. Ames (ICRA, 2023)

Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. - Maegan Tucker; Noel Csomay-Shanklin; Aaron D. Ames (ICRA, 2023)

Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. - Wyatt Ubellacker; Noel Csomay-Shanklin; Aaron D. Ames (ACC, 2024)

Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. - William D. Compton; Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (CDC, 2024)

Robust Agility via Learned Zero Dynamics Policies. - Noel Csomay-Shanklin; William D. Compton; Ivan Dario Jimenez Rodriguez; Eric R. Ambrose; Yisong Yue; Aaron D. Ames (IROS, 2024)

Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. - Inigo Incer; Noel Csomay-Shanklin; Aaron D. Ames; Richard M. Murray (CoRR, 2024)

Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes. - Noel Csomay-Shanklin; William D. Compton; Aaron D. Ames (CoRR, 2024)

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. - William D. Compton; Noel Csomay-Shanklin; Cole Johnson; Aaron D. Ames (CoRR, 2024)

Layered Control Systems Operating on Multiple Clocks. - Inigo Incer; Noel Csomay-Shanklin; Aaron D. Ames; Richard M. Murray (IEEE Control. Syst. Lett., 2024)

Safety-Critical Controller Synthesis with Reduced-Order Models. - Max H. Cohen; Noel Csomay-Shanklin; William D. Compton; Tamás G. Molnár; Aaron D. Ames (ACC, 2025)

Bézier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. - Noel Csomay-Shanklin; Aaron D. Ames (ACC, 2025)