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\n\n\n

\n \n \n

\n \n 2022\n \n \n (25)\n \n \n

\n \n \n

\n \n\n \n \n \n \n \n \n Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion.\n \n \n \n \n\n\n \n Ahmadi, M.; Xiong, X.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 6: 878–883. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Risk-Averse$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 90 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ahmadi2022risk,\n  title={Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion},\n  author={Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={6},\n  pages={878--883},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/ahmadi2022risk.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Interactive multi-modal motion planning with Branch Model Predictive Control.\n \n \n \n \n\n\n \n Chen, Y.; Rosolia, U.; Ubellacker, W.; Csomay-Shanklin, N.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 7(2): 5365–5372. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Interactive$ Paper\n \n \n \n $\"Interactive$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chen2022interactive,\n  title={Interactive multi-modal motion planning with Branch Model Predictive Control},\n  author={Chen, Yuxiao and Rosolia, Ugo and Ubellacker, Wyatt and Csomay-Shanklin, Noel and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={7},\n  number={2},\n  pages={5365--5372},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/chen2022interactive.pdf},\n  url_video = {https://youtu.be/W3jzoMjAZsQ}\n}\n\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics.\n \n \n \n \n\n\n \n Li, K.; Tucker, M.; Gehlhar, R.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 7(2): 4283–4290. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Natural$ Paper\n \n \n \n $\"Natural$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{li2022natural,\n  title={Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics},\n  author={Li, Kejun and Tucker, Maegan and Gehlhar, Rachel and Yue, Yisong and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={7},\n  number={2},\n  pages={4283--4290},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/li2022natural.pdf},\n  url_video = {https://youtu.be/gNL0cG1zqS4}\n}\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Model-free safety-critical control for robotic systems.\n \n \n \n \n\n\n \n Molnar, T. G; Cosner, R. K; Singletary, A. W; Ubellacker, W.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 7(2): 944–951. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Model-free$ Paper\n \n \n \n $\"Model-free$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{molnar2022model,\n  title={Model-free safety-critical control for robotic systems},\n  author={Molnar, Tamas G and Cosner, Ryan K and Singletary, Andrew W and Ubellacker, Wyatt and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={7},\n  number={2},\n  pages={944--951},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/molnar2022model.pdf},\n  url_video = {https://youtu.be/vNcc5vgswx0}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions.\n \n \n \n \n\n\n \n Singletary, A.; Swann, A.; Chen, Y.; and Ames, A.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Onboard$ Paper\n \n \n \n $\"Onboard$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{singletary2022onboard,\n  title={Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions},\n  author={Singletary, Andrew and Swann, Aiden and Chen, Yuxiao and Ames, Aaron},\n  journal={IEEE Robotics and Automation Letters},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/singletary2022onboard.pdf},\n  url_video = {https://youtu.be/_sCoAdBrgJw}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective.\n \n \n \n \n\n\n \n Akella, P.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 6: 2018–2023. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Disturbance$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{akella2022disturbance,\n  title={Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective},\n  author={Akella, Prithvi and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={6},\n  pages={2018--2023},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/akella2022disturbance.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers.\n \n \n \n \n\n\n \n Fawcett, R. T; Pandala, A.; Ames, A. D; and Hamed, K. A.\n\n\n \n\n\n\n IEEE Control Systems Letters, 6: 1736–1741. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Robust$ Paper\n \n \n \n $\"Robust$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{fawcett2022robust,\n  title={Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers},\n  author={Fawcett, Randall T and Pandala, Abhishek and Ames, Aaron D and Hamed, Kaveh Akbari},\n  journal={IEEE Control Systems Letters},\n  volume={6},\n  pages={1736--1741},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/fawcett2022robust.pdf},\n  url_video = {https://youtu.be/0A7mJvVnSn8}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems.\n \n \n \n \n\n\n \n Agrawal, D. R; Parwana, H.; Cosner, R. K; Rosolia, U.; Ames, A. D; and Panagou, D.\n\n\n \n\n\n\n IEEE Control Systems Letters, 6: 2138–2143. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n \n $\"A$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{agrawal2022constructive,\n  title={A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems},\n  author={Agrawal, Devansh R and Parwana, Hardik and Cosner, Ryan K and Rosolia, Ugo and Ames, Aaron D and Panagou, Dimitra},\n  journal={IEEE Control Systems Letters},\n  volume={6},\n  pages={2138--2143},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/agrawal2022constructive.pdf},\n  url_video = {https://youtu.be/1IuUIOUQ9g4}\n}\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing.\n \n \n \n \n\n\n \n Gehlhar, R.; Yang, J.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 7(2): 5151–5158. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Powered$ Paper\n \n \n \n $\"Powered$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{gehlhar2022powered,\n  title={Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing},\n  author={Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={7},\n  number={2},\n  pages={5151--5158},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/gehlhar2022powered.pdf},\n  url_video = {https://youtu.be/iGVM-hS9pHc}\n}\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots.\n \n \n \n \n\n\n \n Kamidi, V. R; Kim, J.; Fawcett, R. T; Ames, A. D; and Hamed, K. A.\n\n\n \n\n\n\n IEEE Control Systems Letters. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Distributed$ Paper\n \n \n \n $\"Distributed$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{kamidi2022distributed,\n  title={Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots},\n  author={Kamidi, Vinay R and Kim, Jeeseop and Fawcett, Randall T and Ames, Aaron D and Hamed, Kaveh Akbari},\n  journal={IEEE Control Systems Letters},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/kamidi2022distributed.pdf},\n  url_video = {https://youtu.be/VoYYCZrJOps}\n}\n\n\n%%%%%%%%%%%%%%% year={2021} %%%%%%%%%%%\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A.\n\n\n \n\n\n\n IEEE Transactions on Robotics. 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"3-D$ Paper\n \n \n \n $\"3-D$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{xiong20223,\n  title={{3-D} Underactuated Bipedal Walking via {H-LIP} Based Gait Synthesis and Stepping Stabilization},\n  author={Xiong, Xiaobin and Ames, Aaron},\n  journal={IEEE Transactions on Robotics},\n  year={2022},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/xiong20223.pdf},\n  url_video = {https://www.youtube.com/watch?v=qEp1RUf6X-U}\n}\n\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification.\n \n \n \n \n\n\n \n Akella, P.; Ubellacker, W.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Test$ Paper\n \n \n \n $\"Test$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akella2022test,\n  title={Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification},\n  author={Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2201.01323},\n  year={2022},\n  url = {http://ames.caltech.edu/akella2022test.pdf},\n  url_video = {https://youtu.be/uAjEEWIAg3I}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n LyaNet: A Lyapunov Framework for Training Neural ODEs.\n \n \n \n \n\n\n \n Rodriguez, I. D. J.; Ames, A. D; and Yue, Y.\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"LyaNet:$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{rodriguez2022lyanet,\n  title={LyaNet: A Lyapunov Framework for Training Neural ODEs},\n  author={Rodriguez, Ivan Dario Jimenez and Ames, Aaron D and Yue, Yisong},\n  journal={arXiv preprint arXiv:2202.02526},\n  year={2022},\n  url = {http://ames.caltech.edu/rodriguez2022lyanet.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n A Barrier-Based Scenario Approach to Verify Safety-Critical Systems.\n \n \n \n \n\n\n \n Akella, P.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akella2022barrier,\n  title={A Barrier-Based Scenario Approach to Verify Safety-Critical Systems},\n  author={Akella, Prithvi and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2202.11177},\n  year={2022},\n  url = {http://ames.caltech.edu/akella2022barrier.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision.\n \n \n \n \n\n\n \n Cosner, R. K; Rodriguez, I. D J.; Molnar, T. G; Ubellacker, W.; Yue, Y.; Ames, A. D; and Bouman, K. L\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Self-Supervised$ Paper\n \n \n \n $\"Self-Supervised$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{cosner2022self,\n  title={Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision},\n  author={Cosner, Ryan K and Rodriguez, Ivan D Jimenez and Molnar, Tamas G and Ubellacker, Wyatt and Yue, Yisong and Ames, Aaron D and Bouman, Katherine L},\n  journal={arXiv preprint arXiv:2203.01404},\n  year={2022},\n  url = {http://ames.caltech.edu/cosner2022self.pdf},\n  url_video = {https://vimeo.com/605281037}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n A Scenario Approach to Risk-Aware Safety-Critical System Verification.\n \n \n \n \n\n\n \n Akella, P.; Ahmadi, M.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akella2022scenario,\n  title={A Scenario Approach to Risk-Aware Safety-Critical System Verification},\n  author={Akella, Prithvi and Ahmadi, Mohamadreza and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2203.02595},\n  year={2022},\n  url = {http://ames.caltech.edu/akella2022scenario.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.\n \n \n \n \n\n\n \n Galliker, M. Y; Csomay-Shanklin, N.; Grandia, R.; Taylor, A. J; Farshidian, F.; Hutter, M.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedal$ Paper\n \n \n \n $\"Bipedal$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{galliker2022bipedal,\n  title={Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics},\n  author={Galliker, Manuel Y and Csomay-Shanklin, Noel and Grandia, Ruben and Taylor, Andrew J and Farshidian, Farbod and Hutter, Marco and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2203.07429},\n  year={2022},\n  url = {http://ames.caltech.edu/galliker2022bipedal.pdf},\n  url_video = {https://youtu.be/3g8ZNsCWdOA}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models.\n \n \n \n \n\n\n \n Taylor, A. J; Dorobantu, V. D; Cosner, R. K; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{taylor2022safety,\n  title={Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models},\n  author={Taylor, Andrew J and Dorobantu, Victor D and Cosner, Ryan K and Yue, Yisong and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2203.11470},\n  year={2022},\n  url = {http://ames.caltech.edu/taylor2022safety.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions.\n \n \n \n \n\n\n \n Singletary, A.; Ahmadi, M.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{singletary2022safe,\n  title={Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions},\n  author={Singletary, Andrew and Ahmadi, Mohamadreza and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2203.15892},\n  year={2022},\n  url = {http://ames.caltech.edu/singletary2022safe.pdf}\n}\n\n

\n\n\n\n

\n\n\n

\n \n\n \n \n \n \n \n \n Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions.\n \n \n \n \n\n\n \n Csomay-Shanklin, N.; Taylor, A. J; Rosolia, U.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-Rate$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{csomay2022multi,\n  title={Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions},\n  author={Csomay-Shanklin, Noel and Taylor, Andrew J and Rosolia, Ugo and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2204.00152},\n  year={2022},\n  url = {http://ames.caltech.edu/csomay2022multi.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safe Backstepping with Control Barrier Functions.\n \n \n \n \n\n\n \n Taylor, A. J; Ong, P.; Molnar, T. G; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{taylor2022safe,\n  title={Safe Backstepping with Control Barrier Functions},\n  author={Taylor, Andrew J and Ong, Pio and Molnar, Tamas G and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2204.00653},\n  year={2022},\n  url = {http://ames.caltech.edu/taylor2022safe.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization.\n \n \n \n \n\n\n \n Ong, P.; Bahati, G.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Stability$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{ong2022stability,\n  title={Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization},\n  author={Ong, Pio and Bahati, Gilbert and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2204.03110},\n  year={2022},\n  url = {http://ames.caltech.edu/ong2022stability.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies.\n \n \n \n \n\n\n \n Rodriguez, I. D. J.; Csomay-Shanklin, N.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Neural$ Paper\n \n \n \n $\"Neural$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{rodriguez2022neural,\n  title={Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies},\n  author={Rodriguez, Ivan Dario Jimenez and Csomay-Shanklin, Noel and Yue, Yisong and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2204.08120},\n  year={2022},\n  url = {http://ames.caltech.edu/rodriguez2022neural.pdf},\n  url_video = {https://youtu.be/8TeXd0AYtpA}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification.\n \n \n \n \n\n\n \n Akella, P.; Dixit, A.; Ahmadi, M.; Burdick, J. W; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Sample-Based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akella2022sample,\n  title={Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification},\n  author={Akella, Prithvi and Dixit, Anushri and Ahmadi, Mohamadreza and Burdick, Joel W and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2204.09833},\n  year={2022},\n  url = {http://ames.caltech.edu/akella2022sample.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety-Critical Manipulation for Collision-Free Food Preparation.\n \n \n \n \n\n\n \n Singletary, A.; Guffey, W.; Molnar, T. G; Sinnet, R.; and Ames, A. D\n\n\n \n\n\n\n 2022.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Critical$ Paper\n \n \n \n $\"Safety-Critical$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{singletary2022safety,\n  title={Safety-Critical Manipulation for Collision-Free Food Preparation},\n  author={Singletary, Andrew and Guffey, William and Molnar, Tamas G and Sinnet, Ryan and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2205.01026},\n  year={2022},\n  url = {http://ames.caltech.edu/singletary2022safety.pdf},\n  url_video = {https://youtu.be/nmkbya8XBmw}\n}\n

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\n \n 2021\n \n \n (53)\n \n \n

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\n \n\n \n \n \n \n \n \n Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control.\n \n \n \n \n\n\n \n Rodriguez, I. D J.; Rosolia, U.; Ames, A. D; and Yue, Y.\n\n\n \n\n\n\n In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3896–3903, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{rodriguez2021learning,\n  title={Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control},\n  author={Rodriguez, Ivan D Jimenez and Rosolia, Ugo and Ames, Aaron D and Yue, Yisong},\n  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={3896--3903},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/rodriguez2021learning.pdf},\n  url = {http://ames.caltech.edu/rodriguez2021learning.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Measurement-robust control barrier functions: Certainty in safety with uncertainty in state.\n \n \n \n \n\n\n \n Cosner, R. K; Singletary, A. W; Taylor, A. J; Molnar, T. G; Bouman, K. L; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6286–6291, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Measurement-robust$ Paper\n \n \n \n $\"Measurement-robust$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{cosner2021measurement,\n  title={Measurement-robust control barrier functions: Certainty in safety with uncertainty in state},\n  author={Cosner, Ryan K and Singletary, Andrew W and Taylor, Andrew J and Molnar, Tamas G and Bouman, Katherine L and Ames, Aaron D},\n  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={6286--6291},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cosner2021measurement.pdf},\n  url_video = {https://vimeo.com/520247516}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Verifying safe transitions between dynamic motion primitives on legged robots.\n \n \n \n \n\n\n \n Ubellacker, W.; Csomay-Shanklin, N.; Molnar, T. G; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 8477–8484, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Verifying$ Paper\n \n \n \n $\"Verifying$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 20 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ubellacker2021verifying,\n  title={Verifying safe transitions between dynamic motion primitives on legged robots},\n  author={Ubellacker, Wyatt and Csomay-Shanklin, Noel and Molnar, Tamas G and Ames, Aaron D},\n  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={8477--8484},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ubellacker2021verifying.pdf},\n  url_video = {https://www.youtube.com/watch?v=3vsk00a4XBg}\n}\n\n

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\n \n\n \n \n \n \n \n \n Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation.\n \n \n \n \n\n\n \n Xiong, X.; Chen, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2021 60th IEEE Conference on Decision and Control (CDC), pages 697–704, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Robust$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2021robust,\n  title={Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation},\n  author={Xiong, Xiaobin and Chen, Yuxiao and Ames, Aaron D},\n  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},\n  pages={697--704},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2021robust.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Estimate-to-state stability for hybrid human-prosthesis systems.\n \n \n \n \n\n\n \n Gehlhar, R.; and Ames, A. D\n\n\n \n\n\n\n In 2021 60th IEEE Conference on Decision and Control (CDC), pages 705–712, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Estimate-to-state$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gehlhar2021estimate,\n  title={Estimate-to-state stability for hybrid human-prosthesis systems},\n  author={Gehlhar, Rachel and Ames, Aaron D},\n  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},\n  pages={705--712},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2021robust.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots.\n \n \n \n\n\n \n Ambrose, E.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 7073–7078, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ambrose2021towards,\n  title={Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots},\n  author={Ambrose, Eric and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={7073--7078},\n  year={2021},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty.\n \n \n \n \n\n\n \n Taylor, A. J; Dorobantu, V. D; Dean, S.; Recht, B.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2021 60th IEEE Conference on Decision and Control (CDC), pages 6469–6476, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taylor2021towards,\n  title={Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty},\n  author={Taylor, Andrew J and Dorobantu, Victor D and Dean, Sarah and Recht, Benjamin and Yue, Yisong and Ames, Aaron D},\n  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},\n  pages={6469--6476},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/taylor2021towards.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Preference-based learning for user-guided HZD gait generation on bipedal walking robots.\n \n \n \n \n\n\n \n Tucker, M.; Csomay-Shanklin, N.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2804–2810, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Preference-based$ Paper\n \n \n \n $\"Preference-based$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 17 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{tucker2021preference,\n  title={Preference-based learning for user-guided {HZD} gait generation on bipedal walking robots},\n  author={Tucker, Maegan and Csomay-Shanklin, Noel and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2804--2810},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/tucker2021preference.pdf},\n  url_video = {http://ames.caltech.edu/tucker2021preference.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Model-dependent prosthesis control with interaction force estimation.\n \n \n \n \n\n\n \n Gehlhar, R.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 3226–3232, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Model-dependent$ Paper\n \n \n \n $\"Model-dependent$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 17 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gehlhar2021model,\n  title={Model-dependent prosthesis control with interaction force estimation},\n  author={Gehlhar, Rachel and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={3226--3232},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gehlhar2021model.pdf},\n  url_video = {http://ames.caltech.edu/gehlhar2021model.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes.\n \n \n \n \n\n\n \n Li, K.; Tucker, M.; Bıyık, E.; Novoseller, E.; Burdick, J. W; Sui, Y.; Sadigh, D.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 3212–3218, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Roial:$ Paper\n \n \n \n $\"Roial:$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{li2021roial,\n  title={Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes},\n  author={Li, Kejun and Tucker, Maegan and B{\\i}y{\\i}k, Erdem and Novoseller, Ellen and Burdick, Joel W and Sui, Yanan and Sadigh, Dorsa and Yue, Yisong and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={3212--3218},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/chen2021reactive.pdf},\n  url_video = {http://ames.caltech.edu/li2021roial.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Multi-layered safety for legged robots via control barrier functions and model predictive control.\n \n \n \n \n\n\n \n Grandia, R.; Taylor, A. J; Ames, A. D; and Hutter, M.\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 8352–8358, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-layered$ Paper\n \n \n \n $\"Multi-layered$ video\n \n \n \n $\"Multi-layered$ video youtube\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 21 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{grandia2021multi,\n  title={Multi-layered safety for legged robots via control barrier functions and model predictive control},\n  author={Grandia, Ruben and Taylor, Andrew J and Ames, Aaron D and Hutter, Marco},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={8352--8358},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/grandia2021multi.pdf},\n  url_video = {http://ames.caltech.edu/grandia2021multi.mp4},\n  url_video_youtube = {https://youtu.be/TCDIirXfByE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Inverse dynamics control of compliant hybrid zero dynamic walking.\n \n \n \n \n\n\n \n Reher, J.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2040–2047, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Inverse$ Paper\n \n \n \n $\"Inverse$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 19 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{reher2021inverse,\n  title={Inverse dynamics control of compliant hybrid zero dynamic walking},\n  author={Reher, Jenna and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2040--2047},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/reher2021inversewalk.pdf},\n  url_video = {https://youtu.be/H9r-GKkYDRs}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots.\n \n \n \n \n\n\n \n Ambrose, E.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 7073–7078, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ambrose2021towards,\n  title={Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots},\n  author={Ambrose, Eric and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={7073--7078},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ambrose2021towards.pdf},\n  url_video = {http://ames.caltech.edu/ambrose2021towards.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Online learning of unknown dynamics for model-based controllers in legged locomotion.\n \n \n \n \n\n\n \n Sun, Y.; Ubellacker, W. L; Ma, W.; Zhang, X.; Wang, C.; Csomay-Shanklin, N. V; Tomizuka, M.; Sreenath, K.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 6(4): 8442–8449. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Online$ Paper\n \n \n \n $\"Online$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 14 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{sun2021online,\n  title={Online learning of unknown dynamics for model-based controllers in legged locomotion},\n  author={Sun, Yu and Ubellacker, Wyatt L and Ma, Wen-Loong and Zhang, Xiang and Wang, Changhao and Csomay-Shanklin, Noel V and Tomizuka, Masayoshi and Sreenath, Koushil and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={6},\n  number={4},\n  pages={8442--8449},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/sun2021online.pdf},\n  url_video = {http://ames.caltech.edu/sun2021online.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning.\n \n \n \n \n\n\n \n Xiong, X.; Reher, J.; and Ames, A. D\n\n\n \n\n\n\n In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2825–2831, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Global$ Paper\n \n \n \n $\"Global$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 18 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2021global,\n  title={Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning},\n  author={Xiong, Xiaobin and Reher, Jenna and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2825--2831},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2021global.pdf},\n  url_video = {http://ames.caltech.edu/xiong2021global.mp4}\n}\n\n\n

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@article{sun2021online,\n  title={Online learning of unknown dynamics for model-based controllers in legged locomotion},\n  author={Sun, Yu and Ubellacker, Wyatt L and Ma, Wen-Loong and Zhang, Xiang and Wang, Changhao and Csomay-Shanklin, Noel V and Tomizuka, Masayoshi and Sreenath, Koushil and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={6},\n  number={4},\n  pages={8442--8449},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/sun2021online.pdf},\n  url_video = {http://ames.caltech.edu/sun2021online.mp4}\n}\n\n

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@inproceedings{xiong2021global,\n  title={Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning},\n  author={Xiong, Xiaobin and Reher, Jenna and Ames, Aaron D},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2825--2831},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2021global.pdf},\n  url_video = {http://ames.caltech.edu/xiong2021global.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person.\n \n \n \n \n\n\n \n Huynh, V.; Burger, G.; Dang, Q. V.; Pelgé, R.; Boéris, G.; Grizzle, J. W; Ames, A. D; and Masselin, M.\n\n\n \n\n\n\n Frontiers in Robotics and AI,299. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Versatile$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{huynh2021versatile,\n  title={Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person},\n  author={Huynh, Vaiyee and Burger, Guillaume and Dang, Quoc Viet and Pelg{\\'e}, Rapha{\\"e}l and Bo{\\'e}ris, Guilhem and Grizzle, Jessy W and Ames, Aaron D and Masselin, Matthieu},\n  journal={Frontiers in Robotics and AI},\n  pages={299},\n  year={2021},\n  publisher={Frontiers},\n  url = {http://ames.caltech.edu/huynh2021versatile.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety.\n \n \n \n \n\n\n \n Csomay-Shanklin, N.; Cosner, R. K; Dai, M.; Taylor, A. J; and Ames, A. D\n\n\n \n\n\n\n In Learning for Dynamics and Control, pages 1041–1053, 2021. PMLR\n \n\n\n\n
\n\n\n\n \n \n $\"Episodic$ Paper\n \n \n \n $\"Episodic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 10 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{csomay2021episodic,\n  title={Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety},\n  author={Csomay-Shanklin, Noel and Cosner, Ryan K and Dai, Min and Taylor, Andrew J and Ames, Aaron D},\n  booktitle={Learning for Dynamics and Control},\n  pages={1041--1053},\n  year={2021},\n  organization={PMLR},\n  url = {http://ames.caltech.edu/csomay2021episodic.pdf},\n  url_video = {https://vimeo.com/481809664}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control.\n \n \n \n \n\n\n \n Dai, M.; Xiong, X.; and Ames, A.\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedal$ Paper\n \n \n \n $\"Bipedal$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{dai2021bipedal,\n  title={Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control},\n  author={Dai, Min and Xiong, Xiaobin and Ames, Aaron},\n  journal={arXiv preprint arXiv:2104.10367},\n  year={2021},\n  url = {http://ames.caltech.edu/dai2021bipedal.pdf},\n  url_video = {https://www.youtube.com/watch?v=BKx2F9STyVA}\n}\n\n

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\n \n\n \n \n \n \n \n \n Backup Control Barrier Functions: Formulation and Comparative Study.\n \n \n \n \n\n\n \n Chen, Y.; Jankovic, M.; Santillo, M.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Backup$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{chen2021backup,\n  title={Backup Control Barrier Functions: Formulation and Comparative Study},\n  author={Chen, Yuxiao and Jankovic, Mrdjan and Santillo, Mario and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2104.11332},\n  year={2021},\n  url = {http://ames.caltech.edu/chen2021backup.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Iterative Model Predictive Control for Piecewise Systems.\n \n \n \n \n\n\n \n Rosolia, U.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Iterative$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{rosolia2021iterative,\n  title={Iterative Model Predictive Control for Piecewise Systems},\n  author={Rosolia, Ugo and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/rosolia2021iterative.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion.\n \n \n \n \n\n\n \n Ma, W.; Csomay-Shanklin, N.; Kolathaya, S.; Hamed, K. A.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 6(2): 3761–3768. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Coupled$ Paper\n \n \n \n $\"Coupled$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 10 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ma2021coupledrobot,\n  title={Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion},\n  author={Ma, Wen-Loong and Csomay-Shanklin, Noel and Kolathaya, Shishir and Hamed, Kaveh Akbari and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={6},\n  number={2},\n  pages={3761--3768},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/ma2021coupledrobot.pdf},\n  url_video = {https://www.youtube.com/watch?v=D0LWc7VFxlM}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions.\n \n \n \n \n\n\n \n Alan, A.; Taylor, A. J; He, C. R; Orosz, G.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{alan2021safe,\n  title={Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions},\n  author={Alan, Anil and Taylor, Andrew J and He, Chaozhe R and Orosz, G{\\'a}bor and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/alan2021safe.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs.\n \n \n \n \n\n\n \n Taylor, A. J; Dorobantu, V. D; Yue, Y.; Tabuada, P.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Sampled-Data$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{taylor2021sampled,\n  title={Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs},\n  author={Taylor, Andrew J and Dorobantu, Victor D and Yue, Yisong and Tabuada, Paulo and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/taylor2021sampled.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Smooth approximations for hybrid optimal control problems with application to robotic walking.\n \n \n \n \n\n\n \n Westenbroek, T.; Xiong, X.; Sastry, S S.; and Ames, A. D\n\n\n \n\n\n\n IFAC-PapersOnLine, 54(5): 181–186. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Smooth$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{westenbroek2021smooth,\n  title={Smooth approximations for hybrid optimal control problems with application to robotic walking},\n  author={Westenbroek, Tyler and Xiong, Xiaobin and Sastry, S Shankar and Ames, Aaron D},\n  journal={IFAC-PapersOnLine},\n  volume={54},\n  number={5},\n  pages={181--186},\n  year={2021},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/westenbroek2021smooth.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Multi-rate control design under input constraints via fixed-time barrier functions.\n \n \n \n \n\n\n \n Garg, K.; Cosner, R. K; Rosolia, U.; Ames, A. D; and Panagou, D.\n\n\n \n\n\n\n IEEE Control Systems Letters. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-rate$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{garg2021multi,\n  title={Multi-rate control design under input constraints via fixed-time barrier functions},\n  author={Garg, Kunal and Cosner, Ryan K and Rosolia, Ugo and Ames, Aaron D and Panagou, Dimitra},\n  journal={IEEE Control Systems Letters},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/garg2021multi.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Learning Controller Gains on Bipedal Walking Robots via User Preferences.\n \n \n \n \n\n\n \n Csomay-Shanklin, N.; Tucker, M.; Dai, M.; Reher, J.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n \n $\"Learning$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{csomay2021learning,\n  title={Learning Controller Gains on Bipedal Walking Robots via User Preferences},\n  author={Csomay-Shanklin, Noel and Tucker, Maegan and Dai, Min and Reher, Jenna and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2102.13201},\n  year={2021},\n  url = {http://ames.caltech.edu/csomay2021learning.pdf},\n  url_video = {https://www.youtube.com/watch?v=wrdNKK5JqJk}\n}\n\n

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\n \n\n \n \n \n \n \n \n SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 6(2): 2122–2129. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"SLIP$ Paper\n \n \n \n $\"SLIP$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{xiong2021slip,\n  title={SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program},\n  author={Xiong, Xiaobin and Ames, Aaron},\n  journal={IEEE Robotics and Automation Letters},\n  volume={6},\n  number={2},\n  pages={2122--2129},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/xiong2021slip.pdf},\n  url_video = {http://ames.caltech.edu/xiong2021slip.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Time-Optimal Navigation in Uncertain Environments with High-Level Specifications.\n \n \n \n \n\n\n \n Rosolia, U.; Ahmadi, M.; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Time-Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{rosolia2021time,\n  title={Time-Optimal Navigation in Uncertain Environments with High-Level Specifications},\n  author={Rosolia, Ugo and Ahmadi, Mohamadreza and Murray, Richard M and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2103.01476},\n  year={2021},\n  url = {http://ames.caltech.edu/rosolia2021time.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Real-time feedback module for assistive gait training, improved proprioception, and fall prevention.\n \n \n \n\n\n \n Tucker, M.; and Ames, A. D\n\n\n \n\n\n\n January~28 2021.\n US Patent App. 16/938,654\n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@patient{tucker2021real,\n  title={Real-time feedback module for assistive gait training, improved proprioception, and fall prevention},\n  author={Tucker, Maegan and Ames, Aaron D},\n  year={2021},\n  month=jan # "~28",\n  note={US Patent App. 16/938,654}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Constrained risk-averse Markov decision processes.\n \n \n \n \n\n\n \n Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n In The 35th AAAI Conference on Artificial Intelligence (AAAI-21), 2021. \n \n\n\n\n
\n\n\n\n \n \n $\"Constrained$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ahmadi2021constrained,\n  title={Constrained risk-averse Markov decision processes},\n  author={Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D and Murray, Richard M and Ames, Aaron D},\n  booktitle={The 35th AAAI Conference on Artificial Intelligence (AAAI-21)},\n  year={2021},\n  url = {http://ames.caltech.edu/ahmadi2021constrained.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Dynamic Walking: Toward Agile and Efficient Bipedal Robots.\n \n \n \n\n\n \n Reher, J.; and Ames, A. D\n\n\n \n\n\n\n Annual Review of Control, Robotics, and Autonomous Systems, 4: 535–572. 2021.\n \n\n\n\n
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@article{reher2021dynamic,\n  title={Dynamic Walking: Toward Agile and Efficient Bipedal Robots},\n  author={Reher, Jenna and Ames, Aaron D},\n  journal={Annual Review of Control, Robotics, and Autonomous Systems},\n  volume={4},\n  pages={535--572},\n  year={2021},\n  publisher={Annual Reviews}\n}\n\n

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\n \n\n \n \n \n \n \n \n Decentralized Task and Path Planning for Multi-Robot Systems.\n \n \n \n \n\n\n \n Chen, Y.; Rosolia, U.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 6(3): 4337–4344. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Decentralized$ Paper\n \n \n \n $\"Decentralized$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chen2021decentralized,\n  title={Decentralized Task and Path Planning for Multi-Robot Systems},\n  author={Chen, Yuxiao and Rosolia, Ugo and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={6},\n  number={3},\n  pages={4337--4344},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/chen2021decentralized.pdf},\n  url_video = {http://ames.caltech.edu/chen2021decentralized.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety-Critical Kinematic Control of Robotic Systems.\n \n \n \n \n\n\n \n Singletary, A.; Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Critical$ Paper\n \n \n \n $\"Safety-Critical$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{singletary2021safety,\n  title={Safety-Critical Kinematic Control of Robotic Systems},\n  author={Singletary, Andrew and Kolathaya, Shishir and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/singletary2021safety.pdf},\n  url_video = {https://www.youtube.com/watch?v=ilLRA7fpVBI}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach.\n \n \n \n \n\n\n \n Kiss, A. K; Molnar, T. G; Bachrathy, D.; Ames, A. D; and Orosz, G.\n\n\n \n\n\n\n In 2021 American Control Conference (ACC), pages 1058–1063, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Certifying$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{kiss2021certifying,\n  title={Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach},\n  author={Kiss, Adam K and Molnar, Tamas G and Bachrathy, Daniel and Ames, Aaron D and Orosz, G{\\'a}bor},\n  booktitle={2021 American Control Conference (ACC)},\n  pages={1058--1063},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/kiss2021certifying.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation.\n \n \n \n \n\n\n \n Maghenem, M.; Taylor, A. J; Ames, A. D; and Sanfelice, R. G\n\n\n \n\n\n\n In 2021 American Control Conference (ACC), pages 2418–2423, 2021. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Adaptive$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{maghenem2021adaptive,\n  title={Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation},\n  author={Maghenem, Mohamed and Taylor, Andrew J and Ames, Aaron D and Sanfelice, Ricardo G},\n  booktitle={2021 American Control Conference (ACC)},\n  pages={2418--2423},\n  year={2021},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/maghenem2021adaptive.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury.\n \n \n \n \n\n\n \n Kerdraon, J.; Previnaire, J. G.; Tucker, M.; Coignard, P.; Allegre, W.; Knappen, E.; and Ames, A.\n\n\n \n\n\n\n Spinal cord series and cases, 7(1): 1–8. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Evaluation$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{kerdraon2021evaluation,\n  title={Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury},\n  author={Kerdraon, Jacques and Previnaire, Jean Gabriel and Tucker, Maegan and Coignard, Pauline and Allegre, Willy and Knappen, Emmanuel and Ames, Aaron},\n  journal={Spinal cord series and cases},\n  volume={7},\n  number={1},\n  pages={1--8},\n  year={2021},\n  publisher={Nature Publishing Group},\n  url = {http://ames.caltech.edu/kerdraon2021evaluation.pdf}\n}\n\n%%%%% Previous %%%%\n\n

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\n \n\n \n \n \n \n \n \n Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions.\n \n \n \n \n\n\n \n Thananjeyan, B.; Balakrishna, A.; Rosolia, U.; Gonzalez, J. E; Ames, A.; and Goldberg, K.\n\n\n \n\n\n\n In Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics 14, pages 1–17, 2021. Springer International Publishing\n \n\n\n\n
\n\n\n\n \n \n $\"Abc-lmpc:$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{thananjeyan2021abc,\n  title={Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions},\n  author={Thananjeyan, Brijen and Balakrishna, Ashwin and Rosolia, Ugo and Gonzalez, Joseph E and Ames, Aaron and Goldberg, Ken},\n  booktitle={Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics 14},\n  pages={1--17},\n  year={2021},\n  organization={Springer International Publishing},\n  url = {http://ames.caltech.edu/thananjeyan2020abc.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions.\n \n \n \n \n\n\n \n Taylor, A. J; Ong, P.; Cortés, J.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(3): 749-754. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Critical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 39 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{taylor2021safety,\n  author={Taylor, Andrew J and Ong, Pio and Cort{\\'e}s, Jorge and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  title={Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions},\n  year={2021},\n  volume={5},\n  number={3},\n  pages={749-754},\n  url = {http://ames.caltech.edu/taylor2021safety.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion.\n \n \n \n \n\n\n \n Ma, W.; Csomay-Shanklin, N.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(3): 935-940. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Coupled$ Paper\n \n \n \n $\"Coupled$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 39 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ma2021coupled,\n  author={Ma, Wen-Loong and Csomay-Shanklin, Noel and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  title={Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion},\n  year={2021},\n  volume={5},\n  number={3},\n  pages={935-940},\n  url = {http://ames.caltech.edu/ma2021coupled.pdf},\n  url_video = {https://youtu.be/GlpgSXMinoU}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies.\n \n \n \n \n\n\n \n Rosolia, U.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(3): 1007-1012. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-Rate$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 22 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{rosolia2021multi,\n  author={Rosolia, Ugo and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  title={Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies},\n  year={2021},\n  volume={5},\n  number={3},\n  pages={1007-1012},\n  url = {http://ames.caltech.edu/rosolia2021multi.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety.\n \n \n \n \n\n\n \n Taylor, A. J; Singletary, A.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(3): 1019-1024. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{taylor2021control,\n  author={Taylor, Andrew J and Singletary, Andrew and Yue, Yisong and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  title={A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety},\n  year={2021},\n  volume={5},\n  number={3},\n  pages={1019-1024},\n  url = {http://ames.caltech.edu/taylor2021control.pdf}\n }\n\n\n\n

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\n \n\n \n \n \n \n \n \n Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems.\n \n \n \n \n\n\n \n Konda, R.; Ames, A. D; and Coogan, S.\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(2): 523-528. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Characterizing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{konda2021characterizing,\n  author={Konda, Rohit and Ames, Aaron D and Coogan, Samuel},\n  journal={IEEE Control Systems Letters},\n  title={Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems},\n  year={2021},\n  volume={5},\n  number={2},\n  pages={523-528},\n  url = {http://ames.caltech.edu/konda2021characterizing.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach.\n \n \n \n \n\n\n \n Chen, Y.; Singletary, A.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(1): 127–132. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Guaranteed$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 25 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chen2021guaranteed,\n  title={Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach},\n  author={Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={5},\n  number={1},\n  pages={127--132},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/chen2021guaranteed.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Separable Control Lyapunov Functions with Application to Prostheses.\n \n \n \n \n\n\n \n Gehlhar, R.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(2): 559–564. 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Separable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 14 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{gehlhar2021separable,\n  title={Separable Control Lyapunov Functions with Application to Prostheses},\n  author={Gehlhar, Rachel and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={5},\n  number={2},\n  pages={559--564},\n  year={2021},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/gehlhar2020separable.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2020} %%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n Risk-Averse Stochastic Shortest Path Planning.\n \n \n \n \n\n\n \n Ahmadi, M.; Dixit, A.; Burdick, J. W; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Risk-Averse$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{ahmadi2021riskplanning,\n  title={Risk-Averse Stochastic Shortest Path Planning},\n  author={Ahmadi, Mohamadreza and Dixit, Anushri and Burdick, Joel W and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2103.14727},\n  year={2021},\n  url = {http://ames.caltech.edu/ahmadi2021riskplanning.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Control lyapunov functions for compliant hybrid zero dynamic walking.\n \n \n \n \n\n\n \n Reher, J.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n \n $\"Control$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{reher2021control,\n  title={Control lyapunov functions for compliant hybrid zero dynamic walking},\n  author={Reher, Jenna and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2107.04241},\n  year={2021},\n  url = {http://ames.caltech.edu/reher2021control.pdf},\n  url_video = {https://youtu.be/X0bHOHXOp9E}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms.\n \n \n \n \n\n\n \n Rosolia, U.; Chen, Y.; Daftry, S.; Ono, M.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{rosolia2021mixed,\n  title={The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms},\n  author={Rosolia, Ugo and Chen, Yuxiao and Daftry, Shreyansh and Ono, Masahiro and Yue, Yisong and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2108.12030},\n  year={2021},\n  url = {http://ames.caltech.edu/rosolia2021mixed.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Learning Performance Bounds for Safety-Critical Systems.\n \n \n \n \n\n\n \n Akella, P.; Rosolia, U.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akella2021learning,\n  title={Learning Performance Bounds for Safety-Critical Systems},\n  author={Akella, Prithvi and Rosolia, Ugo and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2109.04026},\n  year={2021},\n  url = {http://ames.caltech.edu/rosolia2021mixed.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Risk-Averse Decision Making Under Uncertainty.\n \n \n \n \n\n\n \n Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Risk-Averse$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{ahmadi2021riskdecision,\n  title={Risk-Averse Decision Making Under Uncertainty},\n  author={Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D and Murray, Richard M and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2109.04082},\n  year={2021},\n  url = {http://ames.caltech.edu/ahmadi2021riskdecision.pdf}\n}\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments.\n \n \n \n \n\n\n \n Johansson, K.; Rosolia, U.; Ubellacker, W.; Singletary, A.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Mixed$ Paper\n \n \n \n $\"Mixed$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{johansson2021mixed,\n  title={Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments},\n  author={Johansson, Kasper and Rosolia, Ugo and Ubellacker, Wyatt and Singletary, Andrew and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2110.01002},\n  year={2021},\n  url = {http://ames.caltech.edu/johansson2021mixed.pdf},\n  url_video = {https://youtu.be/VZvWCURmRE0}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety-Aware Preference-Based Learning for Safety-Critical Control.\n \n \n \n \n\n\n \n Cosner, R. K; Tucker, M.; Taylor, A. J; Li, K.; Molnár, T. G; Ubellacker, W.; Alan, A.; Orosz, G.; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n 2021.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Aware$ Paper\n \n \n \n $\"Safety-Aware$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{cosner2021safety,\n  title={Safety-Aware Preference-Based Learning for Safety-Critical Control},\n  author={Cosner, Ryan K and Tucker, Maegan and Taylor, Andrew J and Li, Kejun and Moln{\\'a}r, Tam{\\'a}s G and Ubellacker, Wyatt and Alan, Anil and Orosz, G{\\'a}bor and Yue, Yisong and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2112.08516},\n  year={2021},\n  url = {http://ames.caltech.edu/cosner2021safety.pdf},\n  url_video = {https://youtu.be/QEuwRDTG7TE}\n}\n\n\n

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\n \n 2020\n \n \n (50)\n \n \n

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\n \n\n \n \n \n \n \n \n Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots.\n \n \n \n \n\n\n \n Ma, W.; Csomay-Shanklin, N.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4006–4011, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Quadrupedal$ Paper\n \n \n \n $\"Quadrupedal$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2020quadrupedal,\n  title={Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots},\n  author={Ma, Wen-Loong and Csomay-Shanklin, Noel and Ames, Aaron D},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={4006--4011},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ma2020quadrupedal.pdf},\n  url_video = {http://ames.caltech.edu/ma2020quadrupedal.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators.\n \n \n \n \n\n\n \n Folkestad, C.; Chen, Y.; Ames, A. D; and Burdick, J. W\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(6): 2012–2017. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Data-Driven$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{folkestad2020data,\n  title={Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators},\n  author={Folkestad, Carl and Chen, Yuxiao and Ames, Aaron D and Burdick, Joel W},\n  journal={IEEE Control Systems Letters},\n  volume={5},\n  number={6},\n  pages={2012--2017},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/folkestad2020data.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Unified multi-rate control: from low level actuation to high level planning.\n \n \n \n \n\n\n \n Rosolia, U.; Singletary, A.; and Ames, A. D\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Unified$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{rosolia2020unified,\n  title={Unified multi-rate control: from low level actuation to high level planning},\n  author={Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2012.06558},\n  year={2020},\n  url = {http://ames.caltech.edu/rosolia2020unified.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Online decentralized decision making with inequality constraints: an ADMM approach.\n \n \n \n \n\n\n \n Chen, Y.; Santillo, M.; Jankovic, M.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(6): 2156–2161. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Online$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chen2020online,\n  title={Online decentralized decision making with inequality constraints: an ADMM approach},\n  author={Chen, Yuxiao and Santillo, Mario and Jankovic, Mrdjan and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={5},\n  number={6},\n  pages={2156--2161},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/chen2020online.pdf}\n}\n\n%%%% Previous %%%%\n\n

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\n \n\n \n \n \n \n \n \n Partially Observable Games for Secure Autonomy.\n \n \n \n \n\n\n \n Ahmadi, M.; Viswanathan, A. A; Ingham, M. D; Tan, K.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE Security and Privacy Workshops (SPW), pages 185–188, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Partially$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ahmadi2020partially,\n  title={Partially Observable Games for Secure Autonomy},\n  author={Ahmadi, Mohamadreza and Viswanathan, Arun A and Ingham, Michel D and Tan, Kymie and Ames, Aaron D},\n  booktitle={2020 IEEE Security and Privacy Workshops (SPW)},\n  pages={185--188},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ahmadi2020partially.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits.\n \n \n \n \n\n\n \n Tucker, M.; Cheng, M.; Novoseller, E.; Cheng, R.; Yue, Y.; Burdick, J. W; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3423–3430, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Human$ Paper\n \n \n \n $\"Human$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{tucker2020human,\n  title={Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits},\n  author={Tucker, Maegan and Cheng, Myra and Novoseller, Ellen and Cheng, Richard and Yue, Yisong and Burdick, Joel W and Ames, Aaron D},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={3423--3430},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/tucker2020human.pdf},\n  url_video = {http://ames.caltech.edu/tucker2020human.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Data-driven characterization of human interaction for model-based control of powered prostheses.\n \n \n \n \n\n\n \n Gehlhar, R.; Chen, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4126–4133, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Data-driven$ Paper\n \n \n \n $\"Data-driven$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gehlhar2020data,\n  title={Data-driven characterization of human interaction for model-based control of powered prostheses},\n  author={Gehlhar, Rachel and Chen, Yuxiao and Ames, Aaron D},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={4126--4133},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gehlhar2020data.pdf},\n  url_video = {http://ames.caltech.edu/gehlhar2020data.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Barrier functions for multiagent-pomdps with dtl specifications.\n \n \n \n \n\n\n \n Ahmadi, M.; Singletary, A.; Burdick, J. W; and Ames, A. D\n\n\n \n\n\n\n In 2020 59th IEEE Conference on Decision and Control (CDC), pages 1380–1385, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Barrier$ Paper\n \n \n \n $\"Barrier$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ahmadi2020barrier,\n  title={Barrier functions for multiagent-pomdps with dtl specifications},\n  author={Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W and Ames, Aaron D},\n  booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},\n  pages={1380--1385},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ahmadi2020barrier.pdf},\n  url_video = {https://www.youtube.com/watch?v=7VyF7P-oM9I}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Safe multi-agent interaction through robust control barrier functions with learned uncertainties.\n \n \n \n \n\n\n \n Cheng, R.; Khojasteh, M. J.; Ames, A. D; and Burdick, J. W\n\n\n \n\n\n\n In 2020 59th IEEE Conference on Decision and Control (CDC), pages 777–783, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{cheng2020safe,\n  title={Safe multi-agent interaction through robust control barrier functions with learned uncertainties},\n  author={Cheng, Richard and Khojasteh, Mohammad Javad and Ames, Aaron D and Burdick, Joel W},\n  booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},\n  pages={777--783},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cheng2020safe.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Formal test synthesis for safety-critical autonomous systems based on control barrier functions.\n \n \n \n \n\n\n \n Akella, P.; Ahmadi, M.; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n In 2020 59th IEEE Conference on Decision and Control (CDC), pages 790–795, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Formal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{akella2020formal,\n  title={Formal test synthesis for safety-critical autonomous systems based on control barrier functions},\n  author={Akella, Prithvi and Ahmadi, Mohamadreza and Murray, Richard M and Ames, Aaron D},\n  booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},\n  pages={790--795},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/akella2020formal.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Control barrier functions for sampled-data systems with input delays.\n \n \n \n \n\n\n \n Singletary, A.; Chen, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2020 59th IEEE Conference on Decision and Control (CDC), pages 804–809, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{singletary2020control,\n  title={Control barrier functions for sampled-data systems with input delays},\n  author={Singletary, Andrew and Chen, Yuxiao and Ames, Aaron D},\n  booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},\n  pages={804--809},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/singletary2020control.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n \n \n \n \n\n\n \n Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In Algorithmic Foundations of Robotics XII, pages 400–415. Springer, Cham, 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Algorithmic$ Paper\n \n \n \n $\"Algorithmic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 26 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{reher2020algorithmic,\n  title={Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot {DURUS}},\n  author={Reher, Jacob P and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={Algorithmic Foundations of Robotics XII},\n  pages={400--415},\n  year={2020},\n  publisher={Springer, Cham},\n  url = {http://ames.caltech.edu/reher2020algorithmic.pdf},\n  url_video = {https://youtu.be/1fC7b2LjVW4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Safety-critical control of active interventions for COVID-19 mitigation.\n \n \n \n \n\n\n \n Ames, A. D; Molnár, T. G; Singletary, A. W; and Orosz, G.\n\n\n \n\n\n\n IEEE Access, 8: 188454–188474. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-critical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ames2020safety,\n  title={Safety-critical control of active interventions for COVID-19 mitigation},\n  author={Ames, Aaron D and Moln{\\'a}r, Tam{\\'a}s G and Singletary, Andrew W and Orosz, G{\\'a}bor},\n  journal={IEEE Access},\n  volume={8},\n  pages={188454--188474},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/ames2020safety.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays.\n \n \n \n \n\n\n \n Molnár, T. G; Singletary, A. W; Orosz, G.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Critical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{molnar2020safety,\n  title={Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays},\n  author={Moln{\\'a}r, Tam{\\'a}s G and Singletary, Andrew W and Orosz, G{\\'a}bor and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/molnar2020safety.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach.\n \n \n \n \n\n\n \n Hamed, K. A.; Kamidi, V. R; Pandala, A.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 5314–5321, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Distributed$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 14 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hamed2020distributed,\n  title={Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach},\n  author={Hamed, Kaveh Akbari and Kamidi, Vinay R and Pandala, Abhishek and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={5314--5321},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/hamed2019distributed.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Towards Variable Assistance for Lower Body Exoskeletons.\n \n \n \n \n\n\n \n Gurriet, T.; Tucker, M.; Duburcq, A.; Boeris, G.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 5(1): 266–273. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 14 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{gurriet2020towards,\n  title={Towards Variable Assistance for Lower Body Exoskeletons},\n  author={Gurriet, Thomas and Tucker, Maegan and Duburcq, Alexis and Boeris, Guilhem and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={5},\n  number={1},\n  pages={266--273},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/gurriet2019towards.pdf},\n  url_video = {http://ames.caltech.edu/gurriet2019towards.mp4}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Scalable Safety Critical Control Framework for Nonlinear Systems.\n \n \n \n \n\n\n \n Gurriet, T.; Mote, M.; Singletary, A.; Nilsson, P.; Feron, E.; and Ames, A. D\n\n\n \n\n\n\n IEEE Access, 8: 187249–187275. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{gurriet2020scalable,\n  title={A Scalable Safety Critical Control Framework for Nonlinear Systems},\n  author={Gurriet, Thomas and Mote, Mark and Singletary, Andrew and Nilsson, Petter and Feron, Eric and Ames, Aaron D},\n  journal={IEEE Access},\n  volume={8},\n  pages={187249--187275},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/gurriet2020scalable.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts.\n \n \n \n \n\n\n \n Chen, Y.; Anderson, J.; Kalsi, K.; Ames, A. D; and Low, S. H\n\n\n \n\n\n\n IEEE Transactions on Control of Network Systems, 8(1): 487–499. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety-critical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chen2020safety,\n  title={Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts},\n  author={Chen, Yuxiao and Anderson, James and Kalsi, Karanjit and Ames, Aaron D and Low, Steven H},\n  journal={IEEE Transactions on Control of Network Systems},\n  volume={8},\n  number={1},\n  pages={487--499},\n  year={2020},\n  url = {http://ames.caltech.edu/chen2019safety.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Optimal safe controller synthesis: A density function approach.\n \n \n \n \n\n\n \n Chen, Y.; Ahmadi, M.; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 5407–5412, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{chen2020optimal,\n  title={Optimal safe controller synthesis: A density function approach},\n  author={Chen, Yuxiao and Ahmadi, Mohamadreza and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={5407--5412},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/chen2019optimal.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity.\n \n \n \n \n\n\n \n Ambrose, E.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 2457–2463, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Improved$ Paper\n \n \n \n $\"Improved$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ambrose2020improved,\n  title={Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity},\n  author={Ambrose, Eric and Ames, Aaron D},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2457--2463},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ambrose2019improved.pdf},\n  url_video = {http://ames.caltech.edu/ambrose2019improved.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Adaptive safety with control barrier functions.\n \n \n \n \n\n\n \n Taylor, A. J; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 1399–1405, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Adaptive$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taylor2020adaptive,\n  title={Adaptive safety with control barrier functions},\n  author={Taylor, Andrew J and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={1399--1405},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/taylor2019adaptive.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n An inverse dynamics approach to control Lyapunov functions.\n \n \n \n \n\n\n \n Reher, J.; Kann, C.; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 2444–2451, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"An$ Paper\n \n \n \n $\"An$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 16 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{reher2020inverse,\n  title={An inverse dynamics approach to control Lyapunov functions},\n  author={Reher, Jenna and Kann, Claudia and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={2444--2451},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/reher2019inverse.pdf},\n  url_video = {https://vimeo.com/362721158}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Density Functions for Guaranteed Safety on Robotic Systems.\n \n \n \n \n\n\n \n Chen, Y.; Singletary, A. W; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 3199–3204, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Density$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{chen2020density,\n  title={Density Functions for Guaranteed Safety on Robotic Systems},\n  author={Chen, Yuxiao and Singletary, Andrew W and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={3199--3204},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/chen2020density.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems.\n \n \n \n \n\n\n \n Klaesson, F.; Nilsson, P.; Ames, A. D; and Murray, R. M\n\n\n \n\n\n\n In 2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS), pages 196–205, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Intermittent$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{klaesson2020intermittent,\n  title={Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems},\n  author={Klaesson, Filip and Nilsson, Petter and Ames, Aaron D and Murray, Richard M},\n  booktitle={2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS)},\n  pages={196--205},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/klaesson2019intermittent.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Learning for safety-critical control with control barrier functions.\n \n \n \n \n\n\n \n Taylor, A.; Singletary, A.; Yue, Y.; and Ames, A.\n\n\n \n\n\n\n In Learning for Dynamics and Control, pages 708–717, 2020. PMLR\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n \n $\"Learning$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 11 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taylor2020learning,\n  title={Learning for safety-critical control with control barrier functions},\n  author={Taylor, Andrew and Singletary, Andrew and Yue, Yisong and Ames, Aaron},\n  booktitle={Learning for Dynamics and Control},\n  pages={708--717},\n  year={2020},\n  organization={PMLR},\n  url = {http://ames.caltech.edu/taylor2020learning.pdf},\n  url_video = {https://vimeo.com/380798276/f37b003db3}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Risk-Averse Planning Under Uncertainty.\n \n \n \n \n\n\n \n Ahmadi, M.; Ono, M.; Ingham, M. D; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 3305–3312, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Risk-Averse$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ahmadi2020risk,\n  title={Risk-Averse Planning Under Uncertainty},\n  author={Ahmadi, Mohamadreza and Ono, Masahiro and Ingham, Michel D and Murray, Richard M and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={3305--3312},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ahmadi2020risk.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator.\n \n \n \n \n\n\n \n Gao, C.; Gehlhar, R.; Ames, A. D; Liu, S.; and Delbruck, T.\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 5460-5466, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Recurrent$ Paper\n \n \n \n $\"Recurrent$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gao2020recurrent,\n  author={Gao, Chang and Gehlhar, Rachel and Ames, Aaron D and Liu, Shih-Chii and Delbruck, Tobi},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  title={Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator},\n  year={2020},\n  pages={5460-5466},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gao2020recurrent.pdf},\n  url_video = {http://ames.caltech.edu/gao2020recurrent.mp4}\n }\n\n

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\n \n\n \n \n \n \n \n \n Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces.\n \n \n \n \n\n\n \n Yu, Y.; Nassar, J.; Xu, C.; Min, J.; Yang, Y.; Dai, A.; Doshi, R.; Huang, A.; Song, Y.; Gehlhar, R.; and others\n\n\n \n\n\n\n Science Robotics, 5(41). 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Biofuel-powered$ Paper\n \n \n \n $\"Biofuel-powered$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{yu2020biofuel,\n  title={Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces},\n  author={Yu, You and Nassar, Joanna and Xu, Changhao and Min, Jihong and Yang, Yiran and Dai, Adam and Doshi, Rohan and Huang, Adrian and Song, Yu and Gehlhar, Rachel and others},\n  journal={Science Robotics},\n  volume={5},\n  number={41},\n  year={2020},\n  publisher={Science Robotics},\n  url = {http://ames.caltech.edu/yu2020biofuel.pdf},\n  url_video = {http://ames.caltech.edu/yu2020biofuel.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation.\n \n \n \n \n\n\n \n Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 4491-4497, 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"From$ Paper\n \n \n \n $\"From$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2020bipedal,\n  author={Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  title={From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation},\n  year={2020},\n  pages={4491-4497},\n  url = {http://ames.caltech.edu/ma2019bipedal.pdf},\n  url_video = {http://ames.caltech.edu/ma2019bipedal.mp4}\n }\n\n\n\n

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\n \n\n \n \n \n \n \n \n Passive Dynamic Balancing and Walking in Actuated Environments.\n \n \n \n \n\n\n \n Reher, J.; Csomay-Shanklin, N.; Christensen, D. L.; Bristow, B.; Ames, A. D.; and Smoot, L.\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 9775-9781, 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"Passive$ Paper\n \n \n \n $\"Passive$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{reher2020passive,\n  author={Jenna Reher and Noel Csomay-Shanklin and David L. Christensen and Bobby Bristow and Aaron D. Ames and Lanny Smoot},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  title={Passive Dynamic Balancing and Walking in Actuated Environments},\n  year={2020},\n  pages={9775-9781},\n  url = {http://ames.caltech.edu/reher2020passive.pdf},\n  url_video = {http://ames.caltech.edu/reher2020passive.mp4}\n }\n\n

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\n \n\n \n \n \n \n \n \n Preference-Based Learning for Exoskeleton Gait Optimization.\n \n \n \n \n\n\n \n Tucker, M.; Novoseller, E.; Kann, C.; Sui, Y.; Yue, Y.; Burdick, J.; and Ames, A. D\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 2351-2357, 2020. \n ICRA Best Conference Paper Award, and Best Paper Award on Human-Robot Interaction (HRI)\n\n\n\n
\n\n\n\n \n \n $\"Preference-Based$ Paper\n \n \n \n $\"Preference-Based$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{tucker2020preference,\n  author={Tucker, Maegan and Novoseller, Ellen and Kann, Claudia and Sui, Yanan and Yue, Yisong and Burdick, Joel and Ames, Aaron D},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  title={Preference-Based Learning for Exoskeleton Gait Optimization},\n  year={2020},\n  pages={2351-2357},\n  url = {http://ames.caltech.edu/tucker2019preference.pdf},\n  url_video = {https://youtu.be/-27sHXsvONE},\n  note = {ICRA Best Conference Paper Award, and Best Paper Award on Human-Robot Interaction (HRI)}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Safety-Critical Rapid Aerial Exploration of Unknown Environments.\n \n \n \n \n\n\n \n Singletary, A.; Gurriet, T.; Nilsson, P.; and Ames, A. D.\n\n\n \n\n\n\n In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 10270-10276, 2020. \n \n\n\n\n
\n\n\n\n \n \n $\"Safety-Critical$ Paper\n \n \n \n $\"Safety-Critical$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{singletary2020safety,\n  author={Andrew Singletary and Thomas Gurriet and Petter Nilsson and Aaron D. Ames},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},\n  title={Safety-Critical Rapid Aerial Exploration of Unknown Environments},\n  year={2020},\n  pages={10270-10276},\n  url = {http://ames.caltech.edu/singletary2020safety.pdf},\n  url_video = {http://ames.caltech.edu/singletary2020safety.mp4}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach.\n \n \n \n \n\n\n \n Ibuki, T.; Wilson, S.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n IEEE Control Systems Letters, 4(4): 976-981. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Distributed$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ibuki2020distributed,\n  title={Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach},\n  author={Ibuki, Tatsuya and Wilson, Sean and Ames, Aaron D and Egerstedt, Magnus},\n  journal={IEEE Control Systems Letters},\n  year={2020},\n  publisher={IEEE},\n  volume={4},\n  number={4},\n  pages={976-981},\n  url = {http://ames.caltech.edu/ibuki2020distributed.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Integral Control Barrier Functions for Dynamically Defined Control Laws.\n \n \n \n \n\n\n \n Ames, A. D; Notomista, G.; Wardi, Y.; and Egerstedt, M.\n\n\n \n\n\n\n IEEE Control Systems Letters, 5(3): 887–892. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Integral$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ames2020integral,\n  title={Integral Control Barrier Functions for Dynamically Defined Control Laws},\n  author={Ames, Aaron D and Notomista, Gennaro and Wardi, Yorai and Egerstedt, Magnus},\n  journal={IEEE Control Systems Letters},\n  volume={5},\n  number={3},\n  pages={887--892},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/ames2020integral.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Invariant Sets for Integrators and Quadrotor Obstacle Avoidance.\n \n \n \n \n\n\n \n Doeser, L.; Nilsson, P.; Ames, A. D; and Murray, R. M\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 3814–3821, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Invariant$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{doeser2020invariant,\n  title={Invariant Sets for Integrators and Quadrotor Obstacle Avoidance},\n  author={Doeser, Ludvig and Nilsson, Petter and Ames, Aaron D and Murray, Richard M},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={3814--3821},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/doeser2020invariant.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs.\n \n \n \n \n\n\n \n Nilsson, P.; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 5175–5181, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Lyapunov-Like$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{nilsson2020lyapunov,\n  title={Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for {SDEs}},\n  author={Nilsson, Petter and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={5175--5181},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/nilsson2020lyapunov.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction.\n \n \n \n \n\n\n \n Pandey, A.; and Ames, A. D\n\n\n \n\n\n\n In 2020 American Control Conference (ACC), pages 3763–3769, 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{pandey2020converse,\n  title={On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction},\n  author={Pandey, Ayush and Ames, Aaron D},\n  booktitle={2020 American Control Conference (ACC)},\n  pages={3763--3769},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/pandey2020converse.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 5(4): 6286–6293. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{xiong2020dynamic,\n  title={Dynamic and versatile humanoid walking via embedding {3D} actuated {SLIP} model with hybrid lip based stepping},\n  author={Xiong, Xiaobin and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={5},\n  number={4},\n  pages={6286--6293},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/xiong2020dynamic.pdf},\n  url_video = {http://ames.caltech.edu/xiong2020dynamic.mp4}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A.\n\n\n \n\n\n\n In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Sequential$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2020sequential,\n  title={Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control},\n  author={Xiong, Xiaobin and Ames, Aaron},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2020sequential.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion.\n \n \n \n \n\n\n \n Suh, H.; Xiong, X.; Singletary, A.; Ames, A. D; and Burdick, J. W\n\n\n \n\n\n\n In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Energy-Efficient$ Paper\n \n \n \n $\"Energy-Efficient$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{suh2020energy,\n  title={Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion},\n  author={Suh, HJ and Xiong, Xiaobin and Singletary, Andrew and Ames, Aaron D and Burdick, Joel W},\n  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2020},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/suh2020optimal.pdf},\n  url_video = {http://ames.caltech.edu/suh2020optimal.mp4}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping.\n \n \n \n \n\n\n \n Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; Ames, A. D; and Vela, P. A\n\n\n \n\n\n\n IEEE Transactions on Control Systems Technology. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{chang2020learning,\n  title={Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping},\n  author={Chang, Alexander H and Hubicki, Christian M and Aguilar, Jeffrey J and Goldman, Daniel I and Ames, Aaron D and Vela, Patricio A},\n  journal={IEEE Transactions on Control Systems Technology},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/chang2020learning.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach.\n \n \n \n \n\n\n \n Hamed, K. A.; Kamidi, V. R; Ma, W.; Leonessa, A.; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 5(1): 56–63. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Hierarchical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{hamed2020hierarchical,\n  title={Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach},\n  author={Hamed, Kaveh Akbari and Kamidi, Vinay R and Ma, Wen-Loong and Leonessa, Alexander and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={5},\n  number={1},\n  pages={56--63},\n  year={2020},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/hamed2019hierarchical.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2019} %%%%%%%%%%%\n\n\n\n

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\n \n\n \n \n \n \n \n Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n \n \n \n\n\n \n Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n Proc. 12th Adv. Robot. Algorithmic Found. Robot, 13: 400–415. 2020.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 26 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{reher2020algorithmic,\n  title={Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS},\n  author={Reher, Jacob P and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M and Ames, Aaron D},\n  journal={Proc. 12th Adv. Robot. Algorithmic Found. Robot},\n  volume={13},\n  pages={400--415},\n  year={2020}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.\n \n \n \n \n\n\n \n Grandia, R.; Taylor, A. J; Singletary, A.; Hutter, M.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:2006.01229, 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Nonlinear$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 15 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{grandia2020nonlinear,\n  title={Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions},\n  author={Grandia, Ruben and Taylor, Andrew J and Singletary, Andrew and Hutter, Marco and Ames, Aaron D},\n  howpublished={arXiv preprint arXiv:2006.01229},\n  year={2020},\n  url = {http://ames.caltech.edu/grandia2020nonlinear.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Dynamic Walking: Toward Agile and Efficient Bipedal Robots.\n \n \n \n \n\n\n \n Reher, J.; and Ames, A. D\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{reher2020dynamic,\n  title={Dynamic Walking: Toward Agile and Efficient Bipedal Robots},\n  author={Reher, Jenna and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2010.07451},\n  year={2020},\n  url = {http://ames.caltech.edu/reher2020dynamic.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance.\n \n \n \n \n\n\n \n Singletary, A.; Klingebiel, K.; Bourne, J.; Browning, A.; Tokumaru, P.; and Ames, A.\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Comparative$ Paper\n \n \n \n $\"Comparative$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{singletary2020comparative,\n  title={Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance},\n  author={Singletary, Andrew and Klingebiel, Karl and Bourne, Joseph and Browning, Andrew and Tokumaru, Phil and Ames, Aaron},\n  journal={arXiv preprint arXiv:2010.09819},\n  year={2020},\n  url = {http://ames.caltech.edu/singletary2020comparative.pdf},\n  url_video = {https://vimeo.com/468799586}\n}\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion.\n \n \n \n \n\n\n \n Ahmadi, M.; Xiong, X.; and Ames, A. D\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Risk-Sensitive$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{ahmadi2020riskBF,\n  title={Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion},\n  author={Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2011.01578},\n  year={2020},\n  url = {http://ames.caltech.edu/ahmadi2020riskBF.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions.\n \n \n \n \n\n\n \n Dean, S.; Taylor, A. J; Cosner, R. K; Recht, B.; and Ames, A. D\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Guaranteeing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{dean2020guaranteeing,\n  title={Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions},\n  author={Dean, Sarah and Taylor, Andrew J and Cosner, Ryan K and Recht, Benjamin and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2010.16001},\n  year={2020},\n  url = {http://ames.caltech.edu/dean2020guaranteeing.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Reactive motion planning with probabilistics safety guarantees.\n \n \n \n \n\n\n \n Chen, Y.; Rosolia, U.; Fan, C.; Ames, A. D; and Murray, R.\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Reactive$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{chen2020reactive,\n  title={Reactive motion planning with probabilistics safety guarantees},\n  author={Chen, Yuxiao and Rosolia, Ugo and Fan, Chuchu and Ames, Aaron D and Murray, Richard},\n  journal={arXiv preprint arXiv:2011.03590},\n  year={2020},\n  url = {http://ames.caltech.edu/chen2020reactive.pdf}\n}\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Lidar-based exploration and discretization for mobile robot planning.\n \n \n \n \n\n\n \n Chen, Y.; Singletary, A.; and Ames, A. D\n\n\n \n\n\n\n 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Lidar-based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{chen2020lidar,\n  title={Lidar-based exploration and discretization for mobile robot planning},\n  author={Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D},\n  journal={arXiv preprint arXiv:2011.10066},\n  year={2020},\n  url = {http://ames.caltech.edu/chen2020lidar.pdf}\n}\n\n\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2021 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n\n\n

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\n \n 2019\n \n \n (26)\n \n \n

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\n \n\n \n \n \n \n \n \n Control barrier functions: Theory and applications.\n \n \n \n \n\n\n \n Ames, A. D; Coogan, S.; Egerstedt, M.; Notomista, G.; Sreenath, K.; and Tabuada, P.\n\n\n \n\n\n\n In 2019 18th European Control Conference (ECC), pages 3420–3431, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 25 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2019control,\n  title={Control barrier functions: Theory and applications},\n  author={Ames, Aaron D and Coogan, Samuel and Egerstedt, Magnus and Notomista, Gennaro and Sreenath, Koushil and Tabuada, Paulo},\n  booktitle={2019 18th European Control Conference (ECC)},\n  pages={3420--3431},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ames2019control.pdf}\n}\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.\n \n \n \n \n\n\n \n Azimi, V.; Shu, T.; Zhao, H.; Gehlhar, R.; Simon, D.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Model-Based$ Paper\n \n \n \n $\"Model-Based$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{azimi2019model,\n  title={Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments},\n  author={Azimi, Vahid and Shu, Tony and Zhao, Huihua and Gehlhar, Rachel and Simon, Dan and Ames, Aaron D},\n  journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems},\n  year={2019},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/azimi2019model.pdf},\n  url_video = {http://ames.caltech.edu/azimi2019model.mp4}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Dynamic walking with compliance on a cassie bipedal robot.\n \n \n \n \n\n\n \n Reher, J.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2019 18th European Control Conference (ECC), pages 2589–2595, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 13 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{reher2019dynamic,\n  title={Dynamic walking with compliance on a cassie bipedal robot},\n  author={Reher, Jacob and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2019 18th European Control Conference (ECC)},\n  pages={2589--2595},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/reher2019dynamic.pdf},\n  url_video = {https://youtu.be/NYooAyAC0kA}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Optimal control of piecewise-smooth control systems via singular perturbations.\n \n \n \n \n\n\n \n Westenbroek, T.; Xiong, X.; Ames, A. D; and Sastry, S S.\n\n\n \n\n\n\n In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 3046–3053, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{westenbroek2019optimal,\n  title={Optimal control of piecewise-smooth control systems via singular perturbations},\n  author={Westenbroek, Tyler and Xiong, Xiaobin and Ames, Aaron D and Sastry, S Shankar},\n  booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},\n  pages={3046--3053},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/westenbroek2019optimal.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions.\n \n \n \n \n\n\n \n Ahmadi, M.; Singletary, A.; Burdick, J. W; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 4797-4803, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ahmadi2019safe,\n  title={Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions},\n  author={Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W and Ames, Aaron D},\n  booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},\n  pages={4797-4803},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ahmadi2019safe.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A control lyapunov perspective on episodic learning via projection to state stability.\n \n \n \n \n\n\n \n Taylor, A. J; Dorobantu, V. D; Krishnamoorthy, M.; Le, H. M; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 4797-4803, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taylor2019control,\n  title={A control lyapunov perspective on episodic learning via projection to state stability},\n  author={Taylor, Andrew J and Dorobantu, Victor D and Krishnamoorthy, Meera and Le, Hoang M and Yue, Yisong and Ames, Aaron D},\n  booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},\n  pages={4797-4803},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/taylor2019control.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A scalable controlled set invariance framework with practical safety guarantees.\n \n \n \n \n\n\n \n Gurriet, T.; Mote, M.; Singletary, A.; Feron, E.; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 2046–2053, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2019scalable,\n  title={A scalable controlled set invariance framework with practical safety guarantees},\n  author={Gurriet, Thomas and Mote, Mark and Singletary, Andrew and Feron, Eric and Ames, Aaron D},\n  booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},\n  pages={2046--2053},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gurriet2019scalable.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots.\n \n \n \n \n\n\n \n Murali, V.; Ames, A. D; and Verriest, E. I\n\n\n \n\n\n\n In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 6295–6300, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{murali2019optimal,\n  title={Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots},\n  author={Murali, Vishal and Ames, Aaron D and Verriest, Erik I},\n  booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},\n  pages={6295--6300},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/murali2019optimal.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping.\n \n \n \n \n\n\n \n Chang, A. H; Hubicki, C.; Ames, A. D; and Vela, P. A\n\n\n \n\n\n\n In 2019 International Conference on Robotics and Automation (ICRA), pages 3188–3194, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Every$ Paper\n \n \n \n $\"Every$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{chang2019every,\n  title={Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping},\n  author={Chang, Alexander H and Hubicki, Christian and Ames, Aaron D and Vela, Patricio A},\n  booktitle={2019 International Conference on Robotics and Automation (ICRA)},\n  pages={3188--3194},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/chang2019every.pdf},\n  url_video = {http://ames.caltech.edu/chang2019every.mp4}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Safety Functionals for Time Delay Systems.\n \n \n \n \n\n\n \n Orosz, G.; and Ames, A. D\n\n\n \n\n\n\n In 2019 American Control Conference (ACC), pages 4374–4379, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Safety$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{orosz2019safety,\n  title={Safety Functionals for Time Delay Systems},\n  author={Orosz, G{\\'a}bor and Ames, Aaron D},\n  booktitle={2019 American Control Conference (ACC)},\n  pages={4374--4379},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gurriet2019realizable.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Realizable Set Invariance Conditions for Cyber-Physical Systems.\n \n \n \n \n\n\n \n Gurriet, T.; Nilsson, P.; Singletary, A.; and Ames, A. D\n\n\n \n\n\n\n In 2019 American Control Conference (ACC), pages 3642–3649, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Realizable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2019realizable,\n  title={Realizable Set Invariance Conditions for Cyber-Physical Systems},\n  author={Gurriet, Thomas and Nilsson, Petter and Singletary, Andrew and Ames, Aaron D},\n  booktitle={2019 American Control Conference (ACC)},\n  pages={3642--3649},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gurriet2019realizable.pdf}\n}\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking.\n \n \n \n \n\n\n \n Hamed, K. A.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Control Systems Technology. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Nonholonomic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{hamed2019nonholonomic,\n  title={Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking},\n  author={Hamed, Kaveh Akbari and Ames, Aaron D},\n  journal={IEEE Transactions on Control Systems Technology},\n  year={2019},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/hamed2019nonholonomic.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A.\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1018-1024, 2019. IEEE\n IROS RoboCup Best Paper Award\n\n\n\n
\n\n\n\n \n \n $\"Motion$ Paper\n \n \n \n $\"Motion$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2019motion,\n  title={Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control},\n  author={Xiong, Xiaobin and Ames, Aaron},\n  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2019},\n  pages={1018-1024},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2019motion.pdf},\n  url_video = {http://ames.caltech.edu/xiong2019motion.mp4},\n  note = {IROS RoboCup Best Paper Award}\n}\n\n

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\n \n\n \n \n \n \n \n \n First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach.\n \n \n \n \n\n\n \n Ma, W.; Hamed, K. A.; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5498-5503, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n \n $\"First$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2019first,\n  title={First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach},\n  author={Ma, Wen-Loong and Hamed, Kaveh Akbari and Ames, Aaron D},\n  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2019},\n  pages={5498-5503},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ma2019first.pdf},\n  url_video = {http://ames.caltech.edu/ma2019first.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Episodic learning with control lyapunov functions for uncertain robotic systems.\n \n \n \n \n\n\n \n Taylor, A. J; Dorobantu, V. D; Le, H. M; Yue, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6878-6884, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Episodic$ Paper\n \n \n \n $\"Episodic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taylor2019episodic,\n  title={Episodic learning with control lyapunov functions for uncertain robotic systems},\n  author={Taylor, Andrew J and Dorobantu, Victor D and Le, Hoang M and Yue, Yisong and Ames, Aaron D},\n  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2019},\n  pages={6878-6884},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/taylor2019episodic.pdf},\n  url_video = {http://ames.caltech.edu/taylor2019episodic.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A.\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4644-4651, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Orbit$ Paper\n \n \n \n $\"Orbit$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2019orbit,\n  title={Orbit Characterization, Stabilization and Composition on {3D} Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model},\n  author={Xiong, Xiaobin and Ames, Aaron},\n  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  year={2019},\n  pages={4644-4651},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2019orbit.pdf},\n  url_video = {http://ames.caltech.edu/xiong2019orbit.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Design and Comparative Analysis of 1D Hopping Robots.\n \n \n \n \n\n\n \n Ambrose, E.; Csomay-Shanklin, N.; Or, Y.; and Ames, A.\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5717-5724, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Design$ Paper\n \n \n \n $\"Design$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ambrose2019design,\n  author={Ambrose, Eric and Csomay-Shanklin, Noel and Or, Yizhar and Ames, Aaron},\n  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  title={Design and Comparative Analysis of {1D} Hopping Robots},\n  year={2019},\n  pages={5717-5724},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ambrose2019design.pdf},\n  url_video = {http://ames.caltech.edu/ambrose2019design.mp4}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Online Active Safety for Robotic Manipulators.\n \n \n \n \n\n\n \n Singletary, A.; Nilsson, P.; Gurriet, T.; and Ames, A. D\n\n\n \n\n\n\n In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 173-178, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Online$ Paper\n \n \n \n $\"Online$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{singletary2019online,\nauthor={Singletary, Andrew and Nilsson, Petter and Gurriet, Thomas and Ames, Aaron D},\nbooktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\ntitle={Online Active Safety for Robotic Manipulators},\nyear={2019},\npages={173-178},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/singletary2019online.pdf},\n  url_video = {https://vimeo.com/320906655}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers.\n \n \n \n \n\n\n \n Hamed, K. A.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In 2019 American Control Conference (ACC), pages 4588–4595, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamically$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hamed2019dynamically,\n  title={Dynamically Stable {3D} Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers},\n  author={Hamed, Kaveh Akbari and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={2019 American Control Conference (ACC)},\n  pages={4588--4595},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/hamed2019dynamically.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Compositional set invariance in network systems with assume-guarantee contracts.\n \n \n \n \n\n\n \n Chen, Y.; Anderson, J.; Kalsi, K.; Low, S. H; and Ames, A. D\n\n\n \n\n\n\n In 2019 American Control Conference (ACC), pages 1027–1034, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Compositional$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{chen2019compositional,\n  title={Compositional set invariance in network systems with assume-guarantee contracts},\n  author={Chen, Yuxiao and Anderson, James and Kalsi, Karan and Low, Steven H and Ames, Aaron D},\n  booktitle={2019 American Control Conference (ACC)},\n  pages={1027--1034},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/chen2019compositional.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage.\n \n \n \n \n\n\n \n Ma, W.; Or, Y.; and Ames, A. D\n\n\n \n\n\n\n In 2019 International Conference on Robotics and Automation (ICRA), pages 3705–3711, 2019. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2019dynamic,\n  title={Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage},\n  author={Ma, Wen-Loong and Or, Yizhar and Ames, Aaron D},\n  booktitle={2019 International Conference on Robotics and Automation (ICRA)},\n  pages={3705--3711},\n  year={2019},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ma2019dynamic.pdf},\n  url_video = {https://youtu.be/G9dhcgyvcyI}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Input-to-State Safety with Control Barrier Functions.\n \n \n \n \n\n\n \n Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n IEEE Control Systems Letters, 3(1): 108–113. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Input-to-State$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 9 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{kolathaya2019input,\n  title={Input-to-State Safety with Control Barrier Functions},\n  author={Kolathaya, Shishir and Ames, Aaron D},\n  journal={IEEE Control Systems Letters},\n  volume={3},\n  number={1},\n  pages={108--113},\n  year={2019},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/kolathaya2019input.pdf}\n}\n\n\n\n%%%%%%%%%%%%%%% year={2018} %%%%%%%%%%%\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Control of Separable Subsystems with Application to Prostheses.\n \n \n \n \n\n\n \n Gehlhar, R.; Reher, J.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1909.03102, 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{gehlhar2019control,\n  title={Control of Separable Subsystems with Application to Prostheses},\n  author={Gehlhar, Rachel and Reher, Jenna and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1909.03102},\n  year={2019},\n  url = {http://ames.caltech.edu/gehlhar2019control.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Stabilization of Exoskeletons through Active Ankle Compensation.\n \n \n \n \n\n\n \n Gurriet, T.; Tucker, M.; Kann, C.; Boeris, G.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1909.11848, 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Stabilization$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{gurriet2019stabilization,\n  title={Stabilization of Exoskeletons through Active Ankle Compensation},\n  author={Gurriet, Thomas and Tucker, Maegan and Kann, Claudia and Boeris, Guilhem and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1909.11848},\n  year={2019},\n  url = {http://ames.caltech.edu/gurriet2019stabilization.pdf}\n}\n\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems.\n \n \n \n \n\n\n \n Akbari Hamed, K.; Ma, W.; Kamidi, V. R; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1902.03690, 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Hierarchical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{akbari2019hierarchical,\n  title={Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems},\n  author={Akbari Hamed, Kaveh and Ma, Wen-Loong and Kamidi, Vinay R and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1902.03690},\n  year={2019},\n  url = {http://ames.caltech.edu/akbari2019hierarchical.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n Duality between density function and value function with applications in constrained optimal control and Markov Decision Process.\n \n \n \n\n\n \n Chen, Y.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1902.09583, 2019.\n \n\n\n\n
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@misc{chen2019duality,\n  title={Duality between density function and value function with applications in constrained optimal control and Markov Decision Process},\n  author={Chen, Yuxiao and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1902.09583},\n  year={2019}\n}\n\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2020 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n\n\n\n

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\n \n 2018\n \n \n (18)\n \n \n

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\n \n\n \n \n \n \n \n \n An online approach to active set invariance.\n \n \n \n \n\n\n \n Gurriet, T.; Mote, M.; Ames, A. D; and Feron, E.\n\n\n \n\n\n\n In 2018 IEEE Conference on Decision and Control (CDC), pages 3592–3599, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"An$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2018online,\n  title={An online approach to active set invariance},\n  author={Gurriet, Thomas and Mote, Mark and Ames, Aaron D and Feron, Eric},\n  booktitle={2018 IEEE Conference on Decision and Control (CDC)},\n  pages={3592--3599},\n  year={2018},\n  organization={IEEE},\n url = {http://ames.caltech.edu/gurriet2018online.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Barrier functions: Bridging the gap between planning from specifications and safety-critical control.\n \n \n \n \n\n\n \n Nilsson, P.; and Ames, A. D\n\n\n \n\n\n\n In 2018 IEEE Conference on Decision and Control (CDC), pages 765–772, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Barrier$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{nilsson2018barrier,\n  title={Barrier functions: Bridging the gap between planning from specifications and safety-critical control},\n  author={Nilsson, Petter and Ames, Aaron D},\n  booktitle={2018 IEEE Conference on Decision and Control (CDC)},\n  pages={765--772},\n  year={2018},\n  organization={IEEE},\n url = {http://ames.caltech.edu/nilsson2018barrier.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Robotic bouncing ball.\n \n \n \n \n\n\n \n Smoot, L. S; Niemeyer, G. D; Ames, A. D; and Christensen, D. L.\n\n\n \n\n\n\n October 2018.\n US Patent 10,092,850\n\n\n\n
\n\n\n\n \n \n $\"Robotic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@patient{smoot2018robotic,\n  title={Robotic bouncing ball},\n  author={Smoot, Lanny S and Niemeyer, Gunter D and Ames, Aaron D and Christensen, David Loyal},\n  year={2018},\n  month= {October},\n  note={US Patent 10,092,850},\n  url = {http://ames.caltech.edu/patent_US010092850B1.pdf}\n\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Bipedal hopping: Reduced-order model embedding via optimization-based control.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A. D\n\n\n \n\n\n\n In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3821–3828, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2018bipedal,\n  title={Bipedal hopping: Reduced-order model embedding via optimization-based control},\n  author={Xiong, Xiaobin and Ames, Aaron D},\n  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={3821--3828},\n  year={2018},\n  organization={IEEE},\n url = {http://ames.caltech.edu/xiong2018bipedal.pdf}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking.\n \n \n \n \n\n\n \n Xiong, X.; and Ames, A. D\n\n\n \n\n\n\n In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pages 1–9, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Coupling$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{xiong2018coupling,\n  title={Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking},\n  author={Xiong, Xiaobin and Ames, Aaron D},\n  booktitle={2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},\n  pages={1--9},\n  year={2018},\n  organization={IEEE},\n url = {http://ames.caltech.edu/xiong2018coupling.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods.\n \n \n \n \n\n\n \n Gosyne, J. R; Hubicki, C. M; Xiong, X.; Ames, A. D; and Goldman, D. I\n\n\n \n\n\n\n In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pages 994–1001, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedial$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gosyne2018bipedial,\n  title={Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods},\n  author={Gosyne, Jonathan R and Hubicki, Christian M and Xiong, Xiaobin and Ames, Aaron D and Goldman, Daniel I},\n  booktitle={2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},\n  pages={994--1001},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/gosyne2018bipedal.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers.\n \n \n \n \n\n\n \n Kolathaya, S.; Guffey, W.; Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 3(4): 3677–3684. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Direct$ Paper\n \n \n \n $\"Direct$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{kolathaya2018direct,\n  title={Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers},\n  author={Kolathaya, Shishir and Guffey, William and Sinnet, Ryan W and Ames, Aaron D},\n  journal={IEEE Robotics and Automation Letters},\n  volume={3},\n  number={4},\n  pages={3677--3684},\n  year={2018},\n  publisher={IEEE},\n url = {http://ames.caltech.edu/kolathaya2018directtrajectory.pdf},\n url_video = {https://youtu.be/cBhngkE0WLY}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons.\n \n \n \n \n\n\n \n Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Hereid, A.; Harib, O.; Masselin, M.; Grizzle, J.; and Ames, A. D\n\n\n \n\n\n\n In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 2804–2811, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2018exo,\n  title={Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons},\n  author={Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Hereid, Ayonga and Harib, Omar and Masselin, Matthieu and Grizzle, Jessy and Ames, Aaron D},\n  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={2804--2811},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/exo-icra_2018.pdf},\n  url_video = {https://youtu.be/V30HsyUD4fs},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.\n \n \n \n \n\n\n \n Nilsson, P.; Haesaert, S.; Thakker, R.; Otsu, K.; Vasile, C. I.; Agha-Mohammadi, A.; Murray, R. M; and Ames, A. D\n\n\n \n\n\n\n In Robotics: Science and systems, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Toward$ Paper\n \n \n \n $\"Toward$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{nilsson2018toward,\n  title={Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.},\n  author={Nilsson, Petter and Haesaert, Sofie and Thakker, Rohan and Otsu, Kyohei and Vasile, Cristian Ioan and Agha-Mohammadi, Ali-Akbar and Murray, Richard M and Ames, Aaron D},\n  booktitle={Robotics: Science and systems},\n  year={2018},\n  url =   {http://ames.caltech.edu/mars_rss18.pdf},\n  url_video =  {https://youtu.be/ZKKFOiXSeaw}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Temporal logic control of POMDPs via label-based stochastic simulation relations.\n \n \n \n \n\n\n \n Haesaert, S.; Nilsson, P.; Vasile, C. I.; Thakker, R.; Agha-mohammadi, A.; Ames, A. D; and Murray, R. M\n\n\n \n\n\n\n In IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), volume 51, pages 271–276, 2018. Elsevier\n \n\n\n\n
\n\n\n\n \n \n $\"Temporal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{haesaert2018temporal,\n  title={Temporal logic control of POMDPs via label-based stochastic simulation relations},\n  author={Haesaert, Sofie and Nilsson, Petter and Vasile, Cristian Ioan and Thakker, Rohan and Agha-mohammadi, Ali-akbar and Ames, Aaron D and Murray, Richard M},\n  booktitle ={IFAC Conference on Analysis and Design of Hybrid Systems (ADHS)},\n  volume={51},\n  number={16},\n  pages={271--276},\n  year={2018},\n  publisher={Elsevier},\n  url  =  {http://ames.caltech.edu/hetal_adhs18.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Towards a framework for realizable safety critical control through active set invariance.\n \n \n \n \n\n\n \n Gurriet, T.; Singletary, A.; Reher, J.; Ciarletta, L.; Feron, E.; and Ames, A.\n\n\n \n\n\n\n In 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS), pages 98–106, 2018. IEEE\n Best Theory Paper Award Finalist of ICCPS\n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n \n $\"Towards$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2018towards,\n  title={Towards a framework for realizable safety critical control through active set invariance},\n  author={Gurriet, Thomas and Singletary, Andrew and Reher, Jacob and Ciarletta, Laurent and Feron, Eric and Ames, Aaron},\n  booktitle={2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)},\n  pages={98--106},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/safety_iccps_2018.pdf},\n  url_video = {https://youtu.be/RYXcGTo8Chg},\n  note = {Best Theory Paper Award Finalist of ICCPS}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization.\n \n \n \n \n\n\n \n Hereid, A.; Hubicki, C. M; Cousineau, E. A; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Robotics, 34(2): 370–387. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{hereid2018dynamic,\n  title={Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization},\n  author={Hereid, Ayonga and Hubicki, Christian M and Cousineau, Eric A and Ames, Aaron D},\n  journal={IEEE Transactions on Robotics},\n  volume={34},\n  number={2},\n  pages={370--387},\n  year={2018},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/Hereid2018Dynamic.pdf},\n  url_video = {http://ames.caltech.edu/Hereid2018Dynamic.mp4},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking.\n \n \n \n \n\n\n \n Harib, O.; Hereid, A.; Agrawal, A.; Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Mungai, M E.; Masselin, M.; Ames, A. D; and others\n\n\n \n\n\n\n IEEE Control Systems Magazine, 38(6): 61–87. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Feedback$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{harib2018feedback,\n  title={Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking},\n  author={Harib, Omar and Hereid, Ayonga and Agrawal, Ayush and Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Mungai, M Eva and Masselin, Mattieu and Ames, Aaron D and others},\n  journal={IEEE Control Systems Magazine},\n  volume={38},\n  number={6},\n  pages={61--87},\n  year={2018},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/harib2018feedback.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion.\n \n \n \n \n\n\n \n Kolathaya, S.; Reher, J.; Hereid, A.; and Ames, A. D\n\n\n \n\n\n\n In 2018 Annual American Control Conference (ACC), pages 2224–2230, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Input$ Paper\n \n \n \n $\"Input$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{kolathaya2018input,\n  title={Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion},\n  author={Kolathaya, Shishir and Reher, Jacob and Hereid, Ayonga and Ames, Aaron D},\n  booktitle={2018 Annual American Control Conference (ACC)},\n  pages={2224--2230},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/akbari2018exponentially.pdf},\n  url_video = {https://youtu.be/g5HlzXRhcSQ}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion.\n \n \n \n \n\n\n \n Hamed, K. A.; Gregg, R. D; and Ames, A. D\n\n\n \n\n\n\n In 2018 Annual American Control Conference (ACC), pages 2210–2217, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Exponentially$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hamed2018exponentially,\n  title={Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion},\n  author={Hamed, Kaveh Akbari and Gregg, Robert D and Ames, Aaron D},\n  booktitle={2018 Annual American Control Conference (ACC)},\n  pages={2210--2217},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/akbari2018exponentially.pdf},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking.\n \n \n \n \n\n\n \n Hamed, K. A.; Ames, A. D; and Gregg, R. D\n\n\n \n\n\n\n In 2018 Annual American Control Conference (ACC), pages 1438–1445, 2018. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Observer-based$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hamed2018observer,\n  title={Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking},\n  author={Hamed, Kaveh Akbari and Ames, Aaron D and Gregg, Robert D},\n  booktitle={2018 Annual American Control Conference (ACC)},\n  pages={1438--1445},\n  year={2018},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/akbari2018observer.pdf},\n}\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Correctness guarantees for the composition of lane keeping and adaptive cruise control.\n \n \n \n \n\n\n \n Xu, X.; Grizzle, J. W; Tabuada, P.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Automation Science and Engineering, 15(3): 1216–1229. 2018.\n Best New Application Paper Award\n\n\n\n
\n\n\n\n \n \n $\"Correctness$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{xu2018correctness,\n  title={Correctness guarantees for the composition of lane keeping and adaptive cruise control},\n  author={Xu, Xiangru and Grizzle, Jessy W and Tabuada, Paulo and Ames, Aaron D},\n  journal={IEEE Transactions on Automation Science and Engineering},\n  volume={15},\n  number={3},\n  pages={1216--1229},\n  year={2018},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/xu2017correctness.pdf},\n  note = {Best New Application Paper Award}\n}\n\n\n\n\n%%%%%%%%%%%%%%% year={2017} %%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n Input to State Stability of Bipedal Walking Robots: Application to DURUS.\n \n \n \n \n\n\n \n Kolathaya, S.; Reher, J.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1801.00618, 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Input$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@misc{kolathaya2018inputstability,\n  title={Input to State Stability of Bipedal Walking Robots: Application to {DURUS}},\n  author={Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1801.00618},\n  year={2018},\n  url = {http://ames.caltech.edu/kolathaya2018inputstability.pdf},\n  keywords = {Bipedal Robotics, Hybrid Systems, DURUS, Input to State Stability (ISS), Hybrid Zero Dynamics (HZD)}\n}\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2019 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n\n

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\n \n 2017\n \n \n (25)\n \n \n

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\n \n\n \n \n \n \n \n \n Control barrier function based quadratic programs for safety critical systems.\n \n \n \n \n\n\n \n Ames, A. D; Xu, X.; Grizzle, J. W; and Tabuada, P.\n\n\n \n\n\n\n IEEE Transactions on Automatic Control, 62(8): 3861–3876. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 11 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

@article{ames2017cbf,\n  title={Control barrier function based quadratic programs for safety critical systems},\n  author={Ames, Aaron D and Xu, Xiangru and Grizzle, Jessy W and Tabuada, Paulo},\n  journal={IEEE Transactions on Automatic Control},\n  volume={62},\n  number={8},\n  pages={3861--3876},\n  year={2017},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/ames2017cbf.pdf},\n  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach.\n \n \n \n \n\n\n \n Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n Autonomous Robots, 41(3): 725–742. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 10 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{zhao2017first,\n  title={First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach},\n  author={Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D},\n  journal={Autonomous Robots},\n  volume={41},\n  number={3},\n  pages={725--742},\n  year={2017},\n  publisher={Springer US},\n  url = {http://ames.caltech.edu/autorobots_specialissue.pdf},\n  keywords = {Prostheses, Optimization-based Control, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, AMPRO}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Multi-contact bipedal robotic locomotion.\n \n \n \n \n\n\n \n Zhao, H.; Hereid, A.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n Robotica, 35(5): 1072–1106. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-contact$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@article{zhao2017multi,\n  title={Multi-contact bipedal robotic locomotion},\n  author={Zhao, Huihua and Hereid, Ayonga and Ma, Wen-loong and Ames, Aaron D},\n  journal={Robotica},\n  volume={35},\n  number={5},\n  pages={1072--1106},\n  year={2017},\n  publisher={Cambridge University Press},\n  url = {http://ames.caltech.edu/zhao2017multi.pdf},\n  keywords = {Bipedal Robotics, Hybrid Zero Dynamics (HZD), Locomotion}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n The Robotarium: A remotely accessible swarm robotics research testbed.\n \n \n \n \n\n\n \n Pickem, D.; Glotfelter, P.; Wang, L.; Mote, M.; Ames, A. D; Feron, E.; and Egerstedt, M.\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 1699–1706, 2017. IEEE\n Best Multi-Robot Systems Paper Award & Best Conference Paper Award Finalist of ICRA 2017.\n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n \n $\"The$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{pickem2017robotarium,\n  title={The {R}obotarium: A remotely accessible swarm robotics research testbed},\n  author={Pickem, Daniel and Glotfelter, Paul and Wang, Li and Mote, Mark and Ames, Aaron D and Feron, Eric and Egerstedt, Magnus},\n  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},\n  pages={1699--1706},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/robotarium-icra_2017.pdf},\n  url_video = {https://youtu.be/PWJk-oMcgn4},\n  note = {{Best Multi-Robot Systems Paper Award \\& Best Conference Paper Award Finalist of ICRA 2017.}},\n  keywords = {Swarm Robotics, Control Barrier Functions (CBFs), Cyber-Physical Systems (CPS)}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Robust control of a powered transfemoral prosthesis device with experimental verification.\n \n \n \n \n\n\n \n Azimi, V.; Shu, T.; Zhao, H.; Ambrose, E.; Ames, A. D; and Simon, D.\n\n\n \n\n\n\n In American Control Conference (ACC), 2017, pages 517–522, 2017. IEEE\n Best Student Paper Award Finalist, ACC 2017.\n\n\n\n
\n\n\n\n \n \n $\"Robust$ Paper\n \n \n \n $\"Robust$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{azimi2017robust,\n  title={Robust control of a powered transfemoral prosthesis device with experimental verification},\n  author={Azimi, Vahid and Shu, Tony and Zhao, Huihua and Ambrose, Eric and Ames, Aaron D and Simon, Dan},\n  booktitle={American Control Conference (ACC), 2017},\n  pages={517--522},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/azimi2017robust.pdf},\n  url_video = {https://youtu.be/Aq8_H_nSAxI},\n  note = {{Best Student Paper Award Finalist, ACC 2017}.},\n  keywords = {Prostheses, Bipedal Robotics, Locomotion, AMPRO}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Parameter to state stability of control Lyapunov functions for hybrid system models of robots.\n \n \n \n \n\n\n \n Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n Nonlinear Analysis: Hybrid Systems, 25: 174–191. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Parameter$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{kolathaya2017parameter,\n  title={Parameter to state stability of control {L}yapunov functions for hybrid system models of robots},\n  author={Kolathaya, Shishir and Ames, Aaron D},\n  journal={Nonlinear Analysis: Hybrid Systems},\n  volume={25},\n  pages={174--191},\n  year={2017},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/kolathaya2017parameter.pdf},\n  keywords = {Input to State Stability (ISS), Control Lyapunov Functions (CLFs), Bipedal Robotics, Locomotion}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments.\n \n \n \n \n\n\n \n Grey, M. X.; Ames, A. D; and Liu, K. C\n\n\n \n\n\n\n In Proceedings of Robotics: Science and Systems, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Probabilistic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{grey2017probabilistic,\n    author    = {Grey, Michael X. and Ames, Aaron D and Liu, Karen C},\n    title     = {Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments},\n    booktitle = {Proceedings of Robotics: Science and Systems},\n    year      = {2017},\n    url = {http://ames.caltech.edu/grey2017probabilistic.pdf},\n    keywords = {Bipedal Robotics, Locomotion, Planning}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safe certificate-based maneuvers for teams of quadrotors using differential flatness.\n \n \n \n \n\n\n \n Wang, L.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 3293–3298, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Safe$ Paper\n \n \n \n $\"Safe$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{wang2017safe,\n  title={Safe certificate-based maneuvers for teams of quadrotors using differential flatness},\n  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},\n  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},\n  pages={3293--3298},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/wang2017safe.pdf},\n  url_video = {https://youtu.be/rK9oyqccMJw},\n  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control, Swarm Robotics, Cyber-Physical Systems (CPS)}\n}\n\n

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\n \n\n \n \n \n \n \n \n First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons.\n \n \n \n \n\n\n \n Agrawal, A.; Harib, O.; Hereid, A.; Finet, S.; Masselin, M.; Praly, L.; Ames, A. D; Sreenath, K.; and Grizzle, J. W\n\n\n \n\n\n\n IEEE Access, 5: 9919–9934. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{agrawal2017first,\n  title={First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons},\n  author={Agrawal, Ayush and Harib, Omar and Hereid, Ayonga and Finet, Sylvain and Masselin, Matthieu and Praly, Laurent and Ames, Aaron D and Sreenath, Koushil and Grizzle, Jessy W},\n  journal={IEEE Access},\n  volume={5},\n  pages={9919--9934},\n  year={2017},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/agrawal2017first.pdf},\n  keywords = {Exoskeletons, Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), ATALANTE}\n}\n\n

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\n \n\n \n \n \n \n \n \n First steps toward formal controller synthesis for bipedal robots with experimental implementation.\n \n \n \n \n\n\n \n Ames, A. D; Tabuada, P.; Jones, A.; Ma, W.; Rungger, M.; Schürmann, B.; Kolathaya, S.; and Grizzle, J. W\n\n\n \n\n\n\n Nonlinear Analysis: Hybrid Systems, 25: 155–173. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n \n $\"First$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{ames2017first,\n  title={First steps toward formal controller synthesis for bipedal robots with experimental implementation},\n  author={Ames, Aaron D and Tabuada, Paulo and Jones, Austin and Ma, Wen-Loong and Rungger, Matthias and Sch{\\"u}rmann, Bastian and Kolathaya, Shishir and Grizzle, Jessy W},\n  journal={Nonlinear Analysis: Hybrid Systems},\n  volume={25},\n  pages={155--173},\n  year={2017},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/ames2017first.pdf},\n  url_video = {https://youtu.be/UKuI7cEOEzs},\n  keywords = {Formal Methods, Locomotion, Bipedal Robotics, Hybrid Zero Dynamics (HZD), AMBER}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety Barrier certificates for collisions-free multirobot systems.\n \n \n \n \n\n\n \n Wang, L.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n IEEE Transactions on Robotics, 33(3): 661–674. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Safety$ Paper\n \n \n \n $\"Safety$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{wang2017safety,\n  title={Safety Barrier certificates for collisions-free multirobot systems},\n  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},\n  journal={IEEE Transactions on Robotics},\n  volume={33},\n  number={3},\n  pages={661--674},\n  year={2017},\n  publisher={IEEE},\n  url ={http://ames.caltech.edu/wang2017safety.pdf},\n  url_video = {https://youtu.be/-WUkzik1_VQ},\n  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control, Swarm Robotics, Cyber-Physical Systems (CPS)}\n}\n\n

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\n \n\n \n \n \n \n \n \n Footstep and motion planning in semi-unstructured environments using randomized possibility graphs.\n \n \n \n \n\n\n \n Grey, M. X; Ames, A. D; and Liu, C K.\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 4747–4753, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Footstep$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{grey2017footstep,\n  title={Footstep and motion planning in semi-unstructured environments using randomized possibility graphs},\n  author={Grey, Michael X and Ames, Aaron D and Liu, C Karen},\n  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},\n  pages={4747--4753},\n  year={2017},\n  organization={IEEE},\n  url ={http://ames.caltech.edu/grey2017footstep.pdf},\n  keywords = {Planning, Locomotion, Bipedal Robotics}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment.\n \n \n \n \n\n\n \n Ma, W.; Kolathaya, S.; Ambrose, E. R; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, pages 265–274, 2017. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedal$ Paper\n \n \n \n $\"Bipedal$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{ma2017bipedal,\n  title={Bipedal Robotic Running with {DURUS-2D}: Bridging the Gap between Theory and Experiment},\n  author={Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control},\n  pages={265--274},\n  year={2017},\n  organization={ACM},\n  url ={http://ames.caltech.edu/ma2017bipedal.pdf},\n  url_video = {https://youtu.be/3XQOO6kvHFY},\n  keywords = {Bipedal Robotics, Locomotion, DURUS, Input to State Stability (ISS), Control Lyapunov Functions (CLFs), Hybrid Zero Dynamics (HZD)}\n}\n\n

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\n \n\n \n \n \n \n \n \n Paused intrusions improve robot jumping performance in granular media.\n \n \n \n \n\n\n \n Hubicki, C.; Aguilar, J.; Kim, A.; Rieser, J.; Ames, A. D; and Goldman, D.\n\n\n \n\n\n\n In APS Meeting Abstracts, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Paused$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

@inproceedings{hubicki2017paused,\n  title={Paused intrusions improve robot jumping performance in granular media},\n  author={Hubicki, Christian and Aguilar, Jeffrey and Kim, Allison and Rieser, Jennifer and Ames, Aaron D and Goldman, Daniel},\n  booktitle={APS Meeting Abstracts},\n  year={2017},\n  url ={http://ames.caltech.edu/hubicki2017paused.pdf},\n  keywords = {Robophysics, Optimization}\n}\n\n

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\n \n\n \n \n \n \n \n \n Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media.\n \n \n \n \n\n\n \n Xiong, X.; Aguilar, J.; Rieser, J.; Kim, A.; Ames, A. D; and Goldman, D.\n\n\n \n\n\n\n In APS Meeting Abstracts, 2017. \n \n\n\n\n
\n\n\n\n \n \n $\"Overshoot$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{xiong2017overshoot,\n  title={Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media},\n  author={Xiong, Xiaobin and Aguilar, Jeffrey and Rieser, Jennifer and Kim, Allison and Ames, Aaron D and Goldman, Daniel},\n  booktitle={APS Meeting Abstracts},\n  year={2017},\n  url ={http://ames.caltech.edu/xiong2017overshoot.pdf},\n  keywords = {Robophysics, Optimization, Bipedal Robotics, Locomotion}\n}\n\n

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\n \n\n \n \n \n \n \n \n Abstracting Partially Feedback Linearizable Systems Compositionally.\n \n \n \n \n\n\n \n Hussien, O.; Ames, A. D; and Tabuada, P.\n\n\n \n\n\n\n IEEE Control Systems Letters, 1(2): 227–232. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Abstracting$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n\n

@article{hussien2017abstracting,\n  title={Abstracting Partially Feedback Linearizable Systems Compositionally},\n  author={Hussien, Omar and Ames, Aaron D and Tabuada, Paulo},\n  journal={IEEE Control Systems Letters},\n  volume={1},\n  number={2},\n  pages={227--232},\n  year={2017},\n  publisher={IEEE},\n  url ={http://ames.caltech.edu/hussien2017abstracting.pdf},\n  keywords = {Formal Methods}\n}\n\n

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\n \n\n \n \n \n \n \n \n Closed-form controlled invariant sets for pedestrian avoidance.\n \n \n \n \n\n\n \n Shoukry, Y.; Tabuada, P.; Tsuei, S.; Milam, M. B; Grizzle, J. W; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2017, pages 1622–1628, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Closed-form$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{shoukry2017closed,\n  title={Closed-form controlled invariant sets for pedestrian avoidance},\n  author={Shoukry, Yasser and Tabuada, Paulo and Tsuei, Stephanie and Milam, Mark B and Grizzle, Jessy W and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2017},\n  pages={1622--1628},\n  year={2017},\n  organization={IEEE},\n  url ={http://ames.caltech.edu/shoukry2017closed.pdf},\n  keywords = {Planning, Cyber-Physical Systems (CPS), Automotive Systems}\n}\n\n

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\n \n\n \n \n \n \n \n \n Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis.\n \n \n \n \n\n\n \n Zhao, H.; Ambrose, E.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 1140–1147, 2017. IEEE\n BestMedical Robotics Paper Award Finalist of ICRA 2017.\n\n\n\n
\n\n\n\n \n \n $\"Preliminary$ Paper\n \n \n \n $\"Preliminary$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 13 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{zhao2017preliminary,\n  title={Preliminary results on energy efficient {3D} prosthetic walking with a powered compliant transfemoral prosthesis},\n  author={Zhao, Huihua and Ambrose, Eric and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},\n  pages={1140--1147},\n  year={2017},\n  organization={IEEE},\n  url ={http://ames.caltech.edu/zhao2017preliminary.pdf},\n  url_video = {https://youtu.be/496xsYxGuV8},\n  note = {{BestMedical Robotics Paper Award Finalist of ICRA 2017.}},\n  keywords = {AMPRO, Prostheses, Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD)}\n}\n\n

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\n \n\n \n \n \n \n \n \n Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression.\n \n \n \n \n\n\n \n Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; Ames, A. D; and Vela, P. A\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 2154–2160, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{chang2017learning,\n  title={Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression},\n  author={Chang, Alexander H and Hubicki, Christian M and Aguilar, Jeff J and Goldman, Daniel I and Ames, Aaron D and Vela, Patricio A},\n  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},\n  pages={2154--2160},\n  year={2017},\n  organization={IEEE},\n  url ={http://ames.caltech.edu/chang2017learning.pdf},\n  keywords = {Robophysics, Machine Learning, Optimization}\n}\n\n

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\n \n\n \n \n \n \n \n \n Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M.\n \n \n \n \n\n\n \n Ambrose, E.; Ma, W.; Hubicki, C.; and Ames, A. D\n\n\n \n\n\n\n In Control Technology and Applications (CCTA), 2017 IEEE Conference on, pages 1270–1276, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Toward$ Paper\n \n \n \n $\"Toward$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{ambrose2017toward,\n  title={Toward benchmarking locomotion economy across design configurations on the modular robot: {AMBER-3M}},\n  author={Ambrose, Eric and Ma, Wen-Loong and Hubicki, Christian and Ames, Aaron D},\n  booktitle={Control Technology and Applications (CCTA), 2017 IEEE Conference on},\n  pages={1270--1276},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ambrose2017toward.pdf},\n  url_video = {https://youtu.be/sHA2Bwjij7Y},\n  keywords = {Bipedal Robotics, Locomotion, AMBER, Hybrid Zero Dynamics (HZD), Optimization, Hybrid Systems}\n}\n\n

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\n \n\n \n \n \n \n \n \n Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds.\n \n \n \n \n\n\n \n Xu, X.; Waters, T.; Pickem, D.; Glotfelter, P.; Egerstedt, M.; Tabuada, P.; Grizzle, J. W; and Ames, A. D\n\n\n \n\n\n\n In Control Technology and Applications (CCTA), 2017 IEEE Conference on, pages 1769–1775, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Realizing$ Paper\n \n \n \n $\"Realizing$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{xu2017realizing,\n  title={Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds},\n  author={Xu, Xiangru and Waters, Thomas and Pickem, Daniel and Glotfelter, Paul and Egerstedt, Magnus and Tabuada, Paulo and Grizzle, Jessy W and Ames, Aaron D},\n  booktitle={Control Technology and Applications (CCTA), 2017 IEEE Conference on},\n  pages={1769--1775},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xu2017realizing.pdf},\n  url_video = {https://youtu.be/VgoEcOFwJ2M},\n  keywords = {Automotive Systems, Cyber-Physical Systems (CPS), Control Barrier Functions (CBFs), Safety-Critical Control, Optimization-based Control, Control Lyapunov Functions (CLFs)}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n A stability region criterion for flat-footed bipedal walking on deformable granular terrain.\n \n \n \n \n\n\n \n Xiong, X.; Ames, A. D; and Goldman, D. I\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pages 4552–4559, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n \n $\"A$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{xiong2017stability,\n  title={A stability region criterion for flat-footed bipedal walking on deformable granular terrain},\n  author={Xiong, Xiaobin and Ames, Aaron D and Goldman, Daniel I},\n  booktitle={Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on},\n  pages={4552--4559},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/xiong2017stability.pdf},\n  url_video = {https://youtu.be/7sjJs95awK8},\n  keywords = {Robophysics, Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n FROST: Fast Robot Optimization and Simulation Toolkit.\n \n \n \n \n\n\n \n Hereid, A.; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pages 4552–4559, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"FROST:$ Paper\n \n \n \n $\"FROST:$ code\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{hereid2017frost,\n  title={{FROST}: Fast Robot Optimization and Simulation Toolkit},\n  author={Hereid, Ayonga and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on},\n  pages={4552--4559},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/hereid2017frost.pdf},\n  url_code = {https://github.com/ayonga/frost-dev},\n  keywords = {Optimization, Hybrid Zero Dynamics (HZD), Hybrid Systems, Bipedal Robotics, Locomotion}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Hybrid Zero Dynamics Control of Legged Robots.\n \n \n \n \n\n\n \n Ames, A. D; and Poulakakis, I.\n\n\n \n\n\n\n In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, pages 292–331. Elsevier, 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@incollection{ames2017hzdcontrol,\n  title={Hybrid Zero Dynamics Control of Legged Robots},\n  author={Ames, Aaron D and Poulakakis, Ioannis},\n  booktitle={Bioinspired Legged Locomotion: Models, Concepts, Control and Applications},\n  pages={292--331},\n  year={2017},\n  publisher={Elsevier},\n  url={http://ames.caltech.edu/HZD_bookchapter.pdf},\n  keywords = {Hybrid Zero Dynamics (HZD), Hybrid Systems, Bipedal Robotics, Locomotion, Control Lyapunov Functions (CLFs)}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Data-driven control for feedback linearizable single-input systems.\n \n \n \n \n\n\n \n Tabuada, P.; Ma, W.; Grizzle, J.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2017 IEEE 56th Annual Conference on, pages 6265–6270, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Data-driven$ Paper\n \n \n \n $\"Data-driven$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n\n\n

@inproceedings{tabuada2017data,\n  title={Data-driven control for feedback linearizable single-input systems},\n  author={Tabuada, Paulo and Ma, Wen-Loong and Grizzle, Jessy and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2017 IEEE 56th Annual Conference on},\n  pages={6265--6270},\n  year={2017},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/tabuada2017data.pdf},\n  url_video = {https://youtu.be/wzL9O3FOHyA},\n  keywords = {Cyber-Physical Systems (CPS), AMBER}\n}\n\n\n\n\n%%%%%%%%%%%%%%% year={2016} %%%%%%%%%%%\n\n

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\n \n 2016\n \n \n (26)\n \n \n

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\n \n\n \n \n \n \n \n \n Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n \n \n \n \n\n\n \n Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In The International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. \n \n\n\n\n
\n\n\n\n \n \n $\"Algorithmic$ Paper\n \n \n \n $\"Algorithmic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{reher2016algorithmic,\n  title={Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot {DURUS}},\n  author={Reher, Jacob P and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={The International Workshop on the Algorithmic Foundations of Robotics (WAFR)},\n  year={2016},\n  url = {http://ames.caltech.edu/WAFR_2016_multicontact.pdf},\n  url_video = {https://youtu.be/1fC7b2LjVW4},\n  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization, DURUS}\n}\n\n

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\n \n\n \n \n \n \n \n \n Safety barrier certificates for heterogeneous multi-robot systems.\n \n \n \n \n\n\n \n Wang, L.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n In American Control Conference (ACC), 2016, pages 5213–5218, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Safety$ Paper\n \n \n \n $\"Safety$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{wang2016safety,\n  title={Safety barrier certificates for heterogeneous multi-robot systems},\n  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},\n  booktitle={American Control Conference (ACC), 2016},\n  pages={5213--5218},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf},\n  url_video = {https://youtu.be/9RnV18u1T0g},\n  keywords = {Control Barrier Functions (CBFs), Safety-Critical Control, Swarm Robotics, Cyber-Physical Systems (CPS)}\n}\n\n

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\n \n\n \n \n \n \n \n \n Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion.\n \n \n \n \n\n\n \n Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2016, pages 3922–3927, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{powell2016towards,\n  title={Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion},\n  author={Powell, Matthew J and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2016},\n  pages={3922--3927},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/2016ACC_1232_FI.pdf},\n  keywords = {Optimization-based Control, Bipedal Robotics, Locomotion, Control Lyapunov Functions (CLFs)}\n}\n\n

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\n \n\n \n \n \n \n \n \n Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion.\n \n \n \n \n\n\n \n Hubicki, C. M; Hereid, A.; Grey, M. X; Thomaz, A. L; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1552–1559, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Work$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{hubicki2016work,\n  title={Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion},\n  author={Hubicki, Christian M and Hereid, Ayonga and Grey, Michael X and Thomaz, Andrea L and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},\n  pages={1552--1559},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra-2016-hubo.pdf},\n  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization}\n}\n\n

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\n \n\n \n \n \n \n \n \n Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.\n \n \n \n \n\n\n \n Kolathaya, S.; Hereid, A.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2016, pages 3916–3921, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Time$ Paper\n \n \n \n $\"Time$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{kolathaya2016time,\n  title={Time dependent control {L}yapunov functions and hybrid zero dynamics for stable robotic locomotion},\n  author={Kolathaya, Shishir and Hereid, Ayonga and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2016},\n  pages={3916--3921},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf},\n  url_video = {https://youtu.be/5JugZGxZnqg},\n  keywords = {Bipedal Robotics, Locomotion, Input to State Stability (ISS), Control Lyapunov Functions (CLFs)}\n}\n\n

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\n \n\n \n \n \n \n \n \n 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics.\n \n \n \n \n\n\n \n Hereid, A.; Cousineau, E. A; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1447–1454, 2016. IEEE\n Best Paper Award Finalist of ICRA 2016.\n\n\n\n
\n\n\n\n \n \n $\"3D$ Paper\n \n \n \n $\"3D$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 5 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{hereid20163d,\n  title={{3D} dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics},\n  author={Hereid, Ayonga and Cousineau, Eric A and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},\n  pages={1447--1454},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra_2016_collocation.pdf},\n  url_video = {https://youtu.be/a-R4H8-8074},\n  note = {{Best Paper Award Finalist of ICRA 2016.}},\n  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization}\n}\n\n

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\n \n\n \n \n \n \n \n \n Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs.\n \n \n \n \n\n\n \n Chao, K. Y; Powell, M. J; Ames, A. D; and Hur, P.\n\n\n \n\n\n\n In American Control Conference (ACC), 2016, pages 3910–3915, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Unification$ Paper\n \n \n \n $\"Unification$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{chao2016unification,\n  title={Unification of locomotion pattern generation and control {L}yapunov function-based quadratic programs},\n  author={Chao, Kenneth Y and Powell, Matthew J and Ames, Aaron D and Hur, Pilwon},\n  booktitle={American Control Conference (ACC), 2016},\n  pages={3910--3915},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/2016ACC_1852_FI.pdf},\n  url_video = {https://youtu.be/KNUo4AH2fv0},\n  keywords = {Bipedal Robotics, Locomotion, Control Lyapunov Functions (CLFs), Optimization-based Control}\n}\n\n

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\n \n\n \n \n \n \n \n \n Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS.\n \n \n \n \n\n\n \n Reher, J.; Cousineau, E. A; Hereid, A.; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1794–1801, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Realizing$ Paper\n \n \n \n $\"Realizing$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{reher2016realizing,\n  title={Realizing dynamic and efficient bipedal locomotion on the humanoid robot {DURUS}},\n  author={Reher, Jacob and Cousineau, Eric A and Hereid, Ayonga and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},\n  pages={1794--1801},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ICRA2016_DURUS.pdf},\n  url_video = {https://youtu.be/a-R4H8-8074},\n  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, DURUS}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control.\n \n \n \n \n\n\n \n Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Automation Science and Engineering, 13(2): 502–513. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Multicontact$ Paper\n \n \n \n $\"Multicontact$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{zhao2016multicontact,\n  title={Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control},\n  author={Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D},\n  journal={IEEE Transactions on Automation Science and Engineering},\n  volume={13},\n  number={2},\n  pages={502--513},\n  year={2016},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/multicontact_tase.pdf},\n  url_video = {https://youtu.be/K6mKYrVYVwE}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Correct-by-construction adaptive cruise control: Two approaches.\n \n \n \n \n\n\n \n Nilsson, P.; Hussien, O.; Balkan, A.; Chen, Y.; Ames, A. D; Grizzle, J. W; Ozay, N.; Peng, H.; and Tabuada, P.\n\n\n \n\n\n\n IEEE Transactions on Control Systems Technology, 24(4): 1294–1307. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Correct-by-construction$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{nilsson2016correct,\n  title={Correct-by-construction adaptive cruise control: Two approaches},\n  author={Nilsson, Petter and Hussien, Omar and Balkan, Ayca and Chen, Yuxiao and Ames, Aaron D and Grizzle, Jessy W and Ozay, Necmiye and Peng, Huei and Tabuada, Paulo},\n  journal={IEEE Transactions on Control Systems Technology},\n  volume={24},\n  number={4},\n  pages={1294--1307},\n  year={2016},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/Nilsson_tcst16.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming.\n \n \n \n \n\n\n \n Hubicki, C.; Goldman, D.; and Ames, A. D\n\n\n \n\n\n\n In APS March Meeting Abstracts, 2016. \n \n\n\n\n
\n\n\n\n \n \n $\"Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hubicki2016optimal,\n  title={Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming},\n  author={Hubicki, Christian and Goldman, Daniel and Ames, Aaron D},\n  booktitle={APS March Meeting Abstracts},\n  year={2016},\n  url = {http://ames.caltech.edu/hubicki2016optimal_aps.pdf}\n}\n\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Humanoid manipulation planning using backward-forward search.\n \n \n \n \n\n\n \n Grey, M. X; Garrett, C. R; Liu, C K.; Ames, A. D; and Thomaz, A. L\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 5467–5473, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Humanoid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{grey2016humanoid,\n  title={Humanoid manipulation planning using backward-forward search},\n  author={Grey, Michael X and Garrett, Caelan R and Liu, C Karen and Ames, Aaron D and Thomaz, Andrea L},\n  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},\n  pages={5467--5473},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/humanoid_hbf_iros2016.pdf}\n}\n\n\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots.\n \n \n \n \n\n\n \n Wang, L.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 2659–2664, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Multi-objective$ Paper\n \n \n \n $\"Multi-objective$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{wang2016multi,\n  title={Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots},\n  author={Wang, Li and Ames, Aaron D and Egerstedt, Magnus},\n  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},\n  pages={2659--2664},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/2016CDC_Composable_Barrier_Final.pdf},\n  url_video = {https://youtu.be/LXzgxCzZIsM}\n}\n\n

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\n \n\n \n \n \n \n \n \n 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation.\n \n \n \n \n\n\n \n Zhao, H.; Hereid, A.; Ambrose, E.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 3668–3674, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"3D$ Paper\n \n \n \n $\"3D$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 7 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao20163d,\n  title={{3D} multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation},\n  author={Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},\n  pages={3668--3674},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ampro3d_2016cdc.pdf},\n  url_video = {https://youtu.be/eH6NRq1OK3w}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Tractable terrain-aware motion planning on granular media: an impulsive jumping study.\n \n \n \n \n\n\n \n Hubicki, C. M; Aguilar, J. J; Goldman, D. I; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 3887–3892, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Tractable$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hubicki2016tractable,\n  title={Tractable terrain-aware motion planning on granular media: an impulsive jumping study},\n  author={Hubicki, Christian M and Aguilar, Jeff J and Goldman, Daniel I and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},\n  pages={3887--3892},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/hubicki2016tractable.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n 3D dynamic walking on stepping stones with control barrier functions.\n \n \n \n \n\n\n \n Nguyen, Q.; Hereid, A.; Grizzle, J. W; Ames, A. D; and Sreenath, K.\n\n\n \n\n\n\n In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 827–834, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"3D$ Paper\n \n \n \n $\"3D$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{nguyen20163d,\n  title={{3D} dynamic walking on stepping stones with control barrier functions},\n  author={Nguyen, Quan and Hereid, Ayonga and Grizzle, Jessy W and Ames, Aaron D and Sreenath, Koushil},\n  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},\n  pages={827--834},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/3D_Stepping_Stones.pdf},\n  url_video = {https://youtu.be/yUSTraDn9-U}\n}\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints.\n \n \n \n \n\n\n \n Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 555–560, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Mechanics-based$ Paper\n \n \n \n $\"Mechanics-based$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2016mechanics,\n  title={Mechanics-based control of underactuated {3D} robotic walking: Dynamic gait generation under torque constraints},\n  author={Powell, Matthew J and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},\n  pages={555--560},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/iros2016pa.pdf},\n  url_video = {https://youtu.be/kIuuBMWYljM}\n}\n\n

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\n \n\n \n \n \n \n \n \n Efficient HZD gait generation for three-dimensional underactuated humanoid running.\n \n \n \n \n\n\n \n Ma, W.; Hereid, A.; Hubicki, C. M; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 5819–5825, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Efficient$ Paper\n \n \n \n $\"Efficient$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2016efficient,\n  title={Efficient {HZD} gait generation for three-dimensional underactuated humanoid running},\n  author={Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},\n  pages={5819--5825},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/durusrun.pdf},\n  url_video = {https://youtu.be/7uQOY3reavo}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization.\n \n \n \n \n\n\n \n Hereid, A.; Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 6173–6179, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Online$ Paper\n \n \n \n $\"Online$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hereid2016online,\n  title={Online optimal gait generation for bipedal walking robots using {L}egendre pseudospectral optimization},\n  author={Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},\n  pages={6173--6179},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc_2016_online.pdf},\n  url_video = {https://youtu.be/pvH3c2G2Pj4}\n}\n\n

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\n \n\n \n \n \n \n \n \n Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization.\n \n \n \n \n\n\n \n Powell, M. J; Ma, W.; Ambrose, E. R; and Ames, A. D\n\n\n \n\n\n\n In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on, pages 981–986, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Mechanics-based$ Paper\n \n \n \n $\"Mechanics-based$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2016mechanicsexperiment,\n  title={Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization},\n  author={Powell, Matthew J and Ma, Wen-Loong and Ambrose, Eric R and Ames, Aaron D},\n  booktitle={Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on},\n  pages={981--986},\n  year={2016},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/humanoids2016.pdf},\n  url_video = {https://youtu.be/xw8jaDz8XTc}\n}\n\n

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\n \n\n \n \n \n \n \n \n Establishing trust in remotely reprogrammable systems.\n \n \n \n \n\n\n \n Gurriet, T.; Mote, M. L; Ames, A. D; and Feron, E.\n\n\n \n\n\n\n In Proceedings of the International Conference on Human-Computer Interaction in Aerospace, pages 19, 2016. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Establishing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gurriet2016establishing,\n  title={Establishing trust in remotely reprogrammable systems},\n  author={Gurriet, Thomas and Mote, Mark L and Ames, Aaron D and Feron, Eric},\n  booktitle={Proceedings of the International Conference on Human-Computer Interaction in Aerospace},\n  pages={19},\n  year={2016},\n  organization={ACM},\n  url = {http://ames.caltech.edu/a19-gurriet.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point.\n \n \n \n \n\n\n \n Konecny, M.; Taha, W.; Bartha, F. A; Duracz, J.; Duracz, A.; and Ames, A. D\n\n\n \n\n\n\n Nonlinear Analysis: Hybrid Systems, 20: 1–20. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Enclosing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{konecny2016enclosing,\n  title={Enclosing the behavior of a hybrid automaton up to and beyond a {Z}eno point},\n  author={Konecny, Michal and Taha, Walid and Bartha, Ferenc A and Duracz, Jan and Duracz, Adam and Ames, Aaron D},\n  journal={Nonlinear Analysis: Hybrid Systems},\n  volume={20},\n  pages={1--20},\n  year={2016},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/Zeno_enclosing.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2015} %%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n Safe, remote-access swarm robotics research on the Robotarium.\n \n \n \n \n\n\n \n Pickem, D.; Wang, L.; Glotfelter, P.; Diaz-Mercado, Y.; Mote, M.; Ames, A. D; Feron, E.; and Egerstedt, M.\n\n\n \n\n\n\n arXiv preprint arXiv:1604.00640, 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Safe,$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{pickem2016safe,\n  title={Safe, remote-access swarm robotics research on the {R}obotarium},\n  author={Pickem, Daniel and Wang, Li and Glotfelter, Paul and Diaz-Mercado, Yancy and Mote, Mark and Ames, Aaron D and Feron, Eric and Egerstedt, Magnus},\n  howpublished={arXiv preprint arXiv:1604.00640},\n  year={2016},\n  url = {http://ames.caltech.edu/pickem2016safe.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n System Identification and Control of Valkyrie through SVA–Based Regressor Computation.\n \n \n \n \n\n\n \n Kolathaya, S.; Morris, B. J; Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1608.02683, 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"System$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{kolathaya2016system,\n  title={System Identification and Control of {V}alkyrie through {SVA}--Based Regressor Computation},\n  author={Kolathaya, Shishir and Morris, Benjamin J and Sinnet, Ryan W and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1608.02683},\n  year={2016},\n  url = {http://ames.caltech.edu/kolathaya2016system.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Traversing Environments Using Possibility Graphs for Humanoid Robots.\n \n \n \n \n\n\n \n Grey, M. X; Ames, A. D; and Liu, C K.\n\n\n \n\n\n\n arXiv preprint arXiv:1608.03845, 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Traversing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{grey2016traversing,\n  title={Traversing Environments Using Possibility Graphs for Humanoid Robots},\n  author={Grey, Michael X and Ames, Aaron D and Liu, C Karen},\n  howpublished={arXiv preprint arXiv:1608.03845},\n  year={2016},\n  url = {http://ames.caltech.edu/grey2016traversing.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Traversing Environments Using Possibility Graphs with Multiple Action Types.\n \n \n \n \n\n\n \n Grey, M. X; Liu, C K.; and Ames, A. D\n\n\n \n\n\n\n arXiv preprint arXiv:1610.00701, 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"Traversing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{grey2016traversing2,\n  title={Traversing Environments Using Possibility Graphs with Multiple Action Types},\n  author={Grey, Michael X and Liu, C Karen and Ames, Aaron D},\n  howpublished ={arXiv preprint arXiv:1610.00701},\n  year={2016},\n  url = {http://ames.caltech.edu/grey2016traversing2.pdf}\n}\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2018 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n

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\n \n 2015\n \n \n (21)\n \n \n

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\n \n\n \n \n \n \n \n \n Composing Dynamical Systems to Realize Dynamic Robotic Dancing.\n \n \n \n \n\n\n \n Kolathaya, S.; Ma, W.; and Ames, A. D\n\n\n \n\n\n\n In Algorithmic Foundations of Robotics XI, pages 425–442. Springer, Cham, 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Composing$ Paper\n \n \n \n $\"Composing$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{kolathaya2015composing,\n  title={Composing Dynamical Systems to Realize Dynamic Robotic Dancing},\n  author={Kolathaya, Shishir and Ma, Wen-Loong and Ames, Aaron D},\n  booktitle={Algorithmic Foundations of Robotics XI},\n  pages={425--442},\n  year={2015},\n  publisher={Springer, Cham},\n  url = {http://ames.caltech.edu/dynamicdancing.pdf},\n  url_video = {https://youtu.be/IwR9XvojXWo}\n}\n\n

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\n \n\n \n \n \n \n \n \n Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis.\n \n \n \n \n\n\n \n Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems, pages 130–138, 2015. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Realization$ Paper\n \n \n \n $\"Realization$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2015realization,\n  title={Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis},\n  author={Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D},\n  booktitle={Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems},\n  pages={130--138},\n  year={2015},\n  organization={ACM},\n  url = {http://ames.caltech.edu/AMPRO_CONTROL_ICCPS15.pdf},\n  url_video = {https://youtu.be/NxJ7nMsJ63o}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n First steps toward formal controller synthesis for bipedal robots.\n \n \n \n \n\n\n \n Ames, A. D; Tabuada, P.; Schürmann, B.; Ma, W.; Kolathaya, S.; Rungger, M.; and Grizzle, J. W\n\n\n \n\n\n\n In Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 209–218, 2015. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2015first,\n  title={First steps toward formal controller synthesis for bipedal robots},\n  author={Ames, Aaron D and Tabuada, Paulo and Sch{\\"u}rmann, Bastian and Ma, Wen-Loong and Kolathaya, Shishir and Rungger, Matthias and Grizzle, Jessy W},\n  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},\n  pages={209--218},\n  year={2015},\n  organization={ACM},\n  url = {http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Energy shaping of hybrid systems via control Lyapunov functions.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2015, pages 5992–5997, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Energy$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet2015energy,\n  title={Energy shaping of hybrid systems via control {L}yapunov functions},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2015},\n  pages={5992--5997},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/acc_2015_sa_01.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n The Ach library: a new framework for real-time communication.\n \n \n \n \n\n\n \n Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; Ames, A. D; and Stilman, M.\n\n\n \n\n\n\n IEEE Robotics & Automation Magazine, 22(1): 76–85. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"The$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{dantam2015ach,\n  title={The {A}ch library: a new framework for real-time communication},\n  author={Dantam, Neil T and Lofaro, Daniel M and Hereid, Ayonga and Oh, Paul Y and Ames, Aaron D and Stilman, Mike},\n  journal={IEEE Robotics \\& Automation Magazine},\n  volume={22},\n  number={1},\n  pages={76--85},\n  year={2015},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/RAM_ACH.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Control barrier function based quadratic programs with application to bipedal robotic walking.\n \n \n \n \n\n\n \n Hsu, S.; Xu, X.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2015, pages 4542–4548, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hsu2015control,\n  title={Control barrier function based quadratic programs with application to bipedal robotic walking},\n  author={Hsu, Shao-Chen and Xu, Xiangru and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2015},\n  pages={4542--4548},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ACC_2015_CBF_final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control.\n \n \n \n \n\n\n \n Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 305–306, 2015. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Demonstration$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2015demonstration,\n  title={Demonstration of locomotion with the powered prosthesis {AMPRO} utilizing online optimization-based control},\n  author={Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D},\n  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},\n  pages={305--306},\n  year={2015},\n  organization={ACM},\n  url = {http://ames.caltech.edu/HSCC_2015_demo_abstract.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking.\n \n \n \n \n\n\n \n Hereid, A.; Hubicki, C. M; Cousineau, E. A; Hurst, J. W; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5734–5740, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hereid2015hybrid,\n  title={Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking},\n  author={Hereid, Ayonga and Hubicki, Christian M and Cousineau, Eric A and Hurst, Jonathan W and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},\n  pages={5734--5740},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra_2015_multiple_shooting.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method.\n \n \n \n \n\n\n \n Cousineau, E.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5747–5753, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Realizing$ Paper\n \n \n \n $\"Realizing$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{cousineau2015realizing,\n  title={Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method},\n  author={Cousineau, Eric and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},\n  pages={5747--5753},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra2015_imrmm.pdf},\n  url_video = {https://youtu.be/6BAzHszOpsA}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Model predictive control of underactuated bipedal robotic walking.\n \n \n \n \n\n\n \n Powell, M. J; Cousineau, E. A; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5121–5126, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Model$ Paper\n \n \n \n $\"Model$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2015model,\n  title={Model predictive control of underactuated bipedal robotic walking},\n  author={Powell, Matthew J and Cousineau, Eric A and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},\n  pages={5121--5126},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra2015_iompc.pdf},\n  url_video = {https://youtu.be/OG-WIfWMZek}\n}\n\n

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\n \n\n \n \n \n \n \n \n Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars.\n \n \n \n \n\n\n \n Mehra, A.; Ma, W.; Berg, F.; Tabuada, P.; Grizzle, J. W; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2015, pages 1411–1418, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Adaptive$ Paper\n \n \n \n $\"Adaptive$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{mehra2015adaptive,\n  title={Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars},\n  author={Mehra, Aakar and Ma, Wen-Loong and Berg, Forrest and Tabuada, Paulo and Grizzle, Jessy W and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2015},\n  pages={1411--1418},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ACC_Paper_cars_2015.pdf},\n  url_video = {https://youtu.be/9Du7F76s4jQ}\n}\n\n

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\n \n\n \n \n \n \n \n \n Robustness of Control Barrier Functions for Safety Critical Control.\n \n \n \n \n\n\n \n Xu, X.; Tabuada, P.; Grizzle, J. W; and Ames, A. D\n\n\n \n\n\n\n IFAC-PapersOnLine, 48(27): 54–61. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Robustness$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{xu2015robustness,\n  title={Robustness of Control Barrier Functions for Safety Critical Control},\n  author={Xu, Xiangru and Tabuada, Paulo and Grizzle, Jessy W and Ames, Aaron D},\n  journal={IFAC-PapersOnLine},\n  volume={48},\n  number={27},\n  pages={54--61},\n  year={2015},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/ADHS15_Final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition.\n \n \n \n \n\n\n \n Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n In Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on, pages 265–270, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Realization$ Paper\n \n \n \n $\"Realization$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2015realizationstair,\n  title={Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition},\n  author={Zhao, Huihua and Reher, Jacob and Horn, Jonathan and Paredes, Victor and Ames, Aaron D},\n  booktitle={Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on},\n  pages={265--270},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/moprimitive_icorr2015_finalsubmission.pdf},\n  url_video = {https://youtu.be/oNZxkiiCnUg}\n}\n\n

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\n \n\n \n \n \n \n \n \n Parameter sensitivity and boundedness of robotic hybrid periodic orbits.\n \n \n \n \n\n\n \n Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n IFAC-PapersOnLine, 48(27): 377–382. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Parameter$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{kolathaya2015parameter,\n  title={Parameter sensitivity and boundedness of robotic hybrid periodic orbits},\n  author={Kolathaya, Shishir and Ames, Aaron D},\n  journal={IFAC-PapersOnLine},\n  volume={48},\n  number={27},\n  pages={377--382},\n  year={2015},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/ADHS15_0071_FI.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n Control barrier certificates for safe swarm behavior.\n \n \n \n\n\n \n Borrmann, U.; Wang, L.; Ames, A. D; and Egerstedt, M.\n\n\n \n\n\n\n IFAC-PapersOnLine, 48(27): 68–73. 2015.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{borrmann2015control,\n  title={Control barrier certificates for safe swarm behavior},\n  author={Borrmann, Urs and Wang, Li and Ames, Aaron D and Egerstedt, Magnus},\n  journal={IFAC-PapersOnLine},\n  volume={48},\n  number={27},\n  pages={68--73},\n  year={2015},\n  publisher={Elsevier}\n}\n\n

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\n \n\n \n \n \n \n \n \n Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs.\n \n \n \n \n\n\n \n Galloway, K.; Sreenath, K.; Ames, A. D; and Grizzle, J. W\n\n\n \n\n\n\n IEEE Access, 3: 323–332. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Torque$ Paper\n \n \n \n $\"Torque$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{galloway2015torque,\n  title={Torque saturation in bipedal robotic walking through control {L}yapunov function-based quadratic programs},\n  author={Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D and Grizzle, Jessy W},\n  journal={IEEE Access},\n  volume={3},\n  pages={323--332},\n  year={2015},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/IEEE_Access_QP.pdf},\n  url_video = {https://youtu.be/onOd7xWbGAk}\n\n}\n\n

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\n \n\n \n \n \n \n \n \n Continuity and smoothness properties of nonlinear optimization-based feedback controllers.\n \n \n \n \n\n\n \n Morris, B. J; Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, pages 151–158, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Continuity$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{morris2015continuity,\n  title={Continuity and smoothness properties of nonlinear optimization-based feedback controllers},\n  author={Morris, Benjamin J and Powell, Matthew J and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2015 IEEE 54th Annual Conference on},\n  pages={151--158},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/MPA%20-%20CDC15.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses.\n \n \n \n \n\n\n \n Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, pages 1607–1612, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n \n $\"A$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2015hybrid,\n  title={A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses},\n  author={Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2015 IEEE 54th Annual Conference on},\n  pages={1607--1612},\n  year={2015},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/multicontact_2015cdc_finalsubmission.pdf},\n  url_video = {https://youtu.be/K6mKYrVYVwE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Valkyrie: NASA's first bipedal humanoid robot.\n \n \n \n \n\n\n \n Radford, N. A; Strawser, P.; Hambuchen, K.; Mehling, J. S; Verdeyen, W. K; Donnan, A S.; Holley, J.; Sanchez, J.; Nguyen, V.; Bridgwater, L.; Berka, R.; Ambrose, R.; Markee, M. M.; Fraser-Chanpong, N. J.; McQuin, C.; Yamokoski, J. D.; Hart, S.; Guo, R.; Parsons, A.; Wightman, B.; Dinh, P.; Ames, B.; Blakely, C.; Edmondson, C.; Sommers, B.; Rea, R.; Tabler, C.; Bibby, H.; Howard, B.; Niu, L.; Lee, A.; Conover, M.; Truong, L.; Reed, R.; Chesney, D.; Platt Jr, R.; Johnson, G.; Fok, C.; Paine, N.; Sentis, L.; Cousineau, E.; Sinnet, R.; Lack, J.; Powell, M.; Morris, B.; Ames, A. D; and Akinyode, J.\n\n\n \n\n\n\n Journal of Field Robotics, 32(3): 397–419. 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Valkyrie:$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{radford2015valkyrie,\n  title={Valkyrie: {NASA}'s first bipedal humanoid robot},\n  author={Radford, Nicolaus A and Strawser, Philip and Hambuchen, Kimberly and Mehling, Joshua S and Verdeyen, William K and Donnan, A Stuart and Holley, James and Sanchez, Jairo and Nguyen, Vienny and Bridgwater, Lyndon and Berka, Reginald and Ambrose, Robert and Markee, Mason M. and Fraser-Chanpong, N. J. and McQuin, Christopher and Yamokoski, John D. and Hart, Stephen and Guo, Raymond and Parsons, Adam and Wightman, Brian and Dinh, Paul and Ames, Barrett and Blakely, Charles and Edmondson, Courney and Sommers, Brett and Rea, Rochelle and Tabler, Chad and Bibby, Heather and Howard, Brice and Niu, Lei and Lee, Andrew and Conover, Michael and Truong, Lily and Reed, Ryan and Chesney, David and Platt Jr, Robert and Johnson, Gwendolyn and Fok, Chien-Liang and Paine, Nicholas and Sentis, Luis and Cousineau, Eric and Sinnet, Ryan and Lack, Jordan and Powell, Matthew and Morris, Benjamin and Ames, Aaron D and Akinyode, Jide},\n  journal={Journal of Field Robotics},\n  volume={32},\n  number={3},\n  pages={397--419},\n  year={2015},\n  url = {http://ames.caltech.edu/Val-NASA-JFR-Final.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Acumen: An open-source testbed for cyber-physical systems research.\n \n \n \n \n\n\n \n Taha, W.; Duracz, A.; Zeng, Y.; Atkinson, K.; Bartha, F. A.; Brauner, P.; Duracz, J.; Xu, F.; Cartwright, R.; Konečný, M.; Moggi, E.; Masood, J.; Andreasson, P.; Inoue, J.; Sant'Anna, A.; Philippsen, R.; Chapoutot, A.; O'Malley, M.; Ames, A. D; Gaspes, V.; Hvatum, L.; Mehta, S.; Eriksson, H.; and Grante, C.\n\n\n \n\n\n\n In International Internet of Things Summit, pages 118–130, 2015. Springer, Cham\n \n\n\n\n
\n\n\n\n \n \n $\"Acumen:$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{taha2015acumen,\n  title={Acumen: An open-source testbed for cyber-physical systems research},\n  author={Taha, Walid\nand Duracz, Adam\nand Zeng, Yingfu\nand Atkinson, Kevin\nand Bartha, Ferenc A.\nand Brauner, Paul\nand Duracz, Jan\nand Xu, Fei\nand Cartwright, Robert\n and Kone{\\v{c}}n{\\'y}, Michal\nand Moggi, Eugenio\nand Masood, Jawad\nand Andreasson, Pererik\nand Inoue, Jun\nand Sant'Anna, Anita\nand Philippsen, Roland\n and Chapoutot, Alexandre\nand O'Malley, Marcia\nand Ames, Aaron D\nand Gaspes, Veronica\nand Hvatum, Lise\nand Mehta, Shyam\nand Eriksson, Henrik\nand Grante, Christian},\n  booktitle={International Internet of Things Summit},\n  pages={118--130},\n  year={2015},\n  organization={Springer, Cham},\n  url = {http://ames.caltech.edu/cyclone15Taha.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2014} %%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n Book of Abstracts-Extract, 2015.\n \n\n\n\n
\n\n\n\n \n \n $\"Optimal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{sinnet2015optimal,\n  title={Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  howpublished={Book of Abstracts-Extract},\n  pages={10},\n  year={2015},\n  url = {http://ames.caltech.edu/sinnet2015optimal.pdf}\n}\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2016 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n Control barrier function based quadratic programs with application to adaptive cruise control.\n \n \n \n \n\n\n \n Ames, A. D; Grizzle, J. W; and Tabuada, P.\n\n\n \n\n\n\n In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 6271–6278, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 8 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2014control,\n  title={Control barrier function based quadratic programs with application to adaptive cruise control},\n  author={Ames, Aaron D and Grizzle, Jessy W and Tabuada, Paulo},\n  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},\n  pages={6271--6278},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CLF_QP_ACC_final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics.\n \n \n \n \n\n\n \n Ames, A. D; Galloway, K.; Sreenath, K.; and Grizzle, J. W\n\n\n \n\n\n\n IEEE Transactions on Automatic Control, 59(4): 876–891. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"Rapidly$ Paper\n \n \n \n $\"Rapidly$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 21 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ames2014rapidly,\n  title={Rapidly exponentially stabilizing control {L}yapunov functions and hybrid zero dynamics},\n  author={Ames, Aaron D and Galloway, Kevin and Sreenath, Koushil and Grizzle, Jessy W},\n  journal={IEEE Transactions on Automatic Control},\n  volume={59},\n  number={4},\n  pages={876--891},\n  year={2014},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/CFL_Robotics_TAC.pdf},\n  url_video = {https://youtu.be/onOd7xWbGAk}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired control of bipedal walking robots.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Automatic Control, 59(5): 1115–1130. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n \n $\"Human-inspired$ video\n \n \n \n $\"Human-inspired$ video2\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ames2014human,\n  title={Human-inspired control of bipedal walking robots},\n  author={Ames, Aaron D},\n  journal={IEEE Transactions on Automatic Control},\n  volume={59},\n  number={5},\n  pages={1115--1130},\n  year={2014},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/TAC_Human-Inspired_Final.pdf},\n  url_video = {https://youtu.be/SYXWoNU8QUE},\n  url_video2 = {https://youtu.be/OBGHU-e1kc0},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain.\n \n \n \n \n\n\n \n Zhao, H.; Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n Optimal Control Applications and Methods, 35(6): 730–755. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{zhao2014humaninspired,\n  title={Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain},\n  author={Zhao, Huihua and Powell, Matthew J and Ames, Aaron D},\n  journal={Optimal Control Applications and Methods},\n  volume={35},\n  number={6},\n  pages={730--755},\n  year={2014},\n  url = {http://ames.caltech.edu/oca2099.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Quadratic programming and impedance control for transfemoral prosthesis.\n \n \n \n \n\n\n \n Zhao, H.; Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and automation (ICRA), 2014 IEEE international conference on, pages 1341–1347, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Quadratic$ Paper\n \n \n \n $\"Quadratic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2014quadratic,\n  title={Quadratic programming and impedance control for transfemoral prosthesis},\n  author={Zhao, Huihua and Kolathaya, Shishir and Ames, Aaron D},\n  booktitle={Robotics and automation (ICRA), 2014 IEEE international conference on},\n  pages={1341--1347},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/amber1_impedance_icra14_reduced.pdf},\n  url_video = {https://youtu.be/5TuTyKhMNiU}\n}\n\n

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\n \n\n \n \n \n \n \n \n Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control.\n \n \n \n \n\n\n \n Hereid, A.; Kolathaya, S.; Jones, M. S; Van Why, J.; Hurst, J. W; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 17th international conference on Hybrid systems: computation and control, pages 263–272, 2014. ACM\n DENSO Best Student Paper Award of HSCC 2014.\n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ Paper\n \n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hereid2014dynamic,\n  title={Dynamic multi-domain bipedal walking with {ATRIAS} through {SLIP} based human-inspired control},\n  author={Hereid, Ayonga and Kolathaya, Shishir and Jones, Mikhail S and Van Why, Johnathan and Hurst, Jonathan W and Ames, Aaron D},\n  booktitle={Proceedings of the 17th international conference on Hybrid systems: computation and control},\n  pages={263--272},\n  year={2014},\n  organization={ACM},\n  url = {http://ames.caltech.edu/hscc-2014_final.pdf},\n  url_video = {https://youtu.be/yiEbWwC-sR0},\n  note = {{DENSO Best Student Paper Award of HSCC 2014.}}\n}\n\n

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\n \n\n \n \n \n \n \n \n Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion.\n \n \n \n \n\n\n \n Zhao, H.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2014, pages 4101–4107, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Quadratic$ Paper\n \n \n \n $\"Quadratic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2014quadraticacc,\n  title={Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion},\n  author={Zhao, Huihua and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2014},\n  pages={4101--4107},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/miqpimpedance_acc2014.pdf},\n  url_video = {https://youtu.be/5TuTyKhMNiU}\n}\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired multi-contact locomotion with AMBER2.\n \n \n \n \n\n\n \n Zhao, H.; Ma, W.; Zeagler, M. B; and Ames, A. D\n\n\n \n\n\n\n In Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on, pages 199–210, 2014. IEEE\n Best Paper Award Finalist of ICCPS 2014.\n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n \n $\"Human-inspired$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhao2014human,\n  title={Human-inspired multi-contact locomotion with {AMBER2}},\n  author={Zhao, Hui-Hua and Ma, Wen-Loong and Zeagler, Michael B and Ames, Aaron D},\n  booktitle={Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on},\n  pages={199--210},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/amber2_iccps2014.pdf},\n  url_video = {https://youtu.be/VvkIdCKlL54},\n  note = {{Best Paper Award Finalist of ICCPS 2014.}}\n}\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired walking via unified PD and impedance control.\n \n \n \n \n\n\n \n Ma, W.; Zhao, H.; Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pages 5088–5094, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n \n $\"Human-inspired$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ma2014human,\n  title={Human-inspired walking via unified {PD} and impedance control},\n  author={Ma, Wen-Loong and Zhao, Hui-Hua and Kolathaya, Shishir and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on},\n  pages={5088--5094},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/amber2_icra2014_reduced.pdf},\n  url_video = {https://youtu.be/d6oM5sLI9vA}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Preliminary results on correct-by-construction control software synthesis for adaptive cruise control.\n \n \n \n \n\n\n \n Nilsson, P.; Hussien, O.; Chen, Y.; Balkan, A.; Rungger, M.; Ames, A.; Grizzle, J.; Ozay, N.; Peng, H.; and Tabuada, P.\n\n\n \n\n\n\n In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 816–823, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Preliminary$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{nilsson2014preliminary,\n  title={Preliminary results on correct-by-construction control software synthesis for adaptive cruise control},\n  author={Nilsson, Petter and Hussien, Omar and Chen, Yuxiao and Balkan, Ayca and Rungger, Matthias and Ames, Aaron and Grizzle, Jessy and Ozay, Necmiye and Peng, Huei and Tabuada, Paulo},\n  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},\n  pages={816--823},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC_formal_methods.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Multiprocess Communication and Control Software for Humanoid Robots.\n \n \n \n \n\n\n \n Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; Ames, A. D; and Stilman, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Magazine. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"Multiprocess$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{dantam2014multiprocess,\n  title={Multiprocess Communication and Control Software for Humanoid Robots},\n  author={Dantam, Neil T and Lofaro, Daniel M and Hereid, Ayonga and Oh, Paul Y and Ames, Aaron D and Stilman, Mike},\n  journal={IEEE Robotics and Automation Magazine},\n  year={2014},\n  url = {http://ames.caltech.edu/dantam2014multiprocess.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Models, feedback control, and open problems of 3D bipedal robotic walking.\n \n \n \n \n\n\n \n Grizzle, J. W; Chevallereau, C.; Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n Automatica, 50(8): 1955–1988. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"Models,$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{grizzle2014models,\n  title={Models, feedback control, and open problems of {3D} bipedal robotic walking},\n  author={Grizzle, Jessy W and Chevallereau, Christine and Sinnet, Ryan W and Ames, Aaron D},\n  journal={Automatica},\n  volume={50},\n  number={8},\n  pages={1955--1988},\n  year={2014},\n  publisher={Pergamon},\n  url = {http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Planar multi-contact bipedal walking using hybrid zero dynamics.\n \n \n \n \n\n\n \n Lack, J.; Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pages 2582–2588, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Planar$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{lack2014planar,\n  title={Planar multi-contact bipedal walking using hybrid zero dynamics},\n  author={Lack, Jordan and Powell, Matthew J and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on},\n  pages={2582--2588},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra_lpa_2014.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty.\n \n \n \n \n\n\n \n Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2014, pages 3710–3715, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Exponential$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{kolathaya2014exponential,\n  title={Exponential convergence of a unified {CLF} controller for robotic systems under parameter uncertainty},\n  author={Kolathaya, Shishir and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2014},\n  pages={3710--3715},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/sysid_ACC2014.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Hierarchical control of series elastic actuators through control Lyapunov functions.\n \n \n \n \n\n\n \n Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 2986–2992, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Hierarchical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2014hierarchical,\n  title={Hierarchical control of series elastic actuators through control {L}yapunov functions},\n  author={Powell, Matthew J and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},\n  pages={2986--2992},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc2014_sea_stability.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control.\n \n \n \n \n\n\n \n Hereid, A.; Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 2950–2957, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Embedding$ Paper\n \n \n \n $\"Embedding$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hereid2014embedding,\n  title={Embedding of {SLIP} dynamics on underactuated bipedal robots through multi-objective quadratic program based control},\n  author={Hereid, Ayonga and Powell, Matthew J and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},\n  pages={2950--2957},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC_2014_dynamics_shaping.pdf},\n  url_video = {https://youtu.be/yiEbWwC-sR0}\n}\n\n

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\n \n\n \n \n \n \n \n \n Quadratic program based nonlinear embedded control of series elastic actuators.\n \n \n \n \n\n\n \n Ames, A. D; and Holley, J.\n\n\n \n\n\n\n In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 6291–6298, 2014. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Quadratic$ Paper\n \n \n \n $\"Quadratic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2014quadratic,\n  title={Quadratic program based nonlinear embedded control of series elastic actuators},\n  author={Ames, Aaron D and Holley, James},\n  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},\n  pages={6291--6298},\n  year={2014},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf},\n  url_video = {https://youtu.be/rCyyjuDs1BQ}\n}\n\n

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\n \n\n \n \n \n \n \n \n A human-inspired framework for bipedal robotic walking design.\n \n \n \n \n\n\n \n Sinnet, R. W; Jiang, S.; and Ames, A. D\n\n\n \n\n\n\n International Journal of Biomechatronics and Biomedical Robotics, 3(1): 20–41. 2014.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{sinnet2014human,\n  title={A human-inspired framework for bipedal robotic walking design},\n  author={Sinnet, Ryan W and Jiang, Shu and Ames, Aaron D},\n  journal={International Journal of Biomechatronics and Biomedical Robotics},\n  volume={3},\n  number={1},\n  pages={20--41},\n  year={2014},\n  publisher={Inderscience Publishers Ltd},\n  url = {http://ames.caltech.edu/ijbbr_2014.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2013} %%%%%%%%%%%\n\n

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\n \n 2013\n \n \n (12)\n \n \n

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\n \n\n \n \n \n \n \n \n Lyapunov theory for Zeno stability.\n \n \n \n \n\n\n \n Lamperski, A.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Automatic Control, 58(1): 100–112. 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"Lyapunov$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{lamperski2013lyapunov,\n  title={Lyapunov theory for {Z}eno stability},\n  author={Lamperski, Andrew and Ames, Aaron D},\n  journal={IEEE Transactions on Automatic Control},\n  volume={58},\n  number={1},\n  pages={100--112},\n  year={2013},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/Lyapunov_Zeno.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Persistent homology for automatic determination of human-data based cost of bipedal walking.\n \n \n \n \n\n\n \n Vasudevan, R.; Ames, A. D; and Bajcsy, R.\n\n\n \n\n\n\n Nonlinear Analysis: Hybrid Systems, 7(1): 101–115. 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"Persistent$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{vasudevan2013persistent,\n  title={Persistent homology for automatic determination of human-data based cost of bipedal walking},\n  author={Vasudevan, Ramanarayan and Ames, Aaron D and Bajcsy, Ruzena},\n  journal={Nonlinear Analysis: Hybrid Systems},\n  volume={7},\n  number={1},\n  pages={101--115},\n  year={2013},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/NAHS2012.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics.\n \n \n \n \n\n\n \n Powell, M. J; Hereid, A.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 4803–4810, 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Speed$ Paper\n \n \n \n $\"Speed$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2013speed,\n  title={Speed regulation in {3D} robotic walking through motion transitions between human-inspired partial hybrid zero dynamics},\n  author={Powell, Matthew J and Hereid, Ayonga and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2013 IEEE International Conference on},\n  pages={4803--4810},\n  year={2013},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/icra_2013_pha.pdf},\n  url_video = {https://youtu.be/kLakY9rWh6Y}\n}\n\n

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\n \n\n \n \n \n \n \n \n From formal methods to algorithmic implementation of human inspired control on bipedal robots.\n \n \n \n \n\n\n \n Yadukumar, S. N.; Pasupuleti, M.; and Ames, A. D\n\n\n \n\n\n\n In Algorithmic Foundations of Robotics X, pages 511–526. Springer, Berlin, Heidelberg, 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"From$ Paper\n \n \n \n $\"From$ video1\n \n \n \n $\"From$ video2\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{yadukumar2013formal,\n  title={From formal methods to algorithmic implementation of human inspired control on bipedal robots},\n  author={Yadukumar, Shishir Nadubettu and Pasupuleti, Murali and Ames, Aaron D},\n  booktitle={Algorithmic Foundations of Robotics X},\n  pages={511--526},\n  year={2013},\n  publisher={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/wafr_amber_springer_final.pdf},\n  url_video1 = {https://youtu.be/SYXWoNU8QUE},\n  url_video2 = {https://youtu.be/RgQ8atV1NW0},\n}\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired control of bipedal robots via control Lyapunov functions and quadratic programs.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 16th international conference on Hybrid systems: computation and control, pages 31–32, 2013. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2013human,\n  title={Human-inspired control of bipedal robots via control {L}yapunov functions and quadratic programs},\n  author={Ames, Aaron D},\n  booktitle={Proceedings of the 16th international conference on Hybrid systems: computation and control},\n  pages={31--32},\n  year={2013},\n  organization={ACM},\n  url = {http://ames.caltech.edu/hscc42kn.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Correct software synthesis for stable speed-controlled robotic walking.\n \n \n \n \n\n\n \n Dantam, N.; Hereid, A.; Ames, A. D; and Stilman, M.\n\n\n \n\n\n\n In Robotics: Science and Systems (RSS), 2013. \n \n\n\n\n
\n\n\n\n \n \n $\"Correct$ Paper\n \n \n \n $\"Correct$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{dantam2013correct,\n  title={Correct software synthesis for stable speed-controlled robotic walking},\n  author={Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike},\n  year={2013},\n  booktitle={Robotics: Science and Systems (RSS)},\n  url = {http://ames.caltech.edu/naoparser_2013.pdf},\n  url_video = {https://youtu.be/P0UERYbDEJc}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Enclosing the behavior of a hybrid system up to and beyond a Zeno point.\n \n \n \n \n\n\n \n Konecny, M.; Taha, W.; Duracz, J.; Duracz, A.; and Ames, A. D\n\n\n \n\n\n\n In Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013 IEEE 1st International Conference on, pages 120–125, 2013. IEEE\n Best Paper Award of CPSNA 2013.\n\n\n\n
\n\n\n\n \n \n $\"Enclosing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{konecny2013enclosing,\n  title={Enclosing the behavior of a hybrid system up to and beyond a {Z}eno point},\n  author={Konecny, Michal and Taha, Walid and Duracz, Jan and Duracz, Adam and Ames, Aaron D},\n  booktitle={Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013 IEEE 1st International Conference on},\n  pages={120--125},\n  year={2013},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CPSNA_2013.pdf},\n  note = {{Best Paper Award of CPSNA 2013.}},\n}\n\n

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\n \n\n \n \n \n \n \n \n Learning impedance controller parameters for lower-limb prostheses.\n \n \n \n \n\n\n \n Aghasadeghi, N.; Zhao, H.; Hargrove, L. J; Ames, A. D; Perreault, E. J; and Bretl, T.\n\n\n \n\n\n\n In Intelligent robots and systems (IROS), 2013 IEEE/RSJ international conference on, pages 4268–4274, 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{aghasadeghi2013learning,\n  title={Learning impedance controller parameters for lower-limb prostheses},\n  author={Aghasadeghi, Navid and Zhao, Huihua and Hargrove, Levi J and Ames, Aaron D and Perreault, Eric J and Bretl, Timothy},\n  booktitle={Intelligent robots and systems (IROS), 2013 IEEE/RSJ international conference on},\n  pages={4268--4274},\n  year={2013},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/iros13_2483_fi.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A stabilization result with application to bipedal locomotion.\n \n \n \n \n\n\n \n Teel, A. R; Goebel, R.; Morris, B.; Ames, A. D; and Grizzle, J. W\n\n\n \n\n\n\n In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 2030–2035, 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{teel2013stabilization,\n  title={A stabilization result with application to bipedal locomotion},\n  author={Teel, Andrew R and Goebel, Rafal and Morris, Benjamin and Ames, Aaron D and Grizzle, Jessy W},\n  booktitle={Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on},\n  pages={2030--2035},\n  year={2013},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc13_1617_fi.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots.\n \n \n \n \n\n\n \n Morris, B.; Powell, M. J; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 2920–2926, 2013. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Sufficient$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{morris2013sufficient,\n  title={Sufficient conditions for the {L}ipschitz continuity of {QP}-based multi-objective control of humanoid robots},\n  author={Morris, Benjamin and Powell, Matthew J and Ames, Aaron D},\n  booktitle={Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on},\n  pages={2920--2926},\n  year={2013},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/morris_powell_ames_2013cdc.pdf},\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs.\n \n \n \n \n\n\n \n Ames, A. D; and Powell, M.\n\n\n \n\n\n\n In Control of Cyber-Physical Systems, pages 219–240. Springer, Heidelberg, 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"Towards$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2013towards,\n  title={Towards the unification of locomotion and manipulation through control {L}yapunov functions and quadratic programs},\n  author={Ames, Aaron D and Powell, Matthew},\n  booktitle={Control of Cyber-Physical Systems},\n  pages={219--240},\n  year={2013},\n  publisher={Springer, Heidelberg},\n  url = {http://ames.caltech.edu/unify_ames_powell.pdf}\n}\n\n%%%%%%%%%%%%%%% year={2012} %%%%%%%%%%%\n\n\n\n\n

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\n \n\n \n \n \n \n \n \n Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking.\n \n \n \n \n\n\n \n Galloway, K.; Sreenath, K.; Ames, A. D; and Grizzle, J.\n\n\n \n\n\n\n arXiv preprint arXiv:1302.7314, 2013.\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{gallowaycontrol,\n  title={Control {L}yapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking},\n  author={Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D and Grizzle, JW},\n  howpublished={arXiv preprint arXiv:1302.7314},\n  url = {http://ames.caltech.edu/1302.7314.pdf},\n  year={2013}\n}\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2015 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n

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\n \n 2012\n \n \n (13)\n \n \n

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\n \n\n \n \n \n \n \n \n Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics.\n \n \n \n \n\n\n \n Ames, A. D; Cousineau, E. A; and Powell, M. J\n\n\n \n\n\n\n In Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control, pages 135–144, 2012. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamically$ Paper\n \n \n \n $\"Dynamically$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2012dynamically,\n  title={Dynamically stable bipedal robotic walking with {NAO} via human-inspired hybrid zero dynamics},\n  author={Ames, Aaron D and Cousineau, Eric A and Powell, Matthew J},\n  booktitle={Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control},\n  pages={135--144},\n  year={2012},\n  organization={ACM},\n  url = {http://ames.caltech.edu/NAO_HSCC12_final.pdf},\n  url_video = {https://youtu.be/OBGHU-e1kc0}\n}\n\n

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\n \n\n \n \n \n \n \n \n Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2012, pages 4831–4836, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Extending$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet2012extending,\n  title={Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2012},\n  pages={4831--4836},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/Reduction_ACC12_final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n First steps toward underactuated human-inspired bipedal robotic walking.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 1011–1017, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n \n $\"First$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2012first,\n  title={First steps toward underactuated human-inspired bipedal robotic walking},\n  author={Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on},\n  pages={1011--1017},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ICRA_Ames_2012.pdf},\n  url_video = {https://youtu.be/LGulnhbiFB8},\n}\n\n

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\n \n\n \n \n \n \n \n \n Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing.\n \n \n \n \n\n\n \n Powell, M. J; Zhao, H.; and Ames, A. D\n\n\n \n\n\n\n In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 543–549, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Motion$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{powell2012motion,\n  title={Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing},\n  author={Powell, Matthew J and Zhao, Huihua and Ames, Aaron D},\n  booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on},\n  pages={543--549},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/MT_ICRA12_final.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Zeno behavior in electromechanical hybrid systems: From theory to experimental validation.\n \n \n \n \n\n\n \n Yadukumar, S. N.; Kothapalli, B.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2012, pages 2437–2442, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Zeno$ Paper\n \n \n \n $\"Zeno$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{yadukumar2012zeno,\n  title={{Z}eno behavior in electromechanical hybrid systems: From theory to experimental validation},\n  author={Yadukumar, Shishir Nadubettu and Kothapalli, Bhargav and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2012},\n  pages={2437--2442},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/Zeno_ACC12_final.pdf},\n  url_video = {https://youtu.be/Lbqaonv7MpM},\n}\n\n

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\n \n\n \n \n \n \n \n \n Rank deficiency and superstability of hybrid systems.\n \n \n \n \n\n\n \n Wendel, E.; and Ames, A. D\n\n\n \n\n\n\n Nonlinear Analysis: Hybrid Systems, 6(2): 787–805. 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"Rank$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{wendel2012rank,\n  title={Rank deficiency and superstability of hybrid systems},\n  author={Wendel, Eric and Ames, Aaron D},\n  journal={Nonlinear Analysis: Hybrid Systems},\n  volume={6},\n  number={2},\n  pages={787--805},\n  year={2012},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/rnk-drp-nahs-rev.pdf},\n}\n\n

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\n \n\n \n \n \n \n \n \n Outputs of human walking for bipedal robotic controller design.\n \n \n \n \n\n\n \n Jiang, S.; Partrick, S.; Zhao, H.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference (ACC), 2012, pages 4843–4848, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Outputs$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{jiang2012outputs,\n  title={Outputs of human walking for bipedal robotic controller design},\n  author={Jiang, Shu and Partrick, Shawanee and Zhao, Huihua and Ames, Aaron D},\n  booktitle={American Control Conference (ACC), 2012},\n  pages={4843--4848},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/Outputs_ACC12_final.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization.\n \n \n \n \n\n\n \n Huihua, Z.; Yadukumar, S. N.; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 1821–1827, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Bipedal$ Paper\n \n \n \n $\"Bipedal$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{huihua2012bipedal,\n  title={Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization},\n  author={Huihua, Zhao and Yadukumar, Shishir Nadubettu and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},\n  pages={1821--1827},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/iros_2012_running.pdf},\n  url_video = {https://youtu.be/3X3wGOSLywg},\n}\n\n

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\n \n\n \n \n \n \n \n \n Bio-inspired feedback control of three-dimensional humanlike bipedal robots.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n Journal of Robotics and Mechatronics, 24(4): 595. 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"Bio-inspired$ Paper\n \n \n \n $\"Bio-inspired$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{sinnet2012bio,\n  title={Bio-inspired feedback control of three-dimensional humanlike bipedal robots},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  journal={Journal of Robotics and Mechatronics},\n  volume={24},\n  number={4},\n  pages={595},\n  year={2012},\n  url = {http://ames.caltech.edu/jrm_2012_sa_01.pdf},\n  url_video = {https://youtu.be/hlnK5L9k1GU},\n}\n\n

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\n \n\n \n \n \n \n \n \n Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain.\n \n \n \n \n\n\n \n Yadukumar, S. N.; Pasupuleti, M.; and Ames, A. D\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 2478–2483, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Human-inspired$ Paper\n \n \n \n $\"Human-inspired$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{yadukumar2012human,\n  title={Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain},\n  author={Yadukumar, Shishir Nadubettu and Pasupuleti, Murali and Ames, Aaron D},\n  booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},\n  pages={2478--2483},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/amber_iros_final_ames.pdf},\n  url_video = {http://youtu.be/RgQ8atV1NW0}\n}\n\n

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\n \n\n \n \n \n \n \n \n Control Lyapunov functions and hybrid zero dynamics.\n \n \n \n \n\n\n \n Ames, A. D; Galloway, K.; and Grizzle, J. W\n\n\n \n\n\n\n In Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, pages 6837–6842, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Control$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2012control,\n  title={Control {L}yapunov functions and hybrid zero dynamics},\n  author={Ames, Aaron D and Galloway, Kevin and Grizzle, Jessy W},\n  booktitle={Decision and Control (CDC), 2012 IEEE 51st Annual Conference on},\n  pages={6837--6842},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc_2012_agg_v_10_final.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Achieving bipedal locomotion on rough terrain through human-inspired control.\n \n \n \n \n\n\n \n Kolathaya, S.; and Ames, A. D\n\n\n \n\n\n\n In Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on, pages 1–6, 2012. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Achieving$ Paper\n \n \n \n $\"Achieving$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{kolathaya2012achieving,\n  title={Achieving bipedal locomotion on rough terrain through human-inspired control},\n  author={Kolathaya, Shishir and Ames, Aaron D},\n  booktitle={Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on},\n  pages={1--6},\n  year={2012},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/amber_ssrr.pdf},\n  url_video = {https://youtu.be/aUiEXt8otrY},\n}\n\n

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\n \n\n \n \n \n \n \n \n First steps toward automatically generating bipedal robotic walking from human data.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n In Robot Motion and Control 2011, pages 89–116. Springer, London, 2012.\n \n\n\n\n
\n\n\n\n \n \n $\"First$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2012firststeps,\n  title={First steps toward automatically generating bipedal robotic walking from human data},\n  author={Ames, Aaron D},\n  booktitle={Robot Motion and Control 2011},\n  pages={89--116},\n  year={2012},\n  publisher={Springer, London},\n  url = {http://ames.caltech.edu/romoco_final.pdf},\n}\n\n\n%%%%%%%%%%%%%%% year={2011} %%%%%%%%%%%\n\n

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\n \n 2011\n \n \n (9)\n \n \n

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\n \n\n \n \n \n \n \n \n A human-inspired hybrid control approach to bipedal robotic walking.\n \n \n \n \n\n\n \n Sinnet, R. W; Powell, M. J; Shah, R. P; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 18th IFAC World Congress, volume 44, pages 6904–6911, 2011. Elsevier\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet2011human,\n  title={A human-inspired hybrid control approach to bipedal robotic walking},\n  author={Sinnet, Ryan W and Powell, Matthew J and Shah, Rajiv P and Ames, Aaron D},\n  booktitle ={Proceedings of the 18th IFAC World Congress},\n  volume={44},\n  number={1},\n  pages={6904--6911},\n  year={2011},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/IFAC2011_SPSA.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Human-data based cost of bipedal robotic walking.\n \n \n \n \n\n\n \n Ames, A. D; Vasudevan, R.; and Bajcsy, R.\n\n\n \n\n\n\n In Proceedings of the 14th international conference on Hybrid systems: computation and control, pages 153–162, 2011. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Human-data$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2011human,\n  title={Human-data based cost of bipedal robotic walking},\n  author={Ames, Aaron D and Vasudevan, Ramanarayan and Bajcsy, Ruzena},\n  booktitle={Proceedings of the 14th international conference on Hybrid systems: computation and control},\n  pages={153--162},\n  year={2011},\n  organization={ACM},\n  url = {http://ames.caltech.edu/hscc51s-ames.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Stability and completion of Zeno equilibria in Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Or, Y.; and Ames, A. D\n\n\n \n\n\n\n IEEE Transactions on Automatic Control, 56(6): 1322–1336. 2011.\n \n\n\n\n
\n\n\n\n \n \n $\"Stability$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{or2011stability,\n  title={Stability and completion of {Z}eno equilibria in {L}agrangian hybrid systems},\n  author={Or, Yizhar and Ames, Aaron D},\n  journal={IEEE Transactions on Automatic Control},\n  volume={56},\n  number={6},\n  pages={1322--1336},\n  year={2011},\n  publisher={IEEE},\n  url = {http://ames.caltech.edu/tac2011-oa.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Compass gait revisited: A human data perspective with extensions to three dimensions.\n \n \n \n \n\n\n \n Sinnet, R. W; Powell, M. J; Jiang, S.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pages 682–689, 2011. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Compass$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet2011compass,\n  title={Compass gait revisited: A human data perspective with extensions to three dimensions},\n  author={Sinnet, Ryan W and Powell, Matthew J and Jiang, Shu and Ames, Aaron D},\n  booktitle={Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on},\n  pages={682--689},\n  year={2011},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc_compass.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Human Based Cost from Persistent Homology for Bipedal Walking.\n \n \n \n \n\n\n \n Vasudevan, R.; Ames, A. D; and Bajcsy, R.\n\n\n \n\n\n\n IFAC Proceedings Volumes, 44(1): 3292–3297. 2011.\n \n\n\n\n
\n\n\n\n \n \n $\"Human$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{vasudevan2011human,\n  title={Human Based Cost from Persistent Homology for Bipedal Walking},\n  author={Vasudevan, Ram and Ames, Aaron D and Bajcsy, Ruzena},\n  journal={IFAC Proceedings Volumes},\n  volume={44},\n  number={1},\n  pages={3292--3297},\n  year={2011},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/IFAC2011_VAB.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Characterizing knee-bounce in bipedal robotic walking: A Zeno behavior approach.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 14th international conference on Hybrid systems: computation and control, pages 163–172, 2011. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Characterizing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2011characterizing,\n  title={Characterizing knee-bounce in bipedal robotic walking: A {Z}eno behavior approach},\n  author={Ames, Aaron D},\n  booktitle={Proceedings of the 14th international conference on Hybrid systems: computation and control},\n  pages={163--172},\n  year={2011},\n  organization={ACM},\n  url = {http://ames.caltech.edu/hscc52c-ames.pdf}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n A core language for executable models of cyber physical systems: work in progress report.\n \n \n \n \n\n\n \n Taha, W.; Brauner, P.; Cartwright, R.; Gaspes, V.; Ames, A. D; and Chapoutot, A.\n\n\n \n\n\n\n ACM SIGBED Review, 8(2): 39–43. 2011.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{taha2011core,\n  title={A core language for executable models of cyber physical systems: work in progress report},\n  author={Taha, Walid and Brauner, Paul and Cartwright, Robert and Gaspes, Veronica and Ames, Aaron D and Chapoutot, Alexandre},\n  journal={ACM SIGBED Review},\n  volume={8},\n  number={2},\n  pages={39--43},\n  year={2011},\n  publisher={ACM},\n  url = {http://ames.caltech.edu/AcumenPaper.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Simulating prosthetic devices with human-inspired hybrid control.\n \n \n \n \n\n\n \n Sinnet, R. W; Zhao, H.; and Ames, A. D\n\n\n \n\n\n\n In Intelligent robots and systems (IROS), 2011 IEEE/RSJ international conference on, pages 1723–1730, 2011. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Simulating$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet2011simulating,\n  title={Simulating prosthetic devices with human-inspired hybrid control},\n  author={Sinnet, Ryan W and Zhao, Huihua and Ames, Aaron D},\n  booktitle={Intelligent robots and systems (IROS), 2011 IEEE/RSJ international conference on},\n  pages={1723--1730},\n  year={2011},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/iros_2011_sza_01.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Rank deficiency and superstability of hybrid systems with application to bipedal robots.\n \n \n \n \n\n\n \n Wendel, E.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pages 7422–7427, 2011. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Rank$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{wendel2011rank,\n  title={Rank deficiency and superstability of hybrid systems with application to bipedal robots},\n  author={Wendel, Eric and Ames, Aaron D},\n  booktitle={Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on},\n  pages={7422--7427},\n  year={2011},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/cdc_rank_drop.pdf}\n}\n\n%%%%%%%%%%%%%%% year={2010} %%%%%%%%%%%\n\n\n

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\n \n 2010\n \n \n (3)\n \n \n

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\n \n\n \n \n \n \n \n \n 3D bipedal robotic walking: models, feedback control, and open problems.\n \n \n \n \n\n\n \n Grizzle, J. W; Chevallereau, C.; Ames, A. D; and Sinnet, R. W\n\n\n \n\n\n\n In Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), volume 43, pages 505–532, 2010. Elsevier\n \n\n\n\n
\n\n\n\n \n \n $\"3D$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{grizzle20103d,\n  title={{3D} bipedal robotic walking: models, feedback control, and open problems},\n  author={Grizzle, Jessy W and Chevallereau, Christine and Ames, Aaron D and Sinnet, Ryan W},\n  booktitle={Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)},\n  volume={43},\n  number={14},\n  pages={505--532},\n  year={2010},\n  publisher={Elsevier},\n  url = {http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Mathematical equations as executable models of mechanical systems.\n \n \n \n \n\n\n \n Zhu, Y.; Westbrook, E.; Inoue, J.; Chapoutot, A.; Salama, C.; Peralta, M.; Martin, T.; Taha, W.; O'Malley, M.; Cartwright, R.; and others\n\n\n \n\n\n\n In Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems, pages 1–11, 2010. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Mathematical$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{zhu2010mathematical,\n  title={Mathematical equations as executable models of mechanical systems},\n  author={Zhu, Yun and Westbrook, Edwin and Inoue, Jun and Chapoutot, Alexandre and Salama, Cherif and Peralta, Marisa and Martin, Travis and Taha, Walid and O'Malley, Marcia and Cartwright, Robert and others},\n  booktitle={Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems},\n  pages={1--11},\n  year={2010},\n  organization={ACM},\n  url = {http://ames.caltech.edu/Walid_paper.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking.\n \n \n \n \n\n\n \n Wendel, E. D.; and Ames, A. D\n\n\n \n\n\n\n In Proceedings of the 13th ACM international conference on Hybrid systems: computation and control, pages 151–160, 2010. ACM\n \n\n\n\n
\n\n\n\n \n \n $\"Rank$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{wendel2010rank,\n  title={Rank properties of {P}oincar{\\'e} maps for hybrid systems with applications to bipedal walking},\n  author={Wendel, Eric DB and Ames, Aaron D},\n  booktitle={Proceedings of the 13th ACM international conference on Hybrid systems: computation and control},\n  pages={151--160},\n  year={2010},\n  organization={ACM},\n  url = {http://ames.caltech.edu/p151-wendel.pdf}\n}\n\n%%%%%%%%%%%%%%% year={2009} %%%%%%%%%%%\n\n\n\n

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\n \n 2009\n \n \n (5)\n \n \n

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\n \n\n \n \n \n \n \n \n Three-dimensional kneed bipedal walking: A hybrid geometric approach.\n \n \n \n \n\n\n \n Ames, A. D; Sinnet, R. W; and Wendel, E. D.\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 16–30. 2009.\n \n\n\n\n
\n\n\n\n \n \n $\"Three-dimensional$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2009three,\n  title={Three-dimensional kneed bipedal walking: A hybrid geometric approach},\n  author={Ames, Aaron D and Sinnet, Ryan W and Wendel, Eric DB},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={16--30},\n  year={2009},\n  organization={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/HSCC-2009.pdf}\n\n}\n\n

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\n \n\n \n \n \n \n \n \n 2D bipedal walking with knees and feet: A hybrid control approach.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on, pages 3200–3207, 2009. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"2D$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet20092d,\n  title={{2D} bipedal walking with knees and feet: A hybrid control approach},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  booktitle={Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on},\n  pages={3200--3207},\n  year={2009},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDCryan2d.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Formal and practical completion of Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Or, Y.; and Ames, A. D\n\n\n \n\n\n\n In American Control Conference, 2009. ACC'09., pages 3624–3631, 2009. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Formal$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{or2009formal,\n  title={Formal and practical completion of {L}agrangian hybrid systems},\n  author={Or, Yizhar and Ames, Aaron D},\n  booktitle={American Control Conference, 2009. ACC'09.},\n  pages={3624--3631},\n  year={2009},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/FormalCompletion.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Existence of periodic orbits with Zeno behavior in completed Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Or, Y.; and Ames, A. D\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 291–305. 2009.\n \n\n\n\n
\n\n\n\n \n \n $\"Existence$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{or2009existence,\n  title={Existence of periodic orbits with {Z}eno behavior in completed Lagrangian hybrid systems},\n  author={Or, Yizhar and Ames, Aaron D},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={291--305},\n  year={2009},\n  organization={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/or_ames_hscc09.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n 3D bipedal walking with knees and feet: A hybrid geometric approach.\n \n \n \n \n\n\n \n Sinnet, R. W; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on, pages 3208–3213, 2009. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"3D$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sinnet20093d,\n  title={{3D} bipedal walking with knees and feet: A hybrid geometric approach},\n  author={Sinnet, Ryan W and Ames, Aaron D},\n  booktitle={Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on},\n  pages={3208--3213},\n  year={2009},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDCryan3d.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2008} %%%%%%%%%%%\n\n

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\n \n 2008\n \n \n (5)\n \n \n

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\n \n\n \n \n \n \n \n \n On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria.\n \n \n \n \n\n\n \n Lamperski, A.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, pages 2776–2781, 2008. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{lamperski2008existence,\n  title={On the existence of {Z}eno behavior in hybrid systems with non-isolated {Z}eno equilibria},\n  author={Lamperski, Andrew and Ames, Aaron D},\n  booktitle={Decision and Control, 2008. CDC 2008. 47th IEEE Conference on},\n  pages={2776--2781},\n  year={2008},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/lamperskiexistence2008.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Stability of Zeno equilibria in Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Or, Y.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, pages 2770–2775, 2008. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Stability$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{or2008stability,\n  title={Stability of {Z}eno equilibria in {L}agrangian hybrid systems},\n  author={Or, Yizhar and Ames, Aaron D},\n  booktitle={Decision and Control, 2008. CDC 2008. 47th IEEE Conference on},\n  pages={2770--2775},\n  year={2008},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/StabilityofZenoCDClong.pdf}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Approximate reduction of dynamic systems.\n \n \n \n \n\n\n \n Tabuada, P.; Ames, A. D; Julius, A.; and Pappas, G. J\n\n\n \n\n\n\n Systems & Control Letters, 57(7): 538–545. 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Approximate$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{tabuada2008approximate,\n  title={Approximate reduction of dynamic systems},\n  author={Tabuada, Paulo and Ames, Aaron D and Julius, Agung and Pappas, George J},\n  journal={Systems \\& Control Letters},\n  volume={57},\n  number={7},\n  pages={538--545},\n  year={2008},\n  publisher={North-Holland},\n  url = {http://ames.caltech.edu/approximatered.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sufficient conditions for Zeno behavior in Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Lamperski, A.; and Ames, A. D\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 622–625. 2008.\n \n\n\n\n
\n\n\n\n \n \n $\"Sufficient$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{lamperski2008sufficient,\n  title={Sufficient conditions for Zeno behavior in Lagrangian hybrid systems},\n  author={Lamperski, Andrew and Ames, Aaron D},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={622--625},\n  year={2008},\n  organization={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/092_hscc2008.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Complexity and fragility in stability for linear systems.\n \n \n \n \n\n\n \n Ames, A. D; and Doyle, J. C\n\n\n \n\n\n\n In American Control Conference, 2008, pages 1630–1637, 2008. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Complexity$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2008complexity,\n  title={Complexity and fragility in stability for linear systems},\n  author={Ames, Aaron D and Doyle, John C},\n  booktitle={American Control Conference, 2008},\n  pages={1630--1637},\n  year={2008},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ACC_CompFrag.pdf}\n}\n\n%%%%%%%%%%%%%%% year={2007} %%%%%%%%%%%\n\n\n

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\n \n 2007\n \n \n (8)\n \n \n

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\n \n\n \n \n \n \n \n \n Stably extending two-dimensional bipedal walking to three dimensions.\n \n \n \n \n\n\n \n Ames, A. D; and Gregg, R. D\n\n\n \n\n\n\n In American Control Conference, 2007. ACC'07, pages 2848–2854, 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Stably$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2007stably,\n  title={Stably extending two-dimensional bipedal walking to three dimensions},\n  author={Ames, Aaron D and Gregg, Robert D},\n  booktitle={American Control Conference, 2007. ACC'07},\n  pages={2848--2854},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ACC2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Lyapunov-like conditions for the existence of Zeno behavior in hybrid and Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Lamperski, A.; and Ames, A. D\n\n\n \n\n\n\n In Decision and Control, 2007 46th IEEE Conference on, pages 115–120, 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Lyapunov-like$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{lamperski2007lyapunov,\n  title={Lyapunov-like conditions for the existence of {Z}eno behavior in hybrid and {L}agrangian hybrid systems},\n  author={Lamperski, Andrew and Ames, Aaron D},\n  booktitle={Decision and Control, 2007 46th IEEE Conference on},\n  pages={115--120},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/lamperskilyapunovlike2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n A geometric approach to three-dimensional hipped bipedal robotic walking.\n \n \n \n \n\n\n \n Ames, A. D; Gregg, R. D; and Spong, M. W\n\n\n \n\n\n\n In Decision and Control, 2007 46th IEEE Conference on, pages 5123–5130, 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2007geometric,\n  title={A geometric approach to three-dimensional hipped bipedal robotic walking},\n  author={Ames, Aaron D and Gregg, Robert D and Spong, Mark W},\n  booktitle={Decision and Control, 2007 46th IEEE Conference on},\n  pages={5123--5130},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC07GeometricReduction.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n On the geometric reduction of controlled three-dimensional bipedal robotic walkers.\n \n \n \n \n\n\n \n Ames, A. D; Gregg, R.; Wendel, E.; and Sastry, S.\n\n\n \n\n\n\n In pages 183–196. Springer Berlin/Heidelberg, 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2007onthegeometric,\n  title={On the geometric reduction of controlled three-dimensional bipedal robotic walkers},\n  author={Ames, Aaron D and Gregg, Robert and Wendel, Eric and Sastry, Shankar},\n  journal={Lagrangian and Hamiltonian Methods for Nonlinear Control 2006},\n  pages={183--196},\n  year={2007},\n  publisher={Springer Berlin/Heidelberg},\n  url = {http://ames.caltech.edu/BipedReduction.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations.\n \n \n \n \n\n\n \n Ames, A. D; Abate, A.; and Sastry, S.\n\n\n \n\n\n\n In Decision and Control, 2007 46th IEEE Conference on, pages 4033–4038, 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Sufficient$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2007sufficient,\n  title={Sufficient conditions for the existence of {Z}eno behavior in a class of nonlinear hybrid systems via constant approximations},\n  author={Ames, Aaron D and Abate, Alessandro and Sastry, Shankar},\n  booktitle={Decision and Control, 2007 46th IEEE Conference on},\n  pages={4033--4038},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC07NonlinearZeno.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Discrete mechanics and optimal control applied to the compass gait biped.\n \n \n \n \n\n\n \n Pekarek, D.; Ames, A. D; and Marsden, J. E\n\n\n \n\n\n\n In Decision and Control, 2007 46th IEEE Conference on, pages 5376–5382, 2007. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Discrete$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{pekarek2007discrete,\n  title={Discrete mechanics and optimal control applied to the compass gait biped},\n  author={Pekarek, David and Ames, Aaron D and Marsden, Jerrold E},\n  booktitle={Decision and Control, 2007 46th IEEE Conference on},\n  pages={5376--5382},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/PeAmMa2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Composition of dynamical systems for estimation of human body dynamics.\n \n \n \n \n\n\n \n Ganesh, S.; Ames, A. D; and Bajcsy, R.\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 702–705. 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"Composition$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ganesh2007composition,\n  title={Composition of dynamical systems for estimation of human body dynamics},\n  author={Ganesh, Sumitra and Ames, Aaron D and Bajcsy, Ruzena},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={702--705},\n  year={2007},\n  organization={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/AmesHSCC2007.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Homotopy Meaningful Hybrid Model Structures.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n Contemporary Mathematics, 438: 121. 2007.\n \n\n\n\n
\n\n\n\n \n \n $\"Homotopy$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{ames2007homotopy,\n  title={Homotopy Meaningful Hybrid Model Structures},\n  author={Ames, Aaron D},\n  journal={Contemporary Mathematics},\n  volume={438},\n  pages={121},\n  year={2007},\n  publisher={Providence, RI; American Mathematical Society; 1999},\n  url = {http://ames.caltech.edu/AMSHybridModel.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2006} %%%%%%%%%%%\n\n

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\n \n 2006\n \n \n (13)\n \n \n

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\n \n\n \n \n \n \n \n \n Hybrid geometric reduction of hybrid systems.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In Decision and Control, IEEE Conference on, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2006hybridgeometric,\n  title={Hybrid geometric reduction of hybrid systems},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={Decision and Control, IEEE Conference on},\n  year={2006},\n  url = {http://ames.caltech.edu/hybridreduction.pdf},\n  publisher={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Approximate Reduction of Dynamical Systems.\n \n \n \n \n\n\n \n Tabuada, P.; Ames, A. D; Julius, A.; and Pappas, G.\n\n\n \n\n\n\n In Decision and Control, IEEE Conference on, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Approximate$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{tabuada2006approximate,\n  title={Approximate Reduction of Dynamical Systems},\n  author={Tabuada, Paulo and Ames, Aaron D and Julius, Agung and Pappas, George},\n  booktitle={Decision and Control, IEEE Conference on},\n  year={2006},\n  url = {http://ames.caltech.edu/ApproximateReduction.pdf},\n  publisher={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n On the stability of Zeno equilibria.\n \n \n \n \n\n\n \n Ames, A. D; Tabuada, P.; and Sastry, S.\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 34–48. 2006.\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2006stability,\n  title={On the stability of {Z}eno equilibria},\n  author={Ames, Aaron D and Tabuada, Paulo and Sastry, Shankar},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={34--48},\n  year={2006},\n  url = {http://ames.caltech.edu/AmesHSCC2006a.pdf},\n  organization={Springer, Berlin, Heidelberg}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A categorical theory of hybrid systems.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n Ph.D. Thesis, University of California, Berkeley, 2006.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@phdthesis{ames2006categorical,\n  title={A categorical theory of hybrid systems},\n  author={Ames, Aaron D},\n  year={2006},\n  school={University of California, Berkeley},\n  url = {http://ames.caltech.edu/A%20categorical%20theory.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Hybrid model structures.\n \n \n \n \n\n\n \n Ames, A. D\n\n\n \n\n\n\n Master's thesis, University of California, Berkeley, 2006.\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@mastersthesis{ames2006hybridmodel,\n  title={Hybrid model structures},\n  author={Ames, Aaron D},\n  year={2006},\n  school={University of California, Berkeley},\n  url = {http://ames.caltech.edu/Hybrid%20model%20structures.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers.\n \n \n \n \n\n\n \n Ames, A. D; Gregg, R. D.; Wendel, E. D. B.; and Sastry, S.\n\n\n \n\n\n\n In 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006. \n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2006geometricwalkers,\n  title={On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers},\n  author={Ames, Aaron D and Gregg, Robert D. and Wendel, Eric D. B. and Sastry, Shankar},\n  booktitle={3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},\n  year={2006},\n  url = {http://ames.caltech.edu/BipedReduction.pdf},\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Beyond Zeno: Get on with it!.\n \n \n \n \n\n\n \n Zheng, H.; Lee, E. A; and Ames, A. D\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 568–582. 2006.\n \n\n\n\n
\n\n\n\n \n \n $\"Beyond$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{zheng2006beyond,\n  title={Beyond {Z}eno: Get on with it!},\n  author={Zheng, Haiyang and Lee, Edward A and Ames, Aaron D},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={568--582},\n  year={2006},\n  url = {http://ames.caltech.edu/AmesHSCC2006b.pdf},\n  organization={Springer, Berlin, Heidelberg}\n}\n\n\n\n

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\n \n\n \n \n \n \n \n \n Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems.\n \n \n \n \n\n\n \n Ames, A. D; Sangiovanni-Vincentelli, A.; and Sastry, S.\n\n\n \n\n\n\n In Networked Embedded Sensing and Control, pages 127–154. Springer, Berlin, Heidelberg, 2006.\n \n\n\n\n
\n\n\n\n \n \n $\"Homogeneous$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2006homogeneous,\n  title={Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems},\n  author={Ames, Aaron D and Sangiovanni-Vincentelli, Alberto and Sastry, Shankar},\n  booktitle={Networked Embedded Sensing and Control},\n  pages={127--154},\n  year={2006},\n  url = {http://ames.caltech.edu/Ames_NESC05.pdf},\n  publisher={Springer, Berlin, Heidelberg}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Is there life after Zeno? Taking executions past the breaking (Zeno) point.\n \n \n \n \n\n\n \n Ames, A. D; Zheng, H.; Gregg, R. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, pages 6–pp, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Is$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2006there,\n  title={Is there life after {Z}eno? Taking executions past the breaking ({Z}eno) point},\n  author={Ames, Aaron D and Zheng, Haiyang and Gregg, Robert D and Sastry, Shankar},\n  booktitle={American Control Conference},\n  pages={6--pp},\n  year={2006},\n  url = {http://ames.caltech.edu/Life%20after%20Zeno.pdf},\n  organization={IEEE}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Hybrid Routhian reduction of Lagrangian hybrid systems.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, pages 6–pp, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2006routhian,\n  title={Hybrid {R}outhian reduction of {L}agrangian hybrid systems},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={American Control Conference},\n  pages={6--pp},\n  year={2006},\n  url = {http://ames.caltech.edu/HLR.pdf},\n  organization={IEEE}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n Error bounds based stochastic approximations and simulations of hybrid dynamical systems.\n \n \n \n \n\n\n \n Abate, A.; Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, pages 6–pp, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Error$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{abate2006error,\n  title={Error bounds based stochastic approximations and simulations of hybrid dynamical systems},\n  author={Abate, Alessandro and Ames, Aaron D and Sastry, Shankar},\n  booktitle={American Control Conference},\n  pages={6--pp},\n  year={2006},\n  url = {http://ames.caltech.edu/ErrorSim.pdf},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, pages 6–pp, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Hybrid$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2006hybrid,\n  title={Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={American Control Conference},\n  pages={6--pp},\n  year={2006},\n  url = {http://ames.caltech.edu/HHR.pdf},\n  organization={IEEE}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A Priori detection of Zeno behavior in communication networks modeled as hybrid systems.\n \n \n \n \n\n\n \n Abate, A.; Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, pages 6–pp, 2006. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{abate2006priori,\n  title={A Priori detection of {Z}eno behavior in communication networks modeled as hybrid systems},\n  author={Abate, Alessandro and Ames, Aaron D and Sastry, Shankar},\n  booktitle={American Control Conference},\n  pages={6--pp},\n  year={2006},\n  url = {http://ames.caltech.edu/Zeno_TCP.pdf},\n  organization={IEEE}\n}\n\n\n\n%%%%%%%%%%%%%%% year={2005} %%%%%%%%%%%\n\n\n

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\n \n 2005\n \n \n (7)\n \n \n

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\n \n\n \n \n \n \n \n \n Sufficient conditions for the existence of Zeno behavior.\n \n \n \n \n\n\n \n Ames, A. D; Abate, A.; and Sastry, S.\n\n\n \n\n\n\n In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on, pages 696–701, 2005. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Sufficient$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2005sufficient,\n  title={Sufficient conditions for the existence of {Z}eno behavior},\n  author={Ames, Aaron D and Abate, Alessandro and Sastry, Shankar},\n  booktitle={Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on},\n  pages={696--701},\n  year={2005},\n  url = {http://ames.caltech.edu/AmesCDC2005.pdf},\n  organization={IEEE}\n}\n\n\n

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\n \n\n \n \n \n \n \n \n A homology theory for hybrid systems: Hybrid homology.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 86–102. 2005.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2005homology,\n  title={A homology theory for hybrid systems: Hybrid homology},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={86--102},\n  year={2005},\n  url = {http://ames.caltech.edu/AmesHSCC2005.pdf},\n  organization={Springer, Berlin, Heidelberg}\n}\n\n

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\n \n\n \n \n \n \n \n \n Characterization of Zeno behavior in hybrid systems using homological methods.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In American Control Conference, 2005. Proceedings of the 2005, pages 1160–1165, 2005. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Characterization$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2005characterization,\n  title={Characterization of {Z}eno behavior in hybrid systems using homological methods},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={American Control Conference, 2005. Proceedings of the 2005},\n  pages={1160--1165},\n  year={2005},\n  url = {http://ames.caltech.edu/AmesACC2005.pdf},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Online safety calculations for glide-slope recapture.\n \n \n \n \n\n\n \n Sprinkle, J.; Ames, A. D; Eklund, J M.; Mitchell, I. M; and Sastry, S S.\n\n\n \n\n\n\n Innovations in Systems and Software Engineering, 1(2): 157–175. 2005.\n \n\n\n\n
\n\n\n\n \n \n $\"Online$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{sprinkle2005online,\n  title={Online safety calculations for glide-slope recapture},\n  author={Sprinkle, Jonathan and Ames, Aaron D and Eklund, J Mikael and Mitchell, Ian M and Sastry, S Shankar},\n  journal={Innovations in Systems and Software Engineering},\n  volume={1},\n  number={2},\n  pages={157--175},\n  year={2005},\n  url = {http://ames.caltech.edu/GlideSlope.pdf},\n  publisher={Springer-Verlag}\n}\n\n

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\n \n\n \n \n \n \n \n \n On the partitioning of syntax and semantics for hybrid systems tools.\n \n \n \n \n\n\n \n Sprinkle, J.; Ames, A. D; Pinto, A.; Zheng, H.; and Sastry, S S.\n\n\n \n\n\n\n In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on, pages 4694–4699, 2005. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"On$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{sprinkle2005partitioning,\n  title={On the partitioning of syntax and semantics for hybrid systems tools},\n  author={Sprinkle, Jonathan and Ames, Aaron D and Pinto, Alessandro and Zheng, Haiyang and Sastry, S Shankar},\n  booktitle={Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on},\n  pages={4694--4699},\n  year={2005},\n  url = {http://ames.caltech.edu/sprinkleCDC2005.pdf},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n Stochastic approximations of hybrid systems.\n \n \n \n \n\n\n \n Abate, A.; Ames, A. D; and Sastry, S S.\n\n\n \n\n\n\n In American Control Conference. Proceedings of the, pages 1557–1562, 2005. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Stochastic$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{abate2005stochastic,\n  title={Stochastic approximations of hybrid systems},\n  author={Abate, Alessandro and Ames, Aaron D and Sastry, S Shankar},\n  booktitle={American Control Conference. Proceedings of the},\n  pages={1557--1562},\n  year={2005},\n  url = {http://ames.caltech.edu/AmesACC2005stochastic.pdf},\n  organization={IEEE}\n}\n\n%%%%%%%%%%%%%%% year={2004} %%%%%%%%%%%\n\n

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\n \n\n \n \n \n \n \n \n H-categories and graphs.\n \n \n \n \n\n\n \n Ames, A. D; and Tabuada, P.\n\n\n \n\n\n\n 2005.\n Technical Note\n\n\n\n
\n\n\n\n \n \n $\"H-categories$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 1 download\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@misc{amesh,\n  title={H-categories and graphs},\n  author={Ames, Aaron D and Tabuada, Paulo},\n  note={Technical Note},\n  year = {2005},\n  url = {http://ames.caltech.edu/HCatGraph.pdf},\n}\n\n\n\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% 2013 %%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n

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\n \n 2004\n \n \n (2)\n \n \n

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\n \n\n \n \n \n \n \n \n Blowing up affine hybrid systems.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In Decision and Control, 2004. CDC. 43rd IEEE Conference on, volume 1, pages 473–478, 2004. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Blowing$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{ames2004blowing,\n  title={Blowing up affine hybrid systems},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={Decision and Control, 2004. CDC. 43rd IEEE Conference on},\n  volume={1},\n  pages={473--478},\n  year={2004},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/CDC_2004_Blowing_up.pdf}\n}\n\n

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\n \n\n \n \n \n \n \n \n Affine hybrid systems.\n \n \n \n \n\n\n \n Ames, A. D; and Sastry, S.\n\n\n \n\n\n\n In International Workshop on Hybrid Systems: Computation and Control, pages 16–31. 2004.\n \n\n\n\n
\n\n\n\n \n \n $\"Affine$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 3 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@incollection{ames2004affine,\n  title={Affine hybrid systems},\n  author={Ames, Aaron D and Sastry, Shankar},\n  booktitle={International Workshop on Hybrid Systems: Computation and Control},\n  pages={16--31},\n  year={2004},\n  organization={Springer, Berlin, Heidelberg},\n  url = {http://ames.caltech.edu/HSCC2004.pdf}\n}\n\n\n%%%%%%%%%%%%%%% year={2002} %%%%%%%%%%%\n\n\n\n

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\n \n 2002\n \n \n (1)\n \n \n

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\n \n\n \n \n \n \n \n Three-dimensional object recognition using invariant Euclidean signature curves.\n \n \n \n\n\n \n Ames, A. D; Jalkio, J. A; and Shakiban, C.\n\n\n \n\n\n\n In Analysis, combinatorics and computing, pages 13–23. 2002.\n \n\n\n\n
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@incollection{ames2002three,\n  title={Three-dimensional object recognition using invariant {E}uclidean signature curves},\n  author={Ames, Aaron D and Jalkio, Jeffrey A and Shakiban, Cheri},\n  booktitle={Analysis, combinatorics and computing},\n  pages={13--23},\n  year={2002},\n  organization={Nova Science Publishers, Inc.}\n}\n\n\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%% Technical Notes %%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n

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