Aaron D. Ames
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Researcher and professor in mechanical, electrical, and computer engineering
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Aaron D. Amescomputer-science Degrees
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Engineering Computer Science
Aaron D. Ames's Degrees
- PhD Mechanical Engineering University of California, Berkeley
- Masters Mechanical Engineering University of California, Berkeley
- Bachelors Mechanical Engineering University of California, Berkeley
Why Is Aaron D. Ames Influential?
(Suggest an Edit or Addition)According to Wikipedia, Aaron D. Ames has been the Bren Professor of Mechanical and Civil Engineering and Control and Dynamical Systems at California Institute of Technology, in Pasadena, California, since 2017. Formerly, he was an associate professor of mechanical engineering and electrical and computer engineering at Georgia Institute of Technology, Atlanta, Georgia, and an associate professor of mechanical engineering at Texas A&M University, College Station, Texas.
Aaron D. Ames's Published Works
Number of citations in a given year to any of this author's works
Total number of citations to an author for the works they published in a given year. This highlights publication of the most important work(s) by the author
Published Works
- Control Barrier Function Based Quadratic Programs for Safety Critical Systems (2016) (884)
- Control Barrier Functions: Theory and Applications (2019) (582)
- Control barrier function based quadratic programs with application to adaptive cruise control (2014) (507)
- Safety Barrier Certificates for Collisions-Free Multirobot Systems (2017) (372)
- Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics (2014) (339)
- Robustness of Control Barrier Functions for Safety Critical Control (2016) (336)
- Models, feedback control, and open problems of 3D bipedal robotic walking (2014) (276)
- The Robotarium: A remotely accessible swarm robotics research testbed (2016) (264)
- Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces (2020) (261)
- Valkyrie: NASA's First Bipedal Humanoid Robot (2015) (227)
- Human-Inspired Control of Bipedal Walking Robots (2014) (205)
- 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics (2016) (181)
- Control Barrier Certificates for Safe Swarm Behavior (2015) (174)
- Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs (2013) (149)
- Correct-by-Construction Adaptive Cruise Control: Two Approaches (2016) (138)
- Control barrier function based quadratic programs with application to bipedal robotic walking (2015) (134)
- 3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems (2010) (134)
- Learning for Safety-Critical Control with Control Barrier Functions (2019) (121)
- Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control (2016) (113)
- Is there life after Zeno? Taking executions past the breaking (Zeno) point (2006) (107)
- Input-to-State Safety With Control Barrier Functions (2018) (103)
- Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics (2012) (98)
- Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS (2016) (94)
- FROST∗: Fast robot optimization and simulation toolkit (2017) (91)
- Adaptive Safety with Control Barrier Functions (2019) (91)
- Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs (2013) (89)
- Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots (2016) (83)
- Safe certificate-based maneuvers for teams of quadrotors using differential flatness (2017) (83)
- Control lyapunov functions and hybrid zero dynamics (2012) (81)
- First Steps toward Automatically Generating Bipedal Robotic Walking from Human Data (2012) (81)
- Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization (2018) (79)
- Towards a Framework for Realizable Safety Critical Control through Active Set Invariance (2018) (74)
- Encephalitis Induced by Bovine Herpesvirus 5 and Protection by Prior Vaccination or Infection with Bovine Herpesvirus 1 (1999) (73)
- 3D dynamic walking on stepping stones with control barrier functions (2016) (71)
- Sufficient Conditions for the Existence of Zeno Behavior (2007) (70)
- Lyapunov Theory for Zeno Stability (2013) (68)
- Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking (2018) (65)
- A geometric approach to three-dimensional hipped bipedal robotic walking (2007) (64)
- First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons (2017) (61)
- Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing (2012) (59)
- Safety barrier certificates for heterogeneous multi-robot systems (2016) (59)
- Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots (2013) (58)
- Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems* (2019) (57)
- Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems (2011) (57)
- Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control (2014) (57)
- Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control (2018) (57)
- Human-data based cost of bipedal robotic walking (2011) (56)
- On the Stability of Zeno Equilibria (2006) (55)
- Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach (2021) (55)
- Human-inspired multi-contact locomotion with AMBER2 (2014) (53)
- Characterization of Zeno behavior in hybrid systems using homological methods (2005) (53)
- First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach (2017) (52)
- A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking (2011) (52)
- Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons (2018) (52)
- Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties (2020) (51)
- Learning impedance controller parameters for lower-limb prostheses (2013) (50)
- Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach (2009) (49)
- Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions (2007) (49)
- Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars (2015) (47)
- Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions (2019) (47)
- An Online Approach to Active Set Invariance (2018) (47)
- Discrete mechanics and optimal control applied to the compass gait biped (2007) (46)
- Mathematical equations as executable models of mechanical systems (2010) (44)
- Preference-Based Learning for Exoskeleton Gait Optimization (2019) (44)
- Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control (2016) (43)
- Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems (2007) (42)
- A Homology Theory for Hybrid Systems: Hybrid Homology (2005) (40)
- Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions (2020) (40)
- Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS (2016) (40)
- Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment (2017) (39)
- Preliminary results on correct-by-construction control software synthesis for adaptive cruise control (2014) (39)
- First steps toward underactuated human-inspired bipedal robotic walking (2012) (39)
- From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots (2012) (37)
- Continuity and smoothness properties of nonlinear optimization-based feedback controllers (2015) (36)
- Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds (2017) (35)
- Parameter to state stability of control Lyapunov functions for hybrid system models of robots (2017) (35)
- Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics (2013) (35)
- Beyond Zeno: Get on with It! (2006) (34)
- Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control (2020) (34)
- Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain (2012) (34)
- 2D bipedal walking with knees and feet: A hybrid control approach (2009) (34)
- The Ach Library: A New Framework for Real-Time Communication (2015) (33)
- Safe, Remote-Access Swarm Robotics Research on the Robotarium (2016) (32)
- Rank properties of poincare maps for hybrid systems with applications to bipedal walking (2010) (32)
- Approximate reduction of dynamic systems (2008) (32)
- Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis (2017) (32)
- On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers (2007) (32)
- Human‐inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain (2014) (31)
- Tractable terrain-aware motion planning on granular media: An impulsive jumping study (2016) (31)
- Data-driven control for feedback linearizable single-input systems (2017) (31)
- Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance (2020) (31)
- Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams (2018) (30)
- Multi-contact bipedal robotic locomotion (2015) (30)
- Dynamic Walking with Compliance on a Cassie Bipedal Robot (2019) (30)
- 3D bipedal walking with knees and feet: A hybrid geometric approach (2009) (30)
- Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations (2005) (30)
- Planar multi-contact bipedal walking using hybrid zero dynamics (2014) (29)
- Hybrid Routhian reduction of Lagrangian hybrid systems (2006) (28)
- Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions (2021) (28)
- On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria (2008) (28)
- Acumen: An Open-Source Testbed for Cyber-Physical Systems Research (2015) (28)
- Quadratic programming and impedance control for transfemoral prosthesis (2014) (28)
- Approximate Reduction of Dynamical Systems (2006) (28)
- Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking (2018) (27)
- A Scalable Safety Critical Control Framework for Nonlinear Systems (2020) (27)
- Footstep and motion planning in semi-unstructured environments using randomized possibility graphs (2016) (27)
- Outputs of human walking for bipedal robotic controller design (2012) (26)
- Human-inspired walking via unified PD and impedance control (2014) (26)
- Model-Free Safety-Critical Control for Robotic Systems (2021) (26)
- Model predictive control of underactuated bipedal robotic walking (2015) (25)
- Rank deficiency and superstability of hybrid systems (2012) (24)
- Control Barrier Functions for Sampled-Data Systems with Input Delays (2020) (24)
- Abstracting Partially Feedback Linearizable Systems Compositionally (2017) (24)
- A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety (2020) (23)
- Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking (2015) (23)
- Risk-Averse Planning Under Uncertainty (2019) (23)
- Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis (2015) (23)
- Stability of Zeno equilibria in Lagrangian hybrid systems (2008) (23)
- Online Active Safety for Robotic Manipulators (2019) (23)
- Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations (2018) (23)
- Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems (2016) (22)
- 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization (2021) (22)
- Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model (2019) (22)
- Backup Control Barrier Functions: Formulation and Comparative Study (2021) (22)
- Dynamic Walking: Toward Agile and Efficient Bipedal Robots (2020) (22)
- Enclosing the behavior of a hybrid system up to and beyond a Zeno point (2013) (21)
- Constrained Risk-Averse Markov Decision Processes (2020) (21)
- Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning (2020) (20)
- Achieving bipedal locomotion on rough terrain through human-inspired control (2012) (20)
- Safety-Critical Control of Active Interventions for COVID-19 Mitigation (2020) (20)
- Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions (2020) (20)
- A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report) (2012) (19)
- Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization (2012) (19)
- Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition (2015) (18)
- Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method (2015) (18)
- Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators (2021) (18)
- First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach (2019) (18)
- A human-inspired framework for bipedal robotic walking design (2014) (17)
- Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies (2020) (17)
- Safety-Critical Kinematic Control of Robotic Systems (2020) (17)
- An Inverse Dynamics Approach to Control Lyapunov Functions (2019) (17)
- Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control (2018) (17)
- Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs (2013) (17)
- First steps toward formal controller synthesis for bipedal robots with experimental implementation (2017) (16)
- Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts (2018) (16)
- Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State (2021) (16)
- ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes (2020) (16)
- Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping (2020) (16)
- Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point (2016) (16)
- Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots (2012) (16)
- Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits (2020) (16)
- A stability region criterion for flat-footed bipedal walking on deformable granular terrain (2017) (16)
- Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control (2014) (16)
- Integral Control Barrier Functions for Dynamically Defined Control Laws (2020) (16)
- Correct Software Synthesis for Stable Speed-Controlled Robotic Walking (2013) (16)
- Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems (2008) (15)
- Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion (2018) (15)
- Unified Multirate Control: From Low-Level Actuation to High-Level Planning (2020) (15)
- Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems (2021) (15)
- Safety Functionals for Time Delay Systems (2019) (15)
- LyaNet: A Lyapunov Framework for Training Neural ODEs (2022) (15)
- Persistent homology for automatic determination of human-data based cost of bipedal walking (2013) (15)
- First steps toward formal controller synthesis for bipedal robots (2015) (15)
- 3 D Bipedal Robotic Walking : Models , Feedback Control , and Open Problems (2010) (15)
- Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression (2017) (15)
- Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion (2021) (15)
- Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization (2016) (14)
- Compass gait revisited: A human data perspective with extensions to three dimensions (2011) (14)
- Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments (2019) (14)
- Robust control of a powered transfemoral prosthesis device with experimental verification (2017) (14)
- Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion (2022) (14)
- Stochastic approximations of hybrid systems (2005) (14)
- Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry (2006) (14)
- Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots (2021) (13)
- Interactive Multi-Modal Motion Planning With Branch Model Predictive Control (2021) (13)
- 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation (2016) (13)
- Formal and practical completion of Lagrangian hybrid systems (2009) (13)
- TOWARDS THE GEOMETRIC REDUCTION OF CONTROLLED THREE-DIMENSIONAL BIPEDAL ROBOTIC WALKERS (2006) (13)
- Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion (2014) (13)
- Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion (2016) (13)
- Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage* (2018) (12)
- Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking (2020) (12)
- Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach (2019) (12)
- Optimal Safe Controller Synthesis: A Density Function Approach (2019) (12)
- A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees (2019) (12)
- Towards Variable Assistance for Lower Body Exoskeletons (2019) (12)
- Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty (2020) (12)
- Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays (2020) (12)
- Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator (2020) (11)
- Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M (2017) (11)
- Safety-Critical Rapid Aerial Exploration of Unknown Environments (2020) (11)
- On the Partitioning of Syntax and Semantics For Hybrid Systems Tools (2005) (11)
- Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts (2019) (11)
- Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions (2022) (11)
- A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability (2019) (11)
- Quadratic program based nonlinear embedded control of series elastic actuators (2014) (11)
- Efficient HZD gait generation for three-dimensional underactuated humanoid running (2016) (11)
- SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program (2021) (11)
- Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers (2018) (11)
- Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach (2011) (11)
- Online safety calculations for glide-slope recapture (2005) (11)
- Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions (2020) (11)
- A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses (2015) (11)
- Realizable Set Invariance Conditions for Cyber-Physical Systems (2019) (11)
- Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems (2009) (11)
- Reactive motion planning with probabilistic safety guarantees (2020) (11)
- ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions (2020) (10)
- Three-dimensional object recognition using invariant Euclidean signature curves (2002) (10)
- Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty (2014) (9)
- Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking (2018) (9)
- Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion (2016) (9)
- Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion (2020) (9)
- Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking (2020) (9)
- From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation (2019) (9)
- Simulating prosthetic devices with human-inspired hybrid control (2011) (9)
- Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety (2021) (9)
- Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification (2022) (9)
- Barrier Functions for Multiagent-POMDPs with DTL Specifications (2020) (9)
- Humanoid manipulation planning using backward-forward search (2016) (9)
- Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control (2019) (9)
- A Scenario Approach to Risk-Aware Safety-Critical System Verification (2022) (9)
- Error bounds based stochastic approximations and simulations of hybrid dynamical systems (2006) (8)
- Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions (2021) (8)
- Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction (2012) (8)
- Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits (2015) (8)
- Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion (2020) (8)
- Separable Control Lyapunov Functions With Application to Prostheses (2021) (8)
- Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints (2016) (8)
- Safety-Critical Manipulation for Collision-Free Food Preparation (2022) (8)
- Safety-Aware Preference-Based Learning for Safety-Critical Control (2021) (7)
- Toward a Data-Driven Template Model for Quadrupedal Locomotion (2022) (7)
- Energy shaping of hybrid systems via control Lyapunov functions (2015) (7)
- Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity (2019) (7)
- Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking (2021) (7)
- A stabilization result with application to bipedal locomotion (2013) (7)
- Safety-Critical Control with Input Delay in Dynamic Environment (2021) (7)
- Duality between density function and value function with applications in constrained optimal control and Markov Decision Process (2019) (7)
- Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots (2020) (7)
- Hybrid Geometric Reduction of Hybrid Systems (2006) (7)
- Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization (2016) (7)
- Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs (2016) (6)
- Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses (2020) (6)
- Risk-Averse Stochastic Shortest Path Planning (2021) (6)
- Using Persistent Homology to Determine a Human-Data Based Cost for Bipedal Walking (2011) (6)
- Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control (2020) (6)
- Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles (2022) (6)
- Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping (2019) (6)
- A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems (2022) (6)
- Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems (2019) (6)
- Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control (2021) (6)
- Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions (2020) (6)
- Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury (2021) (6)
- Closed-form controlled invariant sets for pedestrian avoidance (2017) (6)
- Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping (2020) (6)
- Control of Separable Subsystems with Application to Prostheses (2019) (6)
- A core language for executable models of cyber physical systems: work in progress report (2011) (6)
- Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion (2016) (5)
- Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models (2022) (5)
- Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach (2021) (5)
- Invariant Sets for Integrators and Quadrotor Obstacle Avoidance (2020) (5)
- Composing Dynamical Systems to Realize Dynamic Robotic Dancing (2014) (5)
- Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion (2019) (5)
- Footstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs (2016) (5)
- Human-Inspired Walking in AMBER 1 . 0 and AMBER 2 . 0 (2013) (5)
- Composition of Dynamical Systems for Estimation of Human Body Dynamics (2007) (4)
- Input-to-State Safety with Input Delay in Longitudinal Vehicle Control (2022) (4)
- Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models (2022) (4)
- Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems (2006) (4)
- Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control (2015) (4)
- Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions (2022) (4)
- Design and Comparative Analysis of 1D Hopping Robots (2019) (4)
- A priori detection of Zeno behavior in communication networks modeled as hybrid systems (2006) (4)
- Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics (2021) (4)
- Multiprocess Communication and Control Software for Humanoid Robots (2014) (4)
- Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations (2019) (4)
- Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach* (2019) (4)
- Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion (2021) (4)
- Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations (2019) (4)
- Decentralized Task and Path Planning for Multi-Robot Systems (2020) (4)
- Persistence of capsicum oleoresin in soil (2002) (4)
- Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers (2022) (4)
- Hierarchical control of series elastic actuators through control Lyapunov functions (2014) (4)
- Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation (2021) (4)
- A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems (2022) (3)
- Hybrid Zero Dynamics Control of Legged Robots (2018) (3)
- Zeno behavior in electromechanical hybrid systems: From theory to experimental validation (2012) (3)
- Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion (2018) (3)
- Learning Controller Gains on Bipedal Walking Robots via User Preferences (2021) (3)
- Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification (2022) (3)
- Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision (2022) (3)
- Human Based Cost from Persistent Homology for Bipedal Walking (2011) (3)
- Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization (2022) (3)
- Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots* (2019) (3)
- Density Functions for Guaranteed Safety on Robotic Systems (2020) (3)
- Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation (2021) (3)
- Time-Optimal Navigation in Uncertain Environments with High-Level Specifications (2021) (3)
- Input to State Stability of Bipedal Walking Robots: Application to DURUS (2018) (3)
- Safety and Efficiency in Robotics: The Control Barrier Functions Approach (2022) (3)
- Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs (2021) (3)
- Estimate-to-State Stability for Hybrid Human-Prosthesis Systems (2021) (2)
- Optimal Motion Planning for Multi-Modal Hybrid Locomotion (2019) (2)
- Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs (2022) (2)
- Online Decentralized Decision Making With Inequality Constraints: An ADMM approach (2020) (2)
- Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots (2020) (2)
- Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing (2021) (2)
- Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data (2022) (2)
- Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach (2020) (2)
- Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion (2021) (2)
- Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions (2022) (2)
- Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs (2020) (2)
- Iterative Model Predictive Control for Piecewise Systems (2021) (2)
- Risk-Averse Decision Making Under Uncertainty (2021) (2)
- Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking (2022) (2)
- Model-Dependent Prosthesis Control with Interaction Force Estimation (2020) (2)
- Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control (2021) (2)
- Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches (2022) (2)
- Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics (2022) (2)
- Affine Hybrid Systems (2004) (2)
- Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems (2019) (2)
- Learning Performance Bounds for Safety-Critical Systems (2021) (2)
- Safety-Critical Controller Verification via Sim2Real Gap Quantification (2022) (2)
- Existence of Periodic Orbits in Completed Lagrangian Hybrid Systems with Non-Plastic Collisions (2008) (1)
- Passive Dynamic Balancing and Walking in Actuated Environments (2020) (1)
- Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion (2022) (1)
- Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots (2022) (1)
- Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments (2021) (1)
- Control of Motion and Compliance (2017) (1)
- Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots (2021) (1)
- Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach (2021) (1)
- Traversing Environments Using Possibility Graphs for Humanoid Robots (2016) (1)
- Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies (2022) (1)
- Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming (2016) (1)
- Partially Observable Games for Secure Autonomy* (2020) (1)
- On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction (2020) (1)
- Safe Backstepping with Control Barrier Functions (2022) (1)
- Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control (2023) (1)
- Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control (2022) (1)
- Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems (2019) (1)
- End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions (2022) (1)
- Establishing trust in remotely reprogrammable systems (2016) (1)
- Planning and Optimization for Multi-Robot Planetary Cave Exploration under Intermittent Connectivity Constraints (2020) (1)
- The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms (2021) (1)
- Homotopy Meaningful Hybrid Model Structures (2007) (1)
- Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions (2022) (1)
- An Input-to-State Stability Perspective on Robust Locomotion (2023) (1)
- Control Barrier Functionals: Safety-critical Control for Time Delay Systems (2022) (1)
- Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization (2022) (1)
- Safe Drone Flight with Time-Varying Backup Controllers (2022) (1)
- National Science Foundation Workshop on Future Directions in Cyber-Physical Systems, Robotics, and Autonomy (2015) (1)
- Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization (2020) (1)
- Complexity and fragility in stability for linear systems (2008) (1)
- Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions (2023) (1)
- Traversing Environments Using Possibility Graphs with Multiple Action Types (2016) (1)
- Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows (2022) (0)
- Bio-Inspired Reduction-Based Control of 3 D Bipedal Robots (2012) (0)
- Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns (2023) (0)
- From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps (2022) (0)
- Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media (2017) (0)
- Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments (2017) (0)
- The Ach Library (2015) (0)
- Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic (2022) (0)
- Safety-Critical Kinematic Control of Robotic Systems (2021) (0)
- Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking (2014) (0)
- Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications (2023) (0)
- System Identification and Control through Efficient SVA Based Regressor Computation (2016) (0)
- Position Paper : Human-Cyber-Physical Systems for Emergency Response (2008) (0)
- Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person (2021) (0)
- Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods (2018) (0)
- System Identification and Control of Valkyrie through SVA--Based Regressor Computation (2016) (0)
- Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective (2021) (0)
- Fast Trajectory Generation for Quadrupedal Walking on Slopes (2020) (0)
- Rank deficiency and superstability of hybrid systems with application to bipedal robots (2011) (0)
- Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors (2022) (0)
- Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators (2021) (0)
- Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration (2023) (0)
- Active space control of underactuated robots: From adaptation to robustness to optimality (2022) (0)
- Model-Dependent Prosthesis Control with Real-Time Force Sensing (2021) (0)
- Hybrid Reduction of a Bipedal Walker from Three to Two Dimensions (2005) (0)
- Contemporary Mathematics Homotopy Meaningful Hybrid Model Structures (2007) (0)
- Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays (2021) (0)
- Parameterized Barrier Functions to Guarantee Safety under Uncertainty (2023) (0)
- Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems (2023) (0)
- Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers (2023) (0)
- Safety-Critical Control with Bounded Inputs via Reduced Order Models (2023) (0)
- Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking (2021) (0)
- Dueling Posterior Sampling for Interactive Preference-Based Learning (2020) (0)
- FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric (2023) (0)
- Paused intrusions improve robot jumping performance in granular media (2017) (0)
- Stabilization of Exoskeletons through Active Ankle Compensation (2019) (0)
- Lidar-based exploration and discretization for mobile robot planning (2020) (0)
- Corrigendum: Multi-contact bipedal robotic locomotion (2016) (0)
- Online decentralized decision making with inequality constraints: An ADMM approach (2021) (0)
- Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees (2023) (0)
- A Control Barrier Function Perspective on Lyapunov-Based Economic Model Predictive Control (2022) (0)
- First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach (2016) (0)
- Input-to-State Stability in Probability (2023) (0)
- Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions (2023) (0)
- POLAR: Preference Optimization and Learning Algorithms for Robotics (2022) (0)
- A review of current state-of-the-art control methods for lower-limb powered prostheses (2023) (0)
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