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A

Akbari Hamed, Kaveh and Kamidi, Vinay R. and Ma, Wen-Loong et al. (2019) Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics and Automation Letters . ISSN 2377-3766. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20190626-133626148

Akbari Hamed, Kaveh and Ma, Wen-Loong and Ames, Aaron D. (2019) Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4588-4595. ISBN 978-1-5386-7926-5. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135601629

Ames, Aaron D. and Coogan, Samuel and Egerstedt, Magnus et al. (2019) Control Barrier Functions: Theory and Applications. In: 2019 18th European Control Conference (ECC). IEEE , Piscataway, NJ, pp. 3420-3431. ISBN 978-3-907144-00-8. https://resolver.caltech.edu/CaltechAUTHORS:20190410-120602158

Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W. et al. (2019) Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190410-120651366

Azimi, Vahid and Shu, Tony and Zhao, Huihua et al. (2019) Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. IEEE Transactions on Systems, Man, and Cybernetics: Systems . ISSN 2168-2216. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20190222-102105621

Akbari Hamed, Kaveh and Ma, Wen-Loong and Kamidi, Vinay R. et al. (2019) Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190626-092917746

Akbari Hamed, Kaveh and Gregg, Robert D. and Ames, Aaron D. (2018) Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. In: 2018 Annual American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2210-2217. ISBN 978-1-5386-5428-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-075309563

Akbari Hamed, Kaveh and Ames, Aaron D. and Gregg, Robert D. (2018) Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. In: 2018 Annual American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 1438-1445. ISBN 978-1-5386-5428-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-081031030

Ames, Aaron D. and Xu, Xiangru and Grizzle, Jessy W. et al. (2017) Control Barrier Function Based Quadratic Programs for Safety Critical Systems. IEEE Transactions on Automatic Control, 62 (8). pp. 3861-3876. ISSN 0018-9286. https://resolver.caltech.edu/CaltechAUTHORS:20170726-152043029

Ames, Aaron D. and Tabuada, Paulo and Jones, Austin et al. (2017) First steps toward formal controller synthesis for bipedal robots with experimental implementation. Nonlinear Analysis: Hybrid Systems, 25 . pp. 155-173. ISSN 1751-570X. https://resolver.caltech.edu/CaltechAUTHORS:20170608-073936974

Ambrose, Eric and Ma, Wen-Loong and Hubicki, Christian et al. (2017) Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. In: 2017 IEEE Conference on Control Technology and Applications. IEEE , Piscataway, NJ, pp. 1270-1276. ISBN 978-1-5090-2182-6. https://resolver.caltech.edu/CaltechAUTHORS:20171018-075303778

Azimi, Vahid and Shu, Tony and Zhao, Huihua et al. (2017) Robust control of a powered transfemoral prosthesis device with experimental verification. In: 2017 American Control Conference. IEEE , Piscataway, NJ, pp. 517-522. ISBN 978-1-5090-5992-8. https://resolver.caltech.edu/CaltechAUTHORS:20170705-165618986

Agrawal, Ayush and Harib, Omar and Hereid, Ayonga et al. (2017) First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access, 5 . pp. 9919-9934. ISSN 2169-3536. https://resolver.caltech.edu/CaltechAUTHORS:20170621-161046140

Ames, Aaron D. and Grizzle, Jessy W. and Tabuada, Paulo (2014) Control barrier function based quadratic programs with application to adaptive cruise control. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 6271-6278. ISBN 978-1-4673-6090-6. https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153

Ames, Aaron D. and Holley, James (2014) Quadratic program based nonlinear embedded control of series elastic actuators. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 6291-6298. ISBN 978-1-4673-6090-6. https://resolver.caltech.edu/CaltechAUTHORS:20190208-144246388

Aghasadeghi, Navid and Zhao, Huihua and Hargrove, Levi J. et al. (2013) Learning impedance controller parameters for lower-limb prostheses. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 4268-4274. ISBN 9781467363587. https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084

Ames, Aaron D. and Galloway, Kevin and Grizzle, J. W. (2012) Control Lyapunov functions and hybrid zero dynamics. In: 51st IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 6837-6842. ISBN 978-1-4673-2066-5. https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450

Ames, Aaron D. and Doyle, John C. (2008) Complexity and fragility in stability for linear systems. In: 2008 American Control Conference. Proceedings of the American Control Conference. IEEE , pp. 1630-1637. ISBN 978-1-4244-2078-0 . https://resolver.caltech.edu/CaltechAUTHORS:20100622-135915127

Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar (2008) Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations. In: 46th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5420-5425. ISBN 978-1-4244-1497-0 . https://resolver.caltech.edu/CaltechAUTHORS:20100813-134422032

Ames, Aaron D. and Gregg, Robert D. and Spong, Mark W. (2007) A geometric approach to three-dimensional hipped bipedal robotic walking. In: 46th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5348-5355. ISBN 978-1-4244-1497-0. https://resolver.caltech.edu/CaltechAUTHORS:20100813-141525838

Ames, Aaron D. and Gregg, Robert D. (2007) Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. In: 2007 American Control Conference. IEEE , New York, NY, pp. 5658-5664. ISBN 978-1-4244-0988-4 . https://resolver.caltech.edu/CaltechAUTHORS:20100819-110032829

Ames, Aaron D. (2007) Homotopy Meaningful Hybrid Model Structures. In: Topology and Robotics. Contemporary Mathematics Series. No.438. American Mathematical Society , Providence, RI, pp. 121-144. ISBN 978-0-8218-4246-1 . https://resolver.caltech.edu/CaltechAUTHORS:20100819-104123296

Ames, Aaron D. and Gregg, Robert D. and Wendel, Eric D. B. et al. (2007) On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers. In: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006. Lecture Notes in Control and Information Sciences. No.366. Springer , Berlin, pp. 183-196. ISBN 978-3-540-73889-3 . https://resolver.caltech.edu/CaltechAUTHORS:20100819-102549602

Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar (2006) Error bounds based stochastic approximations and simulations of hybrid dynamical systems. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 4742-4747. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190307-105929555

Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Routhian reduction of Lagrangian hybrid systems. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 2640-2645. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190307-110301990

Ames, Aaron D. and Sastry, Shankar (2006) Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 2646-2651. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663

Ames, Aaron D. and Zheng, Haiyang and Gregg, Robert D. et al. (2006) Is there life after Zeno? Taking executions past the breaking (Zeno) point. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 2652-2657. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190306-131542421

Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar (2006) A priori detection of Zeno behavior in communication networks modeled as hybrid systems. In: 2006 American Control Conference. IEEE , Piscataway, NJ, pp. 3340-3345. ISBN 1-4244-0209-3. https://resolver.caltech.edu/CaltechAUTHORS:20190305-084057276

Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Geometric Reduction of Hybrid Systems. In: Proceedings of the 45th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control . IEEE , Piscataway, NJ, pp. 923-929. ISBN 978-1-4244-0170-3 . https://resolver.caltech.edu/CaltechAUTHORS:20110120-091215904

Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar (2005) Sufficient Conditions for the Existence of Zeno Behavior. In: Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference. IEEE , Piscataway, NJ, pp. 696-701. ISBN 0-7803-9568-9. https://resolver.caltech.edu/CaltechAUTHORS:20190305-074933127

Ames, Aaron D. and Sastry, Shankar (2005) Characterization of Zeno behavior in hybrid systems using homological methods. In: 2005 American Control Conference. IEEE , Piscataway, NJ, pp. 1160-1165. ISBN 0-7803-9098-9. https://resolver.caltech.edu/CaltechAUTHORS:20190304-152359371

Abate, Alessandro and Ames, Aaron D. and Sastry, S. Shankar (2005) Stochastic approximations of hybrid systems. In: 2005 American Control Conference. Vol.3. IEEE , Piscataway, NJ, pp. 1557-1562. ISBN 0-7803-9098-9. https://resolver.caltech.edu/CaltechAUTHORS:20190305-074604391

Ames, Aaron D. and Sastry, Shankar (2004) Blowing up affine hybrid systems. In: 43rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 473-478. ISBN 0-7803-8682-5. https://resolver.caltech.edu/CaltechAUTHORS:20190307-123634418

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Chen, Yuxiao and Anderson, James and Kalsi, Karan et al. (2019) Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 1027-1034. ISBN 978-1-5386-7926-5. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135605069

Chang, Alexander H. and Hubicki, Christian and Ames, Aaron et al. (2019) Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. In: 2019 International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3188-3194. ISBN 978-1-5386-6027-0. https://resolver.caltech.edu/CaltechAUTHORS:20190815-131048956

Chen, Yuxiao and Ames, Aaron D. (2019) Duality between density function and value function with applications in constrained optimal control and Markov Decision Process. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713

Chang, Alexander H. and Hubicki, Christian M. and Aguilar, Jeff J. et al. (2017) Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2154-2160. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20190205-083656859

Chao, Kenneth Y. and Powell, Matthew J. and Ames, Aaron D. et al. (2016) Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3910-3915. ISBN 978-1-4673-8682-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751

Cousineau, Eric and Ames, Aaron D. (2015) Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5747-5753. ISBN 978-1-4799-6923-4. https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057

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Gurriet, Thomas and Nilsson, Petter and Singletary, Andrew et al. (2019) Realizable Set Invariance Conditions for Cyber-Physical Systems. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3642-3649. ISBN 978-1-5386-7926-5. https://resolver.caltech.edu/CaltechAUTHORS:20190905-142648478

Gurriet, Thomas and Mote, Mark and Ames, Aaron D. et al. (2018) An Online Approach to Active Set Invariance. In: 2018 IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 3592-3599. ISBN 9781538613955. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135634887

Gosyne, Jonathan R. and Hubicki, Christian M. and Xiong, Xiaobin et al. (2018) Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 994-1001. ISBN 9781538672839. https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445073

Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem et al. (2018) Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. In: 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2804-2811. ISBN 978-1-5386-3081-5. https://resolver.caltech.edu/CaltechAUTHORS:20180921-090557817

Gurriet, Thomas and Singletary, Andrew and Reher, Jacob et al. (2018) Towards a Framework for Realizable Safety Critical Control through Active Set Invariance. In: 2018 9th ACM/IEEE International Conference on Cyber-Physical Systems. IEEE , Piscataway, NJ, pp. 98-106. https://resolver.caltech.edu/CaltechAUTHORS:20180423-111212976

Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen (2017) Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. In: 2017 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4747-4753. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456

Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen (2017) Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893

Grey, Michael X. and Liu, C. Karen and Ames, Aaron D. (2016) Traversing Environments Using Possibility Graphs with Multiple Action Types. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756

Grey, Michael X. and Garrett, Caelan R. and Liu, C. Karen et al. (2016) Humanoid manipulation planning using backward-forward search. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5467-5473. ISBN 978-1-5090-3762-9. https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129

Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen (2016) Traversing Environments Using Possibility Graphs for Humanoid Robots. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446

Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D. et al. (2013) Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999

Ganesh, Sumitra and Ames, Aaron D. and Bajcsy, Ruzena (2007) Composition of Dynamical Systems for Estimation of Human Body Dynamics. In: Hybrid Systems: Computation and Control. Lecture Notes in Computer Science. No.4416. Springer , Berlin, pp. 702-705. ISBN 978-3-540-71492-7. https://resolver.caltech.edu/CaltechAUTHORS:20190821-103851149

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Harib, Omar and Hereid, Ayonga and Agrawal, Ayush et al. (2018) Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking. IEEE Control Systems Magazine, 38 (6). pp. 61-87. ISSN 0272-1708. https://resolver.caltech.edu/CaltechAUTHORS:20181127-081153712

Haesaert, S. and Nilsson, P. and Vasile, C. I. et al. (2018) Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. IFAC-PapersOnLine, 51 (16). pp. 271-276. ISSN 2405-8963. https://resolver.caltech.edu/CaltechAUTHORS:20180912-130453647

Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. et al. (2018) Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Transactions on Robotics, 34 (2). pp. 370-387. ISSN 1552-3098. https://resolver.caltech.edu/CaltechAUTHORS:20180118-141115865

Hussien, Omar and Ames, Aaron and Tabuada, Paulo (2017) Abstracting Partially Feedback Linearizable Systems Compositionally. IEEE Control Systems Letters, 1 (2). pp. 227-232. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20170621-160327032

Hereid, Ayonga and Ames, Aaron D. (2017) FROST: Fast robot optimization and simulation toolkit. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 719-726. ISBN 978-1-5386-2683-2. https://resolver.caltech.edu/CaltechAUTHORS:20180119-085007221

Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D. (2016) Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6173-6179. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405

Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. et al. (2016) Tractable terrain-aware motion planning on granular media: An impulsive jumping study. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3887-3892. ISBN 978-1-5090-3762-9. https://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395

Hereid, Ayonga and Cousineau, Eric A. and Hubicki, Christian M. et al. (2016) 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1447-1454. ISBN 978-1-4673-8026-3. https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999

Hubicki, Christian M. and Hereid, Ayonga and Grey, Michael X. et al. (2016) Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1552-1559. ISBN 978-1-4673-8026-3. https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649

Hsu, Shao-Chen and Xu, Xiangru and Ames, Aaron D. (2015) Control barrier function based quadratic programs with application to bipedal robotic walking. In: 2015 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4542-4548. ISBN 978-1-4799-8684-2. https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163

Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. et al. (2015) Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5734-5740. ISBN 978-1-4799-6923-4. https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458

Hereid, Ayonga and Powell, Matthew J. and Ames, Aaron D. (2014) Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2950-2957. ISBN 978-1-4673-6090-6. https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390

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Jiang, Shu and Partrick, Shawanee and Zhao, Huihua et al. (2012) Outputs of human walking for bipedal robotic controller design. In: 2012 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4843-4848. ISBN 978-1-4577-1096-4. https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208

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Kolathaya, Shishir and Ames, Aaron D. (2019) Input-to-State Safety with Control Barrier Functions. IEEE Control Systems Letters, 3 (1). pp. 108-113. ISSN 2475-1456. https://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279

Kolathaya, Shishir and Guffey, William and Sinnet, Ryan W. et al. (2018) Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics and Automation Letters, 3 (4). pp. 3677-3684. ISSN 2377-3766. https://resolver.caltech.edu/CaltechAUTHORS:20180711-152627687

Kolathaya, Shishir and Reher, Jacob and Hereid, Ayonga et al. (2018) Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. In: 2018 Annual American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2224-2230. ISBN 978-1-5386-5428-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-081346790

Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D. (2018) Input to State Stability of Bipedal Walking Robots: Application to DURUS. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491

Kolathaya, Shishir and Morris, Benjamin J. and Sinnet, Ryan W. et al. (2016) System Identification and Control of Valkyrie through SVA--Based Regressor Computation. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010

Kolathaya, Shishir and Hereid, Ayonga and Ames, Aaron D. (2016) Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3916-3921. ISBN 978-1-4673-8682-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-084733458

Kolathaya, Shishir and Ames, Aaron D. (2012) Achieving bipedal locomotion on rough terrain through human-inspired control. In: 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE , Piscataway, NJ, pp. 1-6. ISBN 978-1-4799-0165-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671

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Lack, Jordan and Powell, Matthew J. and Ames, Aaron D. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2582-2588. ISBN 978-1-4799-3685-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984

Lamperski, Andrew and Ames, Aaron D. (2008) On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria. In: 47th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2776-2781. ISBN 978-1-4244-3124-3. https://resolver.caltech.edu/CaltechAUTHORS:20190301-113954983

Lamperski, Andrew and Ames, Aaron D. (2008) Sufficient conditions for Zeno behavior in Lagrangian hybrid systems. In: Hybrid systems : computation and control : 11th international workshop. Lecture Notes in Computer Science. No.4981. Springer , Berlin, pp. 622-625. ISBN 978-3-540-78928-4 . https://resolver.caltech.edu/CaltechAUTHORS:20100720-154109791

Lamperski, Andrew and Ames, Aaron D. (2008) Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems. In: 46th IEEE Conference on Decision and Control. IEEE , pp. 115-120. ISBN 978-1-4244-1497-0 . https://resolver.caltech.edu/CaltechAUTHORS:20100910-155719194

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Ma, Wen-Loong and Or, Yizhar and Ames, Aaron D. (2019) Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. In: 2019 International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3705-3711. ISBN 978-1-5386-6027-0. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135608505

Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R. et al. (2017) Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. In: Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control - HSCC '17. ACM , New York, NY, pp. 265-274. ISBN 978-1-4503-4590-3. https://resolver.caltech.edu/CaltechAUTHORS:20170417-144013108

Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M. et al. (2016) Efficient HZD gait generation for three-dimensional underactuated humanoid running. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5819-5825. ISBN 978-1-5090-3762-9. https://resolver.caltech.edu/CaltechAUTHORS:20190205-143905644

Morris, Benjamin J. and Powell, Matthew J. and Ames, Aaron D. (2015) Continuity and smoothness properties of nonlinear optimization-based feedback controllers. In: 2015 54th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 151-158. ISBN 978-1-4799-7886-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644

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Nilsson, Petter and Ames, Aaron D. (2018) Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control. In: 2018 IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 765-772. ISBN 978-1-5386-1395-5. https://resolver.caltech.edu/CaltechAUTHORS:20190204-130250075

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Orosz, Gábor and Ames, Aaron D. (2019) Safety Functionals for Time Delay Systems. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4374-4379. ISBN 978-1-5386-7926-5. https://resolver.caltech.edu/CaltechAUTHORS:20190905-145103093

Or, Yizhar and Ames, Aaron D. (2011) Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. IEEE Transactions on Automatic Control, 56 (6). pp. 1322-1336. ISSN 0018-9286. https://resolver.caltech.edu/CaltechAUTHORS:20190204-092954756

Or, Yizhar and Ames, Aaron D. (2009) Formal and practical completion of Lagrangian hybrid systems. In: American Control Conference, 2009. IEEE , Piscataway, NJ, pp. 3624-3631. ISBN 978-1-4244-4523-3 . https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335

Or, Yizhar and Ames, Aaron D. (2009) Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems. In: Hybrid Systems: Computation and Control 2009. Lecture Notes in Computer Science. Vol.5469. No.5469. Springer , pp. 291-305. ISBN 978-3-642-00601-2 . https://resolver.caltech.edu/CaltechAUTHORS:20100614-134937637

Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno equilibria in Lagrangian hybrid systems. In: 47th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2770-2775. ISBN 978-1-4244-3124-3. https://resolver.caltech.edu/CaltechAUTHORS:20190226-103320953

Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno Equilibria in Lagrangian Hybrid Systems. California Institute of Technology , Pasadena, CA. (Unpublished) https://resolver.caltech.edu/CaltechCDSTR:2008.002

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Pickem, Daniel and Glotfelter, Paul and Wang, Li et al. (2017) The Robotarium: A remotely accessible swarm robotics research testbed. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1699-1706. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310

Powell, Matthew J. and Ma, Wen-Loong and Ambrose, Eric R. et al. (2016) Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 981-986. ISBN 978-1-5090-4718-5. https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067

Powell, Matthew J. and Ames, Aaron D. (2016) Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 555-560. ISBN 978-1-5090-3762-9. https://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119

Powell, Matthew J. and Ames, Aaron D. (2016) Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3922-3927. ISBN 978-1-4673-8682-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-084137891

Pickem, Daniel and Wang, Li and Glotfelter, Paul et al. (2016) Safe, Remote-Access Swarm Robotics Research on the Robotarium. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451

Powell, Matthew J. and Cousineau, Eric A. and Ames, Aaron D. (2015) Model predictive control of underactuated bipedal robotic walking. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5121-5126. ISBN 978-1-4799-6923-4. https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852

Powell, Matthew J. and Ames, Aaron D. (2014) Hierarchical control of series elastic actuators through control Lyapunov functions. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2986-2992. ISBN 978-1-4673-6090-6. https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821

Powell, Matthew J. and Hereid, Ayonga and Ames, Aaron D. (2013) Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. In: 2013 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4803-4810. ISBN 978-1-4673-5643-5. https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850

Pekarek, David and Ames, Aaron D. and Marsden, Jerrold E. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped. In: 46th IEEE Conference on Decision and Control. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5376-5382. ISBN 978-1-4244-1497-0 . https://resolver.caltech.edu/CaltechAUTHORS:20101005-121327216

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Reher, Jacob and Ma, Wen-Loong and Ames, Aaron D. (2019) Dynamic Walking with Compliance on a Cassie Bipedal Robot. In: 2019 18th European Control Conference (ECC). IEEE , Piscataway, NJ, pp. 2589-2595. ISBN 978-3-907144-00-8. https://resolver.caltech.edu/CaltechAUTHORS:20190626-095437419

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Sinnet, Ryan W. and Zhao, Huihua and Ames, Aaron D. (2011) Simulating prosthetic devices with human-inspired hybrid control. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 1723-1730. ISBN 978-1-61284-456-5. https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398

Sinnet, Ryan W. and Ames, Aaron D. (2009) 2D bipedal walking with knees and feet: A hybrid control approach. In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. IEEE , Piscataway, NJ, pp. 3200-3207. ISBN 978-1-4244-3872-3. https://resolver.caltech.edu/CaltechAUTHORS:20190226-091428821

Sinnet, Ryan W. and Ames, Aaron D. (2009) 3D bipedal walking with knees and feet: A hybrid geometric approach. In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. IEEE , Piscataway, NJ, pp. 3208-3213. ISBN 978-1-4244-3872-3. https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804

Sprinkle, Jonathan and Ames, Aaron D. and Pinto, Alessandro et al. (2005) On the Partitioning of Syntax and Semantics For Hybrid Systems Tools. In: Proceedings of the 44th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 4694-4699. ISBN 0-7803-9567-0. https://resolver.caltech.edu/CaltechAUTHORS:20190307-111103826

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Westenbroek, Tyler and Xiong, Xiaobin and Ames, Aaron D. et al. (2019) Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20190626-144846996

Wang, Li and Ames, Aaron D. and Egerstedt, Magnus (2017) Safety Barrier Certificates for Collisions-Free Multirobot Systems. IEEE Transactions on Robotics, 33 (3). pp. 661-674. ISSN 1552-3098. https://resolver.caltech.edu/CaltechAUTHORS:20170215-165434009

Wang, Li and Ames, Aaron D. and Egerstedt, Magnus (2017) Safe certificate-based maneuvers for teams of quadrotors using differential flatness. In: 2017 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3293-3298. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20170725-082128250

Wang, Li and Ames, Aaron D. and Egerstedt, Magnus (2016) Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 2659-2664. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190201-160902879

Wang, Li and Ames, Aaron and Egerstedt, Magnus (2016) Safety barrier certificates for heterogeneous multi-robot systems. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 5213-5218. ISBN 978-1-4673-8682-1. https://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683

Wendel, Eric and Ames, Aaron D. (2011) Rank deficiency and superstability of hybrid systems with application to bipedal robots. In: 2011 50th IEEE Conference on Decision and Control and European Control Conference. IEEE , Piscataway, NJ, pp. 7422-7427. ISBN 978-1-61284-801-3. https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216

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Xiong, Xiaobin and Ames, Aaron D. (2018) Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 67-74. ISBN 9781538672839. https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184

Xiong, Xiaobin and Ames, Aaron D. (2018) Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3821-3828. ISBN 978-1-5386-8094-0. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135558000

Xu, Xiangru and Grizzle, Jessy W. and Tabuada, Paulo et al. (2018) Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. IEEE Transactions on Automation Science and Engineering, 15 (3). pp. 1216-1229. ISSN 1545-5955. https://resolver.caltech.edu/CaltechAUTHORS:20180105-103754631

Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I. (2017) A stability region criterion for flat-footed bipedal walking on deformable granular terrain. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 4552-4559. ISBN 978-1-5386-2682-5. https://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941

Xu, Xiangru and Waters, Thomas and Pickem, Daniel et al. (2017) Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. In: 2017 IEEE Conference on Control Technology and Applications. IEEE , Piscataway, NJ, pp. 1769-1775. ISBN 978-1-5090-2182-6. https://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063

Xu, Xiangru and Tabuada, Paulo and Grizzle, Jessy W. et al. (2015) Robustness of Control Barrier Functions for Safety Critical Control. IFAC-PapersOnLine, 48 (27). pp. 54-61. ISSN 2405-8963. https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151

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Yadukumar, Shishir Nadubettu and Kothapalli, Bhargav and Ames, Aaron D. (2012) Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. In: 2012 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2437-2442. ISBN 978-1-4577-1096-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-095536575

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Zhao, Huihua and Ambrose, Eric and Ames, Aaron D. (2017) Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1140-1147. ISBN 978-1-5090-4633-1. https://resolver.caltech.edu/CaltechAUTHORS:20170726-163635418

Zhao, Huihua and Horn, Jonathan and Reher, Jacob et al. (2017) First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. Autonomous Robots, 41 (3). pp. 725-742. ISSN 0929-5593. https://resolver.caltech.edu/CaltechAUTHORS:20190722-151625943

Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric et al. (2016) 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 3668-3674. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490

Zhao, Huihua and Horner, Jonathan and Reher, Jacob et al. (2016) Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. IEEE Transactions on Automation Science and Engineering, 13 (2). pp. 502-513. ISSN 1545-5955. https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699

Zhao, Huihua and Horn, Jonathan and Reher, Jacob et al. (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. In: 2015 54th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 1607-1612. ISBN 978-1-4799-7886-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166

Zhao, Huihua and Reher, Jacob and Horn, Jonathan et al. (2015) Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition. In: 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). IEEE , Piscataway, NJ, pp. 265-270. ISBN 978-1-4799-1808-9. https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181

Zhao, Huihua and Reher, Jake and Horn, Jonathan et al. (2015) Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. In: Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control. ACM , New York, NY, pp. 305-306. ISBN 9781450334334. https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429

Zhao, Huihua and Ames, Aaron D. (2014) Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. In: 2014 American Control Conference. IEEE , Piscataway, NJ, pp. 4101-4107. ISBN 9781479932726. https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788

Zhao, Huihua and Kolathaya, Shishir and Ames, Aaron D. (2014) Quadratic programming and impedance control for transfemoral prosthesis. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 1341-1347. ISBN 978-1-4799-3685-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852

This list was generated on Tue Oct 15 18:32:01 2019 PDT.