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D\"],\"key\":\"akella2022sample\",\"id\":\"akella2022sample\",\"bibbaseid\":\"akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://ames.caltech.edu/akella2022sample.pdf\"},\"metadata\":{\"authorlinks\":{\"ames, a\":\"http://www.ames.caltech.edu/publications.html\"}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"title\":\"Safety-Critical Manipulation for Collision-Free Food Preparation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Singletary\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Guffey\"],\"firstnames\":[\"William\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Molnar\"],\"firstnames\":[\"Tamas\",\"G\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sinnet\"],\"firstnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ames\"],\"firstnames\":[\"Aaron\",\"D\"],\"suffixes\":[]}],\"journal\":\"arXiv preprint arXiv:2205.01026\",\"year\":\"2022\",\"url\":\"http://ames.caltech.edu/singletary2022safety.pdf\",\"url_video\":\"https://youtu.be/nmkbya8XBmw\",\"bibtex\":\"@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\",\"author_short\":[\"Singletary, A.\",\"Guffey, W.\",\"Molnar, T. 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  title={Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion},
  author={Ahmadi, Mohamadreza and Xiong, Xiaobin and Ames, Aaron D},
  journal={IEEE Control Systems Letters},
  volume={6},
  pages={878--883},
  year={2022},
  publisher={IEEE},
  url = {http://ames.caltech.edu/ahmadi2022risk.pdf}
}



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





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




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



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



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



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



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




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




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


%%%%%%%%%%%%%%% year={2021} %%%%%%%%%%%




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




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




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






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



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



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





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



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




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



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




@inproceedings{li2021roial,
  title={Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes},
  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},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={3212--3218},
  year={2021},
  organization={IEEE},
  url = {http://ames.caltech.edu/chen2021reactive.pdf},
  url_video = {http://ames.caltech.edu/li2021roial.mp4}
}




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



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




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



@article{sun2021online,
  title={Online learning of unknown dynamics for model-based controllers in legged locomotion},
  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},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={4},
  pages={8442--8449},
  year={2021},
  publisher={IEEE},
  url = {http://ames.caltech.edu/sun2021online.pdf},
  url_video = {http://ames.caltech.edu/sun2021online.mp4}
}



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




@article{sun2021online,
  title={Online learning of unknown dynamics for model-based controllers in legged locomotion},
  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},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={4},
  pages={8442--8449},
  year={2021},
  publisher={IEEE},
  url = {http://ames.caltech.edu/sun2021online.pdf},
  url_video = {http://ames.caltech.edu/sun2021online.mp4}
}



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



@article{huynh2021versatile,
  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},
  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},
  journal={Frontiers in Robotics and AI},
  pages={299},
  year={2021},
  publisher={Frontiers},
  url = {http://ames.caltech.edu/huynh2021versatile.pdf}
}




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





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



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



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





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





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



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



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



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



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



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



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



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




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



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



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



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





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



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



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

%%%%% Previous %%%%



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




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




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




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





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





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



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




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


%%%%%%%%%%%%%%% year={2020} %%%%%%%%%%%



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




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



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



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

%%%% Previous %%%%



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



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



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



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




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




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



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



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




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



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





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




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



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



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




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




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




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



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




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




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




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




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





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



@article{yu2020biofuel,
  title={Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces},
  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},
  journal={Science Robotics},
  volume={5},
  number={41},
  year={2020},
  publisher={Science Robotics},
  url = {http://ames.caltech.edu/yu2020biofuel.pdf},
  url_video = {http://ames.caltech.edu/yu2020biofuel.mp4}
}




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





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



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




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





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





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



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



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





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





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





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





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






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





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


%%%%%%%%%%%%%%% year={2019} %%%%%%%%%%%





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








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





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





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




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



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




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



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




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





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




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








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





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



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




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




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




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




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




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



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



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




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



%%%%%%%%%%%%%%% year={2018} %%%%%%%%%%%






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



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



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

}






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






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



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




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





@inproceedings{gurriet2018exo,
  title={Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons},
  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},
  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={2804--2811},
  year={2018},
  organization={IEEE},
  url = {http://ames.caltech.edu/exo-icra_2018.pdf},
  url_video = {https://youtu.be/V30HsyUD4fs},
}





@inproceedings{nilsson2018toward,
  title={Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.},
  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},
  booktitle={Robotics: Science and systems},
  year={2018},
  url =   {http://ames.caltech.edu/mars_rss18.pdf},
  url_video =  {https://youtu.be/ZKKFOiXSeaw}
}






@inproceedings{haesaert2018temporal,
  title={Temporal logic control of POMDPs via label-based stochastic simulation relations},
  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},
  booktitle ={IFAC Conference on Analysis and Design of Hybrid Systems (ADHS)},
  volume={51},
  number={16},
  pages={271--276},
  year={2018},
  publisher={Elsevier},
  url  =  {http://ames.caltech.edu/hetal_adhs18.pdf},
}



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




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





@article{harib2018feedback,
  title={Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking},
  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},
  journal={IEEE Control Systems Magazine},
  volume={38},
  number={6},
  pages={61--87},
  year={2018},
  publisher={IEEE},
  url = {http://ames.caltech.edu/harib2018feedback.pdf}
}



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





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





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







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




%%%%%%%%%%%%%%% year={2017} %%%%%%%%%%%



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





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




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




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






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




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




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



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



@article{agrawal2017first,
  title={First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons},
  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},
  journal={IEEE Access},
  volume={5},
  pages={9919--9934},
  year={2017},
  publisher={IEEE},
  url = {http://ames.caltech.edu/agrawal2017first.pdf},
  keywords = {Exoskeletons, Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), ATALANTE}
}



@article{ames2017first,
  title={First steps toward formal controller synthesis for bipedal robots with experimental implementation},
  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},
  journal={Nonlinear Analysis: Hybrid Systems},
  volume={25},
  pages={155--173},
  year={2017},
  publisher={Elsevier},
  url = {http://ames.caltech.edu/ames2017first.pdf},
  url_video = {https://youtu.be/UKuI7cEOEzs},
  keywords = {Formal Methods, Locomotion, Bipedal Robotics, Hybrid Zero Dynamics (HZD), AMBER}
}



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



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




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



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



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



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



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



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



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



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



@inproceedings{xu2017realizing,
  title={Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds},
  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},
  booktitle={Control Technology and Applications (CCTA), 2017 IEEE Conference on},
  pages={1769--1775},
  year={2017},
  organization={IEEE},
  url = {http://ames.caltech.edu/xu2017realizing.pdf},
  url_video = {https://youtu.be/VgoEcOFwJ2M},
  keywords = {Automotive Systems, Cyber-Physical Systems (CPS), Control Barrier Functions (CBFs), Safety-Critical Control, Optimization-based Control, Control Lyapunov Functions (CLFs)}
}





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





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






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





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




%%%%%%%%%%%%%%% year={2016} %%%%%%%%%%%



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



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




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



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



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



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



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



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



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




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




@article{nilsson2016correct,
  title={Correct-by-construction adaptive cruise control: Two approaches},
  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},
  journal={IEEE Transactions on Control Systems Technology},
  volume={24},
  number={4},
  pages={1294--1307},
  year={2016},
  publisher={IEEE},
  url = {http://ames.caltech.edu/Nilsson_tcst16.pdf}
}





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









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








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



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





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




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






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



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




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



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



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



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


%%%%%%%%%%%%%%% year={2015} %%%%%%%%%%%



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



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




@inproceedings{ames2015first,
  title={First steps toward formal controller synthesis for bipedal robots},
  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},
  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},
  pages={209--218},
  year={2015},
  organization={ACM},
  url = {http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf}
}





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



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



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



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



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



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





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



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



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



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



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



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



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

}



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



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



@article{radford2015valkyrie,
  title={Valkyrie: {NASA}'s first bipedal humanoid robot},
  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},
  journal={Journal of Field Robotics},
  volume={32},
  number={3},
  pages={397--419},
  year={2015},
  url = {http://ames.caltech.edu/Val-NASA-JFR-Final.pdf}
}




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


%%%%%%%%%%%%%%% year={2014} %%%%%%%%%%%



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



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





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





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




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



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



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



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



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




@inproceedings{nilsson2014preliminary,
  title={Preliminary results on correct-by-construction control software synthesis for adaptive cruise control},
  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},
  booktitle={Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},
  pages={816--823},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDC_formal_methods.pdf}
}



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




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



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



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



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




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



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



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


%%%%%%%%%%%%%%% year={2013} %%%%%%%%%%%



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





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



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



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



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



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




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



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



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



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





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

%%%%%%%%%%%%%%% year={2012} %%%%%%%%%%%






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



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



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



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



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



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



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




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



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



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



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



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



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


%%%%%%%%%%%%%%% year={2011} %%%%%%%%%%%



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



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



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




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





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




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





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



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



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

%%%%%%%%%%%%%%% year={2010} %%%%%%%%%%%




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




@inproceedings{zhu2010mathematical,
  title={Mathematical equations as executable models of mechanical systems},
  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},
  booktitle={Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems},
  pages={1--11},
  year={2010},
  organization={ACM},
  url = {http://ames.caltech.edu/Walid_paper.pdf}
}



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

%%%%%%%%%%%%%%% year={2009} %%%%%%%%%%%





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

}



@inproceedings{sinnet20092d,
  title={{2D} bipedal walking with knees and feet: A hybrid control approach},
  author={Sinnet, Ryan W and Ames, Aaron D},
  booktitle={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},
  year={2009},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDCryan2d.pdf}
}



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



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



@inproceedings{sinnet20093d,
  title={{3D} bipedal walking with knees and feet: A hybrid geometric approach},
  author={Sinnet, Ryan W and Ames, Aaron D},
  booktitle={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},
  year={2009},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDCryan3d.pdf}
}


%%%%%%%%%%%%%%% year={2008} %%%%%%%%%%%



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



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




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



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



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

%%%%%%%%%%%%%%% year={2007} %%%%%%%%%%%




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



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



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



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



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



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



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



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


%%%%%%%%%%%%%%% year={2006} %%%%%%%%%%%



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



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



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




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



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



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




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





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




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




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




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



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




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



%%%%%%%%%%%%%%% year={2005} %%%%%%%%%%%




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




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



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



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



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



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

%%%%%%%%%%%%%%% year={2004} %%%%%%%%%%%



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



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


%%%%%%%%%%%%%%% year={2002} %%%%%%%%%%%





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


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% Technical Notes %%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



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




%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2013 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2015 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2016 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



@misc{pickem2016safe,
  title={Safe, remote-access swarm robotics research on the {R}obotarium},
  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},
  howpublished={arXiv preprint arXiv:1604.00640},
  year={2016},
  url = {http://ames.caltech.edu/pickem2016safe.pdf}
}




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




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



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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2018 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2019 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%




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




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









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





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


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2020 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%






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



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



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







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



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



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








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



%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%% 2021 %%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%





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





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




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



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



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







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



@misc{cosner2021safety,
  title={Safety-Aware Preference-Based Learning for Safety-Critical Control},
  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},
  journal={arXiv preprint arXiv:2112.08516},
  year={2021},
  url = {http://ames.caltech.edu/cosner2021safety.pdf},
  url_video = {https://youtu.be/QEuwRDTG7TE}
}




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



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



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



@misc{cosner2022self,
  title={Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision},
  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},
  journal={arXiv preprint arXiv:2203.01404},
  year={2022},
  url = {http://ames.caltech.edu/cosner2022self.pdf},
  url_video = {https://vimeo.com/605281037}
}



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



@misc{galliker2022bipedal,
  title={Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics},
  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},
  journal={arXiv preprint arXiv:2203.07429},
  year={2022},
  url = {http://ames.caltech.edu/galliker2022bipedal.pdf},
  url_video = {https://youtu.be/3g8ZNsCWdOA}
}



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



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



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



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



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




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





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



@misc{singletary2022safety,
  title={Safety-Critical Manipulation for Collision-Free Food Preparation},
  author={Singletary, Andrew and Guffey, William and Molnar, Tamas G and Sinnet, Ryan and Ames, Aaron D},
  journal={arXiv preprint arXiv:2205.01026},
  year={2022},
  url = {http://ames.caltech.edu/singletary2022safety.pdf},
  url_video = {https://youtu.be/nmkbya8XBmw}
}
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D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 6: 878–883.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2022risk.pdf\"\n     onclick=\"log_download('ahmadi-xiong-ames-riskaversecontrolviacvarbarrierfunctionsapplicationtobipedalrobotlocomotion-2022', 'http://ames.caltech.edu/ahmadi2022risk.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-xiong-ames-riskaversecontrolviacvarbarrierfunctionsapplicationtobipedalrobotlocomotion-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>95 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-xiong-ames-riskaversecontrolviacvarbarrierfunctionsapplicationtobipedalrobotlocomotion-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2022interactive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022', 'http://ames.caltech.edu/chen2022interactive.pdf', event);\">\n    Interactive multi-modal motion planning with Branch Model Predictive Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Rosolia, U.; Ubellacker, W.; Csomay-Shanklin, N.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(2): 5365–5372.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2022interactive.pdf\"\n     onclick=\"log_download('chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022', 'http://ames.caltech.edu/chen2022interactive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Interactive multi-modal motion planning with Branch Model Predictive Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/W3jzoMjAZsQ\"\n     onclick=\"log_download('chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022', 'https://youtu.be/W3jzoMjAZsQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Interactive multi-modal motion planning with Branch Model Predictive Control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-rosolia-ubellacker-csomayshanklin-ames-interactivemultimodalmotionplanningwithbranchmodelpredictivecontrol-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/li2022natural.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022', 'http://ames.caltech.edu/li2022natural.pdf', event);\">\n    Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Li, K.; Tucker, M.; Gehlhar, R.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(2): 4283–4290.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/li2022natural.pdf\"\n     onclick=\"log_download('li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022', 'http://ames.caltech.edu/li2022natural.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/gNL0cG1zqS4\"\n     onclick=\"log_download('li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022', 'https://youtu.be/gNL0cG1zqS4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('li-tucker-gehlhar-yue-ames-naturalmulticontactwalkingforroboticassistivedevicesviamusculoskeletalmodelsandhybridzerodynamics-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/molnar2022model.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022', 'http://ames.caltech.edu/molnar2022model.pdf', event);\">\n    Model-free safety-critical control for robotic systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Molnar, T. G; Cosner, R. K; Singletary, A. W; Ubellacker, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(2): 944–951.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/molnar2022model.pdf\"\n     onclick=\"log_download('molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022', 'http://ames.caltech.edu/molnar2022model.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Model-free safety-critical control for robotic systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/vNcc5vgswx0\"\n     onclick=\"log_download('molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022', 'https://youtu.be/vNcc5vgswx0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Model-free safety-critical control for robotic systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('molnar-cosner-singletary-ubellacker-ames-modelfreesafetycriticalcontrolforroboticsystems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2022onboard.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/singletary2022onboard.pdf', event);\">\n    Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Swann, A.; Chen, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2022onboard.pdf\"\n     onclick=\"log_download('singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/singletary2022onboard.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/_sCoAdBrgJw\"\n     onclick=\"log_download('singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022', 'https://youtu.be/_sCoAdBrgJw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-swann-chen-ames-onboardsafetyguaranteesforracingdroneshighspeedgeofencingwithcontrolbarrierfunctions-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-ames-disturbanceboundsforsignaltemporallogictasksatisfactionadynamicsperspective-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2022disturbance.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-ames-disturbanceboundsforsignaltemporallogictasksatisfactionadynamicsperspective-2022', 'http://ames.caltech.edu/akella2022disturbance.pdf', event);\">\n    Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 6: 2018–2023.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2022disturbance.pdf\"\n     onclick=\"log_download('akella-ames-disturbanceboundsforsignaltemporallogictasksatisfactionadynamicsperspective-2022', 'http://ames.caltech.edu/akella2022disturbance.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-ames-disturbanceboundsforsignaltemporallogictasksatisfactionadynamicsperspective-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-ames-disturbanceboundsforsignaltemporallogictasksatisfactionadynamicsperspective-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/fawcett2022robust.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022', 'http://ames.caltech.edu/fawcett2022robust.pdf', event);\">\n    Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Fawcett, R. T; Pandala, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Hamed, K. A.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 6: 1736–1741.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/fawcett2022robust.pdf\"\n     onclick=\"log_download('fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022', 'http://ames.caltech.edu/fawcett2022robust.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/0A7mJvVnSn8\"\n     onclick=\"log_download('fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022', 'https://youtu.be/0A7mJvVnSn8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('fawcett-pandala-ames-hamed-robuststabilizationofperiodicgaitsforquadrupedallocomotionviaqpbasedvirtualconstraintcontrollers-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/agrawal2022constructive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022', 'http://ames.caltech.edu/agrawal2022constructive.pdf', event);\">\n    A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Agrawal, D. R; Parwana, H.; Cosner, R. K; Rosolia, U.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Panagou, D.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 6: 2138–2143.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/agrawal2022constructive.pdf\"\n     onclick=\"log_download('agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022', 'http://ames.caltech.edu/agrawal2022constructive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/1IuUIOUQ9g4\"\n     onclick=\"log_download('agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022', 'https://youtu.be/1IuUIOUQ9g4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('agrawal-parwana-cosner-rosolia-ames-panagou-aconstructivemethodfordesigningsafemultiratecontrollersfordifferentiallyflatsystems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gehlhar2022powered.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022', 'http://ames.caltech.edu/gehlhar2022powered.pdf', event);\">\n    Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.; Yang, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(2): 5151–5158.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2022powered.pdf\"\n     onclick=\"log_download('gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022', 'http://ames.caltech.edu/gehlhar2022powered.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/iGVM-hS9pHc\"\n     onclick=\"log_download('gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022', 'https://youtu.be/iGVM-hS9pHc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-yang-ames-poweredprosthesislocomotiononvaryingterrainsmodeldependentcontrolwithrealtimeforcesensing-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kamidi2022distributed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022', 'http://ames.caltech.edu/kamidi2022distributed.pdf', event);\">\n    Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kamidi, V. R; Kim, J.; Fawcett, R. T; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Hamed, K. A.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kamidi2022distributed.pdf\"\n     onclick=\"log_download('kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022', 'http://ames.caltech.edu/kamidi2022distributed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/VoYYCZrJOps\"\n     onclick=\"log_download('kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022', 'https://youtu.be/VoYYCZrJOps', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kamidi-kim-fawcett-ames-hamed-distributedquadraticprogrammingbasednonlinearcontrollersforperiodicgaitsonleggedrobots-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong20223.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022', 'http://ames.caltech.edu/xiong20223.pdf', event);\">\n    3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong20223.pdf\"\n     onclick=\"log_download('xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022', 'http://ames.caltech.edu/xiong20223.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=qEp1RUf6X-U\"\n     onclick=\"log_download('xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022', 'https://www.youtube.com/watch?v=qEp1RUf6X-U', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-3dunderactuatedbipedalwalkingviahlipbasedgaitsynthesisandsteppingstabilization-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2022test.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022', 'http://ames.caltech.edu/akella2022test.pdf', event);\">\n    Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.; Ubellacker, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2022test.pdf\"\n     onclick=\"log_download('akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022', 'http://ames.caltech.edu/akella2022test.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/uAjEEWIAg3I\"\n     onclick=\"log_download('akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022', 'https://youtu.be/uAjEEWIAg3I', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-ubellacker-ames-testandevaluationofquadrupedalwalkinggaitsthroughsim2realgapquantification-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rodriguez-ames-yue-lyanetalyapunovframeworkfortrainingneuralodes-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rodriguez2022lyanet.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rodriguez-ames-yue-lyanetalyapunovframeworkfortrainingneuralodes-2022', 'http://ames.caltech.edu/rodriguez2022lyanet.pdf', event);\">\n    LyaNet: A Lyapunov Framework for Training Neural ODEs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rodriguez, I. D. J.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Yue, Y.\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rodriguez2022lyanet.pdf\"\n     onclick=\"log_download('rodriguez-ames-yue-lyanetalyapunovframeworkfortrainingneuralodes-2022', 'http://ames.caltech.edu/rodriguez2022lyanet.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"LyaNet: A Lyapunov Framework for Training Neural ODEs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rodriguez-ames-yue-lyanetalyapunovframeworkfortrainingneuralodes-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rodriguez-ames-yue-lyanetalyapunovframeworkfortrainingneuralodes-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-ames-abarrierbasedscenarioapproachtoverifysafetycriticalsystems-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2022barrier.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-ames-abarrierbasedscenarioapproachtoverifysafetycriticalsystems-2022', 'http://ames.caltech.edu/akella2022barrier.pdf', event);\">\n    A Barrier-Based Scenario Approach to Verify Safety-Critical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2022barrier.pdf\"\n     onclick=\"log_download('akella-ames-abarrierbasedscenarioapproachtoverifysafetycriticalsystems-2022', 'http://ames.caltech.edu/akella2022barrier.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Barrier-Based Scenario Approach to Verify Safety-Critical Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-ames-abarrierbasedscenarioapproachtoverifysafetycriticalsystems-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-ames-abarrierbasedscenarioapproachtoverifysafetycriticalsystems-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cosner2022self.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022', 'http://ames.caltech.edu/cosner2022self.pdf', event);\">\n    Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cosner, R. K; Rodriguez, I. D J.; Molnar, T. G; Ubellacker, W.; Yue, Y.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Bouman, K. L\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cosner2022self.pdf\"\n     onclick=\"log_download('cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022', 'http://ames.caltech.edu/cosner2022self.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/605281037\"\n     onclick=\"log_download('cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022', 'https://vimeo.com/605281037', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cosner-rodriguez-molnar-ubellacker-yue-ames-bouman-selfsupervisedonlinelearningforsafetycriticalcontrolusingstereovision-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-ahmadi-ames-ascenarioapproachtoriskawaresafetycriticalsystemverification-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2022scenario.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-ahmadi-ames-ascenarioapproachtoriskawaresafetycriticalsystemverification-2022', 'http://ames.caltech.edu/akella2022scenario.pdf', event);\">\n    A Scenario Approach to Risk-Aware Safety-Critical System Verification.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.; Ahmadi, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2022scenario.pdf\"\n     onclick=\"log_download('akella-ahmadi-ames-ascenarioapproachtoriskawaresafetycriticalsystemverification-2022', 'http://ames.caltech.edu/akella2022scenario.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Scenario Approach to Risk-Aware Safety-Critical System Verification [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-ahmadi-ames-ascenarioapproachtoriskawaresafetycriticalsystemverification-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-ahmadi-ames-ascenarioapproachtoriskawaresafetycriticalsystemverification-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/galliker2022bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022', 'http://ames.caltech.edu/galliker2022bipedal.pdf', event);\">\n    Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Galliker, M. Y; Csomay-Shanklin, N.; Grandia, R.; Taylor, A. J; Farshidian, F.; Hutter, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/galliker2022bipedal.pdf\"\n     onclick=\"log_download('galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022', 'http://ames.caltech.edu/galliker2022bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/3g8ZNsCWdOA\"\n     onclick=\"log_download('galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022', 'https://youtu.be/3g8ZNsCWdOA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('galliker-csomayshanklin-grandia-taylor-farshidian-hutter-ames-bipedallocomotionwithnonlinearmodelpredictivecontrolonlinegaitgenerationusingwholebodydynamics-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-dorobantu-cosner-yue-ames-safetyofsampleddatasystemswithcontrolbarrierfunctionsviaapproximatediscretetimemodels-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2022safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-dorobantu-cosner-yue-ames-safetyofsampleddatasystemswithcontrolbarrierfunctionsviaapproximatediscretetimemodels-2022', 'http://ames.caltech.edu/taylor2022safety.pdf', event);\">\n    Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Dorobantu, V. D; Cosner, R. K; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2022safety.pdf\"\n     onclick=\"log_download('taylor-dorobantu-cosner-yue-ames-safetyofsampleddatasystemswithcontrolbarrierfunctionsviaapproximatediscretetimemodels-2022', 'http://ames.caltech.edu/taylor2022safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-dorobantu-cosner-yue-ames-safetyofsampleddatasystemswithcontrolbarrierfunctionsviaapproximatediscretetimemodels-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-dorobantu-cosner-yue-ames-safetyofsampleddatasystemswithcontrolbarrierfunctionsviaapproximatediscretetimemodels-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-ahmadi-ames-safecontrolfornonlinearsystemswithstochasticuncertaintyviariskcontrolbarrierfunctions-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2022safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-ahmadi-ames-safecontrolfornonlinearsystemswithstochasticuncertaintyviariskcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/singletary2022safe.pdf', event);\">\n    Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Ahmadi, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2022safe.pdf\"\n     onclick=\"log_download('singletary-ahmadi-ames-safecontrolfornonlinearsystemswithstochasticuncertaintyviariskcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/singletary2022safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-ahmadi-ames-safecontrolfornonlinearsystemswithstochasticuncertaintyviariskcontrolbarrierfunctions-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-ahmadi-ames-safecontrolfornonlinearsystemswithstochasticuncertaintyviariskcontrolbarrierfunctions-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"csomayshanklin-taylor-rosolia-ames-multirateplanningandcontrolofuncertainnonlinearsystemsmodelpredictivecontrolandcontrollyapunovfunctions-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/csomay2022multi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'csomayshanklin-taylor-rosolia-ames-multirateplanningandcontrolofuncertainnonlinearsystemsmodelpredictivecontrolandcontrollyapunovfunctions-2022', 'http://ames.caltech.edu/csomay2022multi.pdf', event);\">\n    Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Csomay-Shanklin, N.; Taylor, A. J; Rosolia, U.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/csomay2022multi.pdf\"\n     onclick=\"log_download('csomayshanklin-taylor-rosolia-ames-multirateplanningandcontrolofuncertainnonlinearsystemsmodelpredictivecontrolandcontrollyapunovfunctions-2022', 'http://ames.caltech.edu/csomay2022multi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/csomayshanklin-taylor-rosolia-ames-multirateplanningandcontrolofuncertainnonlinearsystemsmodelpredictivecontrolandcontrollyapunovfunctions-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('csomayshanklin-taylor-rosolia-ames-multirateplanningandcontrolofuncertainnonlinearsystemsmodelpredictivecontrolandcontrollyapunovfunctions-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-ong-molnar-ames-safebacksteppingwithcontrolbarrierfunctions-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2022safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-ong-molnar-ames-safebacksteppingwithcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/taylor2022safe.pdf', event);\">\n    Safe Backstepping with Control Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Ong, P.; Molnar, T. G;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2022safe.pdf\"\n     onclick=\"log_download('taylor-ong-molnar-ames-safebacksteppingwithcontrolbarrierfunctions-2022', 'http://ames.caltech.edu/taylor2022safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe Backstepping with Control Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-ong-molnar-ames-safebacksteppingwithcontrolbarrierfunctions-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-ong-molnar-ames-safebacksteppingwithcontrolbarrierfunctions-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ong-bahati-ames-stabilityandsafetythrougheventtriggeredintermittentcontrolwithapplicationtospacecraftorbitstabilization-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ong2022stability.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ong-bahati-ames-stabilityandsafetythrougheventtriggeredintermittentcontrolwithapplicationtospacecraftorbitstabilization-2022', 'http://ames.caltech.edu/ong2022stability.pdf', event);\">\n    Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ong, P.; Bahati, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ong2022stability.pdf\"\n     onclick=\"log_download('ong-bahati-ames-stabilityandsafetythrougheventtriggeredintermittentcontrolwithapplicationtospacecraftorbitstabilization-2022', 'http://ames.caltech.edu/ong2022stability.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ong-bahati-ames-stabilityandsafetythrougheventtriggeredintermittentcontrolwithapplicationtospacecraftorbitstabilization-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ong-bahati-ames-stabilityandsafetythrougheventtriggeredintermittentcontrolwithapplicationtospacecraftorbitstabilization-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rodriguez2022neural.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022', 'http://ames.caltech.edu/rodriguez2022neural.pdf', event);\">\n    Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rodriguez, I. D. J.; Csomay-Shanklin, N.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rodriguez2022neural.pdf\"\n     onclick=\"log_download('rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022', 'http://ames.caltech.edu/rodriguez2022neural.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/8TeXd0AYtpA\"\n     onclick=\"log_download('rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022', 'https://youtu.be/8TeXd0AYtpA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rodriguez-csomayshanklin-yue-ames-neuralgaitslearningbipedallocomotionviacontrolbarrierfunctionsandzerodynamicspolicies-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2022sample.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022', 'http://ames.caltech.edu/akella2022sample.pdf', event);\">\n    Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.; Dixit, A.; Ahmadi, M.; Burdick, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2022sample.pdf\"\n     onclick=\"log_download('akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022', 'http://ames.caltech.edu/akella2022sample.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-dixit-ahmadi-burdick-ames-samplebasedboundsforcoherentriskmeasuresapplicationstopolicysynthesisandverification-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2022safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022', 'http://ames.caltech.edu/singletary2022safety.pdf', event);\">\n    Safety-Critical Manipulation for Collision-Free Food Preparation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Guffey, W.; Molnar, T. G; Sinnet, R.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2022safety.pdf\"\n     onclick=\"log_download('singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022', 'http://ames.caltech.edu/singletary2022safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Critical Manipulation for Collision-Free Food Preparation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/nmkbya8XBmw\"\n     onclick=\"log_download('singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022', 'https://youtu.be/nmkbya8XBmw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety-Critical Manipulation for Collision-Free Food Preparation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-guffey-molnar-sinnet-ames-safetycriticalmanipulationforcollisionfreefoodpreparation-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (53)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"rodriguez-rosolia-ames-yue-learningtocontrolanunstablesystemwithoneminuteofdataleveraginggaussianprocessdifferentiationinpredictivecontrol-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rodriguez2021learning.mp4\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rodriguez-rosolia-ames-yue-learningtocontrolanunstablesystemwithoneminuteofdataleveraginggaussianprocessdifferentiationinpredictivecontrol-2021', 'http://ames.caltech.edu/rodriguez2021learning.mp4', event);\">\n    Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rodriguez, I. D J.; Rosolia, U.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Yue, Y.\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 3896–3903,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rodriguez2021learning.mp4\"\n     onclick=\"log_download('rodriguez-rosolia-ames-yue-learningtocontrolanunstablesystemwithoneminuteofdataleveraginggaussianprocessdifferentiationinpredictivecontrol-2021', 'http://ames.caltech.edu/rodriguez2021learning.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rodriguez-rosolia-ames-yue-learningtocontrolanunstablesystemwithoneminuteofdataleveraginggaussianprocessdifferentiationinpredictivecontrol-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rodriguez-rosolia-ames-yue-learningtocontrolanunstablesystemwithoneminuteofdataleveraginggaussianprocessdifferentiationinpredictivecontrol-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cosner2021measurement.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021', 'http://ames.caltech.edu/cosner2021measurement.pdf', event);\">\n    Measurement-robust control barrier functions: Certainty in safety with uncertainty in state.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cosner, R. K; Singletary, A. W; Taylor, A. J; Molnar, T. G; Bouman, K. L;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 6286–6291,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cosner2021measurement.pdf\"\n     onclick=\"log_download('cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021', 'http://ames.caltech.edu/cosner2021measurement.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Measurement-robust control barrier functions: Certainty in safety with uncertainty in state [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/520247516\"\n     onclick=\"log_download('cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021', 'https://vimeo.com/520247516', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Measurement-robust control barrier functions: Certainty in safety with uncertainty in state [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cosner-singletary-taylor-molnar-bouman-ames-measurementrobustcontrolbarrierfunctionscertaintyinsafetywithuncertaintyinstate-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ubellacker2021verifying.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021', 'http://ames.caltech.edu/ubellacker2021verifying.pdf', event);\">\n    Verifying safe transitions between dynamic motion primitives on legged robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ubellacker, W.; Csomay-Shanklin, N.; Molnar, T. G;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 8477–8484,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ubellacker2021verifying.pdf\"\n     onclick=\"log_download('ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021', 'http://ames.caltech.edu/ubellacker2021verifying.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Verifying safe transitions between dynamic motion primitives on legged robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=3vsk00a4XBg\"\n     onclick=\"log_download('ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021', 'https://www.youtube.com/watch?v=3vsk00a4XBg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Verifying safe transitions between dynamic motion primitives on legged robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>20 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ubellacker-csomayshanklin-molnar-ames-verifyingsafetransitionsbetweendynamicmotionprimitivesonleggedrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-chen-ames-robustdisturbancerejectionforroboticbipedalwalkingsystemlevelsynthesiswithsteptostepdynamicsapproximation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2021robust.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-chen-ames-robustdisturbancerejectionforroboticbipedalwalkingsystemlevelsynthesiswithsteptostepdynamicsapproximation-2021', 'http://ames.caltech.edu/xiong2021robust.pdf', event);\">\n    Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.; Chen, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 60th IEEE Conference on Decision and Control (CDC)</i>, pages 697–704,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2021robust.pdf\"\n     onclick=\"log_download('xiong-chen-ames-robustdisturbancerejectionforroboticbipedalwalkingsystemlevelsynthesiswithsteptostepdynamicsapproximation-2021', 'http://ames.caltech.edu/xiong2021robust.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-chen-ames-robustdisturbancerejectionforroboticbipedalwalkingsystemlevelsynthesiswithsteptostepdynamicsapproximation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-chen-ames-robustdisturbancerejectionforroboticbipedalwalkingsystemlevelsynthesiswithsteptostepdynamicsapproximation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-ames-estimatetostatestabilityforhybridhumanprosthesissystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2021robust.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-ames-estimatetostatestabilityforhybridhumanprosthesissystems-2021', 'http://ames.caltech.edu/xiong2021robust.pdf', event);\">\n    Estimate-to-state stability for hybrid human-prosthesis systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 60th IEEE Conference on Decision and Control (CDC)</i>, pages 705–712,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2021robust.pdf\"\n     onclick=\"log_download('gehlhar-ames-estimatetostatestabilityforhybridhumanprosthesissystems-2021', 'http://ames.caltech.edu/xiong2021robust.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Estimate-to-state stability for hybrid human-prosthesis systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-ames-estimatetostatestabilityforhybridhumanprosthesissystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-ames-estimatetostatestabilityforhybridhumanprosthesissystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ambrose, E.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 7073–7078,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-dorobantu-dean-recht-yue-ames-towardsrobustdatadrivencontrolsynthesisfornonlinearsystemswithactuationuncertainty-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2021towards.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-dorobantu-dean-recht-yue-ames-towardsrobustdatadrivencontrolsynthesisfornonlinearsystemswithactuationuncertainty-2021', 'http://ames.caltech.edu/taylor2021towards.pdf', event);\">\n    Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Dorobantu, V. D; Dean, S.; Recht, B.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 60th IEEE Conference on Decision and Control (CDC)</i>, pages 6469–6476,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2021towards.pdf\"\n     onclick=\"log_download('taylor-dorobantu-dean-recht-yue-ames-towardsrobustdatadrivencontrolsynthesisfornonlinearsystemswithactuationuncertainty-2021', 'http://ames.caltech.edu/taylor2021towards.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-dorobantu-dean-recht-yue-ames-towardsrobustdatadrivencontrolsynthesisfornonlinearsystemswithactuationuncertainty-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-dorobantu-dean-recht-yue-ames-towardsrobustdatadrivencontrolsynthesisfornonlinearsystemswithactuationuncertainty-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/tucker2021preference.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021', 'http://ames.caltech.edu/tucker2021preference.pdf', event);\">\n    Preference-based learning for user-guided HZD gait generation on bipedal walking robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tucker, M.; Csomay-Shanklin, N.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2804–2810,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/tucker2021preference.pdf\"\n     onclick=\"log_download('tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021', 'http://ames.caltech.edu/tucker2021preference.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Preference-based learning for user-guided HZD gait generation on bipedal walking robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/tucker2021preference.mp4\"\n     onclick=\"log_download('tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021', 'http://ames.caltech.edu/tucker2021preference.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Preference-based learning for user-guided HZD gait generation on bipedal walking robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>17 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tucker-csomayshanklin-ma-ames-preferencebasedlearningforuserguidedhzdgaitgenerationonbipedalwalkingrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gehlhar2021model.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021', 'http://ames.caltech.edu/gehlhar2021model.pdf', event);\">\n    Model-dependent prosthesis control with interaction force estimation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 3226–3232,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2021model.pdf\"\n     onclick=\"log_download('gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021', 'http://ames.caltech.edu/gehlhar2021model.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Model-dependent prosthesis control with interaction force estimation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2021model.mp4\"\n     onclick=\"log_download('gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021', 'http://ames.caltech.edu/gehlhar2021model.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Model-dependent prosthesis control with interaction force estimation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>17 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-ames-modeldependentprosthesiscontrolwithinteractionforceestimation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2021reactive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021', 'http://ames.caltech.edu/chen2021reactive.pdf', event);\">\n    Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Li, K.; Tucker, M.; Bıyık, E.; Novoseller, E.; Burdick, J. W; Sui, Y.; Sadigh, D.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 3212–3218,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2021reactive.pdf\"\n     onclick=\"log_download('li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021', 'http://ames.caltech.edu/chen2021reactive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/li2021roial.mp4\"\n     onclick=\"log_download('li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021', 'http://ames.caltech.edu/li2021roial.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('li-tucker-byk-novoseller-burdick-sui-sadigh-yue-etal-roialregionofinterestactivelearningforcharacterizingexoskeletongaitpreferencelandscapes-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grandia2021multi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021', 'http://ames.caltech.edu/grandia2021multi.pdf', event);\">\n    Multi-layered safety for legged robots via control barrier functions and model predictive control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grandia, R.; Taylor, A. J; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 8352–8358,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grandia2021multi.pdf\"\n     onclick=\"log_download('grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021', 'http://ames.caltech.edu/grandia2021multi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-layered safety for legged robots via control barrier functions and model predictive control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/grandia2021multi.mp4\"\n     onclick=\"log_download('grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021', 'http://ames.caltech.edu/grandia2021multi.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-layered safety for legged robots via control barrier functions and model predictive control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/TCDIirXfByE\"\n     onclick=\"log_download('grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021', 'https://youtu.be/TCDIirXfByE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-layered safety for legged robots via control barrier functions and model predictive control [link]\"\n       title=\" video youtube\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video youtube</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grandia-taylor-ames-hutter-multilayeredsafetyforleggedrobotsviacontrolbarrierfunctionsandmodelpredictivecontrol-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2021inversewalk.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021', 'http://ames.caltech.edu/reher2021inversewalk.pdf', event);\">\n    Inverse dynamics control of compliant hybrid zero dynamic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2040–2047,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2021inversewalk.pdf\"\n     onclick=\"log_download('reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021', 'http://ames.caltech.edu/reher2021inversewalk.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Inverse dynamics control of compliant hybrid zero dynamic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/H9r-GKkYDRs\"\n     onclick=\"log_download('reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021', 'https://youtu.be/H9r-GKkYDRs', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Inverse dynamics control of compliant hybrid zero dynamic walking [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-ames-inversedynamicscontrolofcomplianthybridzerodynamicwalking-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ambrose2021towards.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021', 'http://ames.caltech.edu/ambrose2021towards.pdf', event);\">\n    Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ambrose, E.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 7073–7078,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ambrose2021towards.pdf\"\n     onclick=\"log_download('ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021', 'http://ames.caltech.edu/ambrose2021towards.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ambrose2021towards.mp4\"\n     onclick=\"log_download('ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021', 'http://ames.caltech.edu/ambrose2021towards.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ambrose-ma-ames-towardstheunificationofsystemdesignandmotionsynthesisforhighperformancehoppingrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/sun2021online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.pdf', event);\">\n    Online learning of unknown dynamics for model-based controllers in legged locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sun, Y.; Ubellacker, W. L; Ma, W.; Zhang, X.; Wang, C.; Csomay-Shanklin, N. V; Tomizuka, M.; Sreenath, K.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 6(4): 8442–8449.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/sun2021online.pdf\"\n     onclick=\"log_download('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online learning of unknown dynamics for model-based controllers in legged locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/sun2021online.mp4\"\n     onclick=\"log_download('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Online learning of unknown dynamics for model-based controllers in legged locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.pdf', event);\">\n    Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.; Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2825–2831,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.pdf\"\n     onclick=\"log_download('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.mp4\"\n     onclick=\"log_download('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/sun2021online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.pdf', event);\">\n    Online learning of unknown dynamics for model-based controllers in legged locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sun, Y.; Ubellacker, W. L; Ma, W.; Zhang, X.; Wang, C.; Csomay-Shanklin, N. V; Tomizuka, M.; Sreenath, K.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 6(4): 8442–8449.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/sun2021online.pdf\"\n     onclick=\"log_download('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online learning of unknown dynamics for model-based controllers in legged locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/sun2021online.mp4\"\n     onclick=\"log_download('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021', 'http://ames.caltech.edu/sun2021online.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Online learning of unknown dynamics for model-based controllers in legged locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sun-ubellacker-ma-zhang-wang-csomayshanklin-tomizuka-sreenath-etal-onlinelearningofunknowndynamicsformodelbasedcontrollersinleggedlocomotion-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.pdf', event);\">\n    Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.; Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2021 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2825–2831,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.pdf\"\n     onclick=\"log_download('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2021global.mp4\"\n     onclick=\"log_download('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021', 'http://ames.caltech.edu/xiong2021global.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-reher-ames-globalpositioncontrolonunderactuatedbipedalrobotssteptostepdynamicsapproximationforstepplanning-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huynh-burger-dang-pelg-boris-grizzle-ames-masselin-versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/huynh2021versatile.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'huynh-burger-dang-pelg-boris-grizzle-ames-masselin-versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson-2021', 'http://ames.caltech.edu/huynh2021versatile.pdf', event);\">\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  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huynh, V.; Burger, G.; Dang, Q. V.; Pelgé, R.; Boéris, G.; Grizzle, J. W; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Masselin, M.\n</span>\n\n  \n\n</span>\n\n  <i>Frontiers in Robotics and AI</i>,299.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/huynh2021versatile.pdf\"\n     onclick=\"log_download('huynh-burger-dang-pelg-boris-grizzle-ames-masselin-versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson-2021', 'http://ames.caltech.edu/huynh2021versatile.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huynh-burger-dang-pelg-boris-grizzle-ames-masselin-versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huynh-burger-dang-pelg-boris-grizzle-ames-masselin-versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&#x27;e}, Rapha{\\&quot;e}l and Bo{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/csomay2021episodic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021', 'http://ames.caltech.edu/csomay2021episodic.pdf', event);\">\n    Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Csomay-Shanklin, N.; Cosner, R. K; Dai, M.; Taylor, A. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Learning for Dynamics and Control</i>, pages 1041–1053,  2021. PMLR\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/csomay2021episodic.pdf\"\n     onclick=\"log_download('csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021', 'http://ames.caltech.edu/csomay2021episodic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/481809664\"\n     onclick=\"log_download('csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021', 'https://vimeo.com/481809664', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('csomayshanklin-cosner-dai-taylor-ames-episodiclearningforsafebipedallocomotionwithcontrolbarrierfunctionsandprojectiontostatesafety-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/dai2021bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021', 'http://ames.caltech.edu/dai2021bipedal.pdf', event);\">\n    Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dai, M.; Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/dai2021bipedal.pdf\"\n     onclick=\"log_download('dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021', 'http://ames.caltech.edu/dai2021bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=BKx2F9STyVA\"\n     onclick=\"log_download('dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021', 'https://www.youtube.com/watch?v=BKx2F9STyVA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dai-xiong-ames-bipedalwalkingonconstrainedfootholdsmomentumregulationviaverticalcomcontrol-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-jankovic-santillo-ames-backupcontrolbarrierfunctionsformulationandcomparativestudy-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2021backup.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-jankovic-santillo-ames-backupcontrolbarrierfunctionsformulationandcomparativestudy-2021', 'http://ames.caltech.edu/chen2021backup.pdf', event);\">\n    Backup Control Barrier Functions: Formulation and Comparative Study.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Jankovic, M.; Santillo, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2021backup.pdf\"\n     onclick=\"log_download('chen-jankovic-santillo-ames-backupcontrolbarrierfunctionsformulationandcomparativestudy-2021', 'http://ames.caltech.edu/chen2021backup.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Backup Control Barrier Functions: Formulation and Comparative Study [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-jankovic-santillo-ames-backupcontrolbarrierfunctionsformulationandcomparativestudy-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-jankovic-santillo-ames-backupcontrolbarrierfunctionsformulationandcomparativestudy-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rosolia-ames-iterativemodelpredictivecontrolforpiecewisesystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2021iterative.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rosolia-ames-iterativemodelpredictivecontrolforpiecewisesystems-2021', 'http://ames.caltech.edu/rosolia2021iterative.pdf', event);\">\n    Iterative Model Predictive Control for Piecewise Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rosolia, U.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2021iterative.pdf\"\n     onclick=\"log_download('rosolia-ames-iterativemodelpredictivecontrolforpiecewisesystems-2021', 'http://ames.caltech.edu/rosolia2021iterative.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Iterative Model Predictive Control for Piecewise Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rosolia-ames-iterativemodelpredictivecontrolforpiecewisesystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rosolia-ames-iterativemodelpredictivecontrolforpiecewisesystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2021coupledrobot.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021', 'http://ames.caltech.edu/ma2021coupledrobot.pdf', event);\">\n    Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Csomay-Shanklin, N.; Kolathaya, S.; Hamed, K. A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 6(2): 3761–3768.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2021coupledrobot.pdf\"\n     onclick=\"log_download('ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021', 'http://ames.caltech.edu/ma2021coupledrobot.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=D0LWc7VFxlM\"\n     onclick=\"log_download('ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021', 'https://www.youtube.com/watch?v=D0LWc7VFxlM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-csomayshanklin-kolathaya-hamed-ames-coupledcontrollyapunovfunctionsforinterconnectedsystemswithapplicationtoquadrupedallocomotion-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"alan-taylor-he-orosz-ames-safecontrollersynthesiswithtunableinputtostatesafecontrolbarrierfunctions-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/alan2021safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'alan-taylor-he-orosz-ames-safecontrollersynthesiswithtunableinputtostatesafecontrolbarrierfunctions-2021', 'http://ames.caltech.edu/alan2021safe.pdf', event);\">\n    Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Alan, A.; Taylor, A. J; He, C. R; Orosz, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/alan2021safe.pdf\"\n     onclick=\"log_download('alan-taylor-he-orosz-ames-safecontrollersynthesiswithtunableinputtostatesafecontrolbarrierfunctions-2021', 'http://ames.caltech.edu/alan2021safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/alan-taylor-he-orosz-ames-safecontrollersynthesiswithtunableinputtostatesafecontrolbarrierfunctions-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('alan-taylor-he-orosz-ames-safecontrollersynthesiswithtunableinputtostatesafecontrolbarrierfunctions-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-dorobantu-yue-tabuada-ames-sampleddatastabilizationwithcontrollyapunovfunctionsviaquadraticallyconstrainedquadraticprograms-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2021sampled.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-dorobantu-yue-tabuada-ames-sampleddatastabilizationwithcontrollyapunovfunctionsviaquadraticallyconstrainedquadraticprograms-2021', 'http://ames.caltech.edu/taylor2021sampled.pdf', event);\">\n    Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Dorobantu, V. D; Yue, Y.; Tabuada, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2021sampled.pdf\"\n     onclick=\"log_download('taylor-dorobantu-yue-tabuada-ames-sampleddatastabilizationwithcontrollyapunovfunctionsviaquadraticallyconstrainedquadraticprograms-2021', 'http://ames.caltech.edu/taylor2021sampled.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-dorobantu-yue-tabuada-ames-sampleddatastabilizationwithcontrollyapunovfunctionsviaquadraticallyconstrainedquadraticprograms-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-dorobantu-yue-tabuada-ames-sampleddatastabilizationwithcontrollyapunovfunctionsviaquadraticallyconstrainedquadraticprograms-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"westenbroek-xiong-sastry-ames-smoothapproximationsforhybridoptimalcontrolproblemswithapplicationtoroboticwalking-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/westenbroek2021smooth.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'westenbroek-xiong-sastry-ames-smoothapproximationsforhybridoptimalcontrolproblemswithapplicationtoroboticwalking-2021', 'http://ames.caltech.edu/westenbroek2021smooth.pdf', event);\">\n    Smooth approximations for hybrid optimal control problems with application to robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Westenbroek, T.; Xiong, X.; Sastry, S S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IFAC-PapersOnLine</i>, 54(5): 181–186.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/westenbroek2021smooth.pdf\"\n     onclick=\"log_download('westenbroek-xiong-sastry-ames-smoothapproximationsforhybridoptimalcontrolproblemswithapplicationtoroboticwalking-2021', 'http://ames.caltech.edu/westenbroek2021smooth.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Smooth approximations for hybrid optimal control problems with application to robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/westenbroek-xiong-sastry-ames-smoothapproximationsforhybridoptimalcontrolproblemswithapplicationtoroboticwalking-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('westenbroek-xiong-sastry-ames-smoothapproximationsforhybridoptimalcontrolproblemswithapplicationtoroboticwalking-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"garg-cosner-rosolia-ames-panagou-multiratecontroldesignunderinputconstraintsviafixedtimebarrierfunctions-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/garg2021multi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'garg-cosner-rosolia-ames-panagou-multiratecontroldesignunderinputconstraintsviafixedtimebarrierfunctions-2021', 'http://ames.caltech.edu/garg2021multi.pdf', event);\">\n    Multi-rate control design under input constraints via fixed-time barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Garg, K.; Cosner, R. K; Rosolia, U.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Panagou, D.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/garg2021multi.pdf\"\n     onclick=\"log_download('garg-cosner-rosolia-ames-panagou-multiratecontroldesignunderinputconstraintsviafixedtimebarrierfunctions-2021', 'http://ames.caltech.edu/garg2021multi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-rate control design under input constraints via fixed-time barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/garg-cosner-rosolia-ames-panagou-multiratecontroldesignunderinputconstraintsviafixedtimebarrierfunctions-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('garg-cosner-rosolia-ames-panagou-multiratecontroldesignunderinputconstraintsviafixedtimebarrierfunctions-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/csomay2021learning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021', 'http://ames.caltech.edu/csomay2021learning.pdf', event);\">\n    Learning Controller Gains on Bipedal Walking Robots via User Preferences.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Csomay-Shanklin, N.; Tucker, M.; Dai, M.; Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/csomay2021learning.pdf\"\n     onclick=\"log_download('csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021', 'http://ames.caltech.edu/csomay2021learning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning Controller Gains on Bipedal Walking Robots via User Preferences [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=wrdNKK5JqJk\"\n     onclick=\"log_download('csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021', 'https://www.youtube.com/watch?v=wrdNKK5JqJk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Learning Controller Gains on Bipedal Walking Robots via User Preferences [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('csomayshanklin-tucker-dai-reher-ames-learningcontrollergainsonbipedalwalkingrobotsviauserpreferences-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2021slip.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021', 'http://ames.caltech.edu/xiong2021slip.pdf', event);\">\n    SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 6(2): 2122–2129.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2021slip.pdf\"\n     onclick=\"log_download('xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021', 'http://ames.caltech.edu/xiong2021slip.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2021slip.mp4\"\n     onclick=\"log_download('xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021', 'http://ames.caltech.edu/xiong2021slip.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-slipwalkingoverroughterrainviahlipsteppingandbacksteppingbarrierfunctioninspiredquadraticprogram-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rosolia-ahmadi-murray-ames-timeoptimalnavigationinuncertainenvironmentswithhighlevelspecifications-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2021time.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rosolia-ahmadi-murray-ames-timeoptimalnavigationinuncertainenvironmentswithhighlevelspecifications-2021', 'http://ames.caltech.edu/rosolia2021time.pdf', event);\">\n    Time-Optimal Navigation in Uncertain Environments with High-Level Specifications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rosolia, U.; Ahmadi, M.; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2021time.pdf\"\n     onclick=\"log_download('rosolia-ahmadi-murray-ames-timeoptimalnavigationinuncertainenvironmentswithhighlevelspecifications-2021', 'http://ames.caltech.edu/rosolia2021time.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Time-Optimal Navigation in Uncertain Environments with High-Level Specifications [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rosolia-ahmadi-murray-ames-timeoptimalnavigationinuncertainenvironmentswithhighlevelspecifications-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rosolia-ahmadi-murray-ames-timeoptimalnavigationinuncertainenvironmentswithhighlevelspecifications-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tucker-ames-realtimefeedbackmoduleforassistivegaittrainingimprovedproprioceptionandfallprevention-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Real-time feedback module for assistive gait training, improved proprioception, and fall prevention.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tucker, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  January 28 2021.<!-- NOTE FROM BIBBASE: This entry has an invalid bibtex entry type: patient. Therefore, we don't know how to render it properly. Please consider fixing this. -->\n  <span class=\"note\">US Patent App. 16/938,654</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tucker-ames-realtimefeedbackmoduleforassistivegaittrainingimprovedproprioceptionandfallprevention-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tucker-ames-realtimefeedbackmoduleforassistivegaittrainingimprovedproprioceptionandfallprevention-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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 # &quot;~28&quot;,\n  note={US Patent App. 16/938,654}\n}\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-rosolia-ingham-murray-ames-constrainedriskaversemarkovdecisionprocesses-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021constrained.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-rosolia-ingham-murray-ames-constrainedriskaversemarkovdecisionprocesses-2021', 'http://ames.caltech.edu/ahmadi2021constrained.pdf', event);\">\n    Constrained risk-averse Markov decision processes.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>The 35th AAAI Conference on Artificial Intelligence (AAAI-21)</i>,  2021. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021constrained.pdf\"\n     onclick=\"log_download('ahmadi-rosolia-ingham-murray-ames-constrainedriskaversemarkovdecisionprocesses-2021', 'http://ames.caltech.edu/ahmadi2021constrained.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Constrained risk-averse Markov decision processes [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-rosolia-ingham-murray-ames-constrainedriskaversemarkovdecisionprocesses-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-rosolia-ingham-murray-ames-constrainedriskaversemarkovdecisionprocesses-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Dynamic Walking: Toward Agile and Efficient Bipedal Robots.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Annual Review of Control, Robotics, and Autonomous Systems</i>, 4: 535–572.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2021decentralized.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021', 'http://ames.caltech.edu/chen2021decentralized.pdf', event);\">\n    Decentralized Task and Path Planning for Multi-Robot Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Rosolia, U.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 6(3): 4337–4344.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2021decentralized.pdf\"\n     onclick=\"log_download('chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021', 'http://ames.caltech.edu/chen2021decentralized.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Decentralized Task and Path Planning for Multi-Robot Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/chen2021decentralized.mp4\"\n     onclick=\"log_download('chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021', 'http://ames.caltech.edu/chen2021decentralized.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Decentralized Task and Path Planning for Multi-Robot Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-rosolia-ames-decentralizedtaskandpathplanningformultirobotsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2021safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021', 'http://ames.caltech.edu/singletary2021safety.pdf', event);\">\n    Safety-Critical Kinematic Control of Robotic Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2021safety.pdf\"\n     onclick=\"log_download('singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021', 'http://ames.caltech.edu/singletary2021safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Critical Kinematic Control of Robotic Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=ilLRA7fpVBI\"\n     onclick=\"log_download('singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021', 'https://www.youtube.com/watch?v=ilLRA7fpVBI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety-Critical Kinematic Control of Robotic Systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-kolathaya-ames-safetycriticalkinematiccontrolofroboticsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kiss-molnar-bachrathy-ames-orosz-certifyingsafetyfornonlineartimedelaysystemsviasafetyfunctionalsadiscretizationbasedapproach-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kiss2021certifying.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kiss-molnar-bachrathy-ames-orosz-certifyingsafetyfornonlineartimedelaysystemsviasafetyfunctionalsadiscretizationbasedapproach-2021', 'http://ames.caltech.edu/kiss2021certifying.pdf', event);\">\n    Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kiss, A. K; Molnar, T. G; Bachrathy, D.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Orosz, G.\n</span>\n\n  \n\n</span>\n\n  In <i>2021 American Control Conference (ACC)</i>, pages 1058–1063,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kiss2021certifying.pdf\"\n     onclick=\"log_download('kiss-molnar-bachrathy-ames-orosz-certifyingsafetyfornonlineartimedelaysystemsviasafetyfunctionalsadiscretizationbasedapproach-2021', 'http://ames.caltech.edu/kiss2021certifying.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kiss-molnar-bachrathy-ames-orosz-certifyingsafetyfornonlineartimedelaysystemsviasafetyfunctionalsadiscretizationbasedapproach-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kiss-molnar-bachrathy-ames-orosz-certifyingsafetyfornonlineartimedelaysystemsviasafetyfunctionalsadiscretizationbasedapproach-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"maghenem-taylor-ames-sanfelice-adaptivesafetyusingcontrolbarrierfunctionsandhybridadaptation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/maghenem2021adaptive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'maghenem-taylor-ames-sanfelice-adaptivesafetyusingcontrolbarrierfunctionsandhybridadaptation-2021', 'http://ames.caltech.edu/maghenem2021adaptive.pdf', event);\">\n    Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Maghenem, M.; Taylor, A. J; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sanfelice, R. G\n</span>\n\n  \n\n</span>\n\n  In <i>2021 American Control Conference (ACC)</i>, pages 2418–2423,  2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/maghenem2021adaptive.pdf\"\n     onclick=\"log_download('maghenem-taylor-ames-sanfelice-adaptivesafetyusingcontrolbarrierfunctionsandhybridadaptation-2021', 'http://ames.caltech.edu/maghenem2021adaptive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/maghenem-taylor-ames-sanfelice-adaptivesafetyusingcontrolbarrierfunctionsandhybridadaptation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('maghenem-taylor-ames-sanfelice-adaptivesafetyusingcontrolbarrierfunctionsandhybridadaptation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kerdraon-previnaire-tucker-coignard-allegre-knappen-ames-evaluationofsafetyandperformanceoftheselfbalancingwalkingsystematalanteinpatientswithcompletemotorspinalcordinjury-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kerdraon2021evaluation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kerdraon-previnaire-tucker-coignard-allegre-knappen-ames-evaluationofsafetyandperformanceoftheselfbalancingwalkingsystematalanteinpatientswithcompletemotorspinalcordinjury-2021', 'http://ames.caltech.edu/kerdraon2021evaluation.pdf', event);\">\n    Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kerdraon, J.; Previnaire, J. G.; Tucker, M.; Coignard, P.; Allegre, W.; Knappen, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Spinal cord series and cases</i>, 7(1): 1–8.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kerdraon2021evaluation.pdf\"\n     onclick=\"log_download('kerdraon-previnaire-tucker-coignard-allegre-knappen-ames-evaluationofsafetyandperformanceoftheselfbalancingwalkingsystematalanteinpatientswithcompletemotorspinalcordinjury-2021', 'http://ames.caltech.edu/kerdraon2021evaluation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kerdraon-previnaire-tucker-coignard-allegre-knappen-ames-evaluationofsafetyandperformanceoftheselfbalancingwalkingsystematalanteinpatientswithcompletemotorspinalcordinjury-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kerdraon-previnaire-tucker-coignard-allegre-knappen-ames-evaluationofsafetyandperformanceoftheselfbalancingwalkingsystematalanteinpatientswithcompletemotorspinalcordinjury-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thananjeyan-balakrishna-rosolia-gonzalez-ames-goldberg-abclmpcsafesamplebasedlearningmpcforstochasticnonlineardynamicalsystemswithadjustableboundaryconditions-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/thananjeyan2020abc.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'thananjeyan-balakrishna-rosolia-gonzalez-ames-goldberg-abclmpcsafesamplebasedlearningmpcforstochasticnonlineardynamicalsystemswithadjustableboundaryconditions-2021', 'http://ames.caltech.edu/thananjeyan2020abc.pdf', event);\">\n    Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Thananjeyan, B.; Balakrishna, A.; Rosolia, U.; Gonzalez, J. E; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>;  and Goldberg, K.\n</span>\n\n  \n\n</span>\n\n  In <i>Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics 14</i>, pages 1–17,  2021. Springer International Publishing\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/thananjeyan2020abc.pdf\"\n     onclick=\"log_download('thananjeyan-balakrishna-rosolia-gonzalez-ames-goldberg-abclmpcsafesamplebasedlearningmpcforstochasticnonlineardynamicalsystemswithadjustableboundaryconditions-2021', 'http://ames.caltech.edu/thananjeyan2020abc.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thananjeyan-balakrishna-rosolia-gonzalez-ames-goldberg-abclmpcsafesamplebasedlearningmpcforstochasticnonlineardynamicalsystemswithadjustableboundaryconditions-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thananjeyan-balakrishna-rosolia-gonzalez-ames-goldberg-abclmpcsafesamplebasedlearningmpcforstochasticnonlineardynamicalsystemswithadjustableboundaryconditions-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-ong-corts-ames-safetycriticaleventtriggeredcontrolviainputtostatesafebarrierfunctions-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2021safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-ong-corts-ames-safetycriticaleventtriggeredcontrolviainputtostatesafebarrierfunctions-2021', 'http://ames.caltech.edu/taylor2021safety.pdf', event);\">\n    Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Ong, P.; Cortés, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(3): 749-754.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2021safety.pdf\"\n     onclick=\"log_download('taylor-ong-corts-ames-safetycriticaleventtriggeredcontrolviainputtostatesafebarrierfunctions-2021', 'http://ames.caltech.edu/taylor2021safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-ong-corts-ames-safetycriticaleventtriggeredcontrolviainputtostatesafebarrierfunctions-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>39 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-ong-corts-ames-safetycriticaleventtriggeredcontrolviainputtostatesafebarrierfunctions-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{taylor2021safety,\n  author={Taylor, Andrew J and Ong, Pio and Cort{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2021coupled.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021', 'http://ames.caltech.edu/ma2021coupled.pdf', event);\">\n    Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Csomay-Shanklin, N.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(3): 935-940.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2021coupled.pdf\"\n     onclick=\"log_download('ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021', 'http://ames.caltech.edu/ma2021coupled.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/GlpgSXMinoU\"\n     onclick=\"log_download('ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021', 'https://youtu.be/GlpgSXMinoU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>39 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-csomayshanklin-ames-coupledcontrolsystemsperiodicorbitgenerationwithapplicationtoquadrupedallocomotion-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rosolia-ames-multiratecontroldesignleveragingcontrolbarrierfunctionsandmodelpredictivecontrolpolicies-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2021multi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rosolia-ames-multiratecontroldesignleveragingcontrolbarrierfunctionsandmodelpredictivecontrolpolicies-2021', 'http://ames.caltech.edu/rosolia2021multi.pdf', event);\">\n    Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rosolia, U.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(3): 1007-1012.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2021multi.pdf\"\n     onclick=\"log_download('rosolia-ames-multiratecontroldesignleveragingcontrolbarrierfunctionsandmodelpredictivecontrolpolicies-2021', 'http://ames.caltech.edu/rosolia2021multi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rosolia-ames-multiratecontroldesignleveragingcontrolbarrierfunctionsandmodelpredictivecontrolpolicies-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rosolia-ames-multiratecontroldesignleveragingcontrolbarrierfunctionsandmodelpredictivecontrolpolicies-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-singletary-yue-ames-acontrolbarrierperspectiveonepisodiclearningviaprojectiontostatesafety-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2021control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-singletary-yue-ames-acontrolbarrierperspectiveonepisodiclearningviaprojectiontostatesafety-2021', 'http://ames.caltech.edu/taylor2021control.pdf', event);\">\n    A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Singletary, A.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(3): 1019-1024.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2021control.pdf\"\n     onclick=\"log_download('taylor-singletary-yue-ames-acontrolbarrierperspectiveonepisodiclearningviaprojectiontostatesafety-2021', 'http://ames.caltech.edu/taylor2021control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-singletary-yue-ames-acontrolbarrierperspectiveonepisodiclearningviaprojectiontostatesafety-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-singletary-yue-ames-acontrolbarrierperspectiveonepisodiclearningviaprojectiontostatesafety-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"konda-ames-coogan-characterizingsafetyminimalcontrolbarrierfunctionsfromscalarcomparisonsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/konda2021characterizing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'konda-ames-coogan-characterizingsafetyminimalcontrolbarrierfunctionsfromscalarcomparisonsystems-2021', 'http://ames.caltech.edu/konda2021characterizing.pdf', event);\">\n    Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Konda, R.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Coogan, S.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(2): 523-528.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/konda2021characterizing.pdf\"\n     onclick=\"log_download('konda-ames-coogan-characterizingsafetyminimalcontrolbarrierfunctionsfromscalarcomparisonsystems-2021', 'http://ames.caltech.edu/konda2021characterizing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/konda-ames-coogan-characterizingsafetyminimalcontrolbarrierfunctionsfromscalarcomparisonsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('konda-ames-coogan-characterizingsafetyminimalcontrolbarrierfunctionsfromscalarcomparisonsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-singletary-ames-guaranteedobstacleavoidanceformultirobotoperationswithlimitedactuationacontrolbarrierfunctionapproach-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2021guaranteed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-singletary-ames-guaranteedobstacleavoidanceformultirobotoperationswithlimitedactuationacontrolbarrierfunctionapproach-2021', 'http://ames.caltech.edu/chen2021guaranteed.pdf', event);\">\n    Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Singletary, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(1): 127–132.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2021guaranteed.pdf\"\n     onclick=\"log_download('chen-singletary-ames-guaranteedobstacleavoidanceformultirobotoperationswithlimitedactuationacontrolbarrierfunctionapproach-2021', 'http://ames.caltech.edu/chen2021guaranteed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-singletary-ames-guaranteedobstacleavoidanceformultirobotoperationswithlimitedactuationacontrolbarrierfunctionapproach-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>25 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-singletary-ames-guaranteedobstacleavoidanceformultirobotoperationswithlimitedactuationacontrolbarrierfunctionapproach-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-ames-separablecontrollyapunovfunctionswithapplicationtoprostheses-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gehlhar2020separable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-ames-separablecontrollyapunovfunctionswithapplicationtoprostheses-2021', 'http://ames.caltech.edu/gehlhar2020separable.pdf', event);\">\n    Separable Control Lyapunov Functions with Application to Prostheses.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(2): 559–564.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2020separable.pdf\"\n     onclick=\"log_download('gehlhar-ames-separablecontrollyapunovfunctionswithapplicationtoprostheses-2021', 'http://ames.caltech.edu/gehlhar2020separable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Separable Control Lyapunov Functions with Application to Prostheses [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-ames-separablecontrollyapunovfunctionswithapplicationtoprostheses-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-ames-separablecontrollyapunovfunctionswithapplicationtoprostheses-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-dixit-burdick-ames-riskaversestochasticshortestpathplanning-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021riskplanning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-dixit-burdick-ames-riskaversestochasticshortestpathplanning-2021', 'http://ames.caltech.edu/ahmadi2021riskplanning.pdf', event);\">\n    Risk-Averse Stochastic Shortest Path Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Dixit, A.; Burdick, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021riskplanning.pdf\"\n     onclick=\"log_download('ahmadi-dixit-burdick-ames-riskaversestochasticshortestpathplanning-2021', 'http://ames.caltech.edu/ahmadi2021riskplanning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Risk-Averse Stochastic Shortest Path Planning [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-dixit-burdick-ames-riskaversestochasticshortestpathplanning-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-dixit-burdick-ames-riskaversestochasticshortestpathplanning-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2021control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021', 'http://ames.caltech.edu/reher2021control.pdf', event);\">\n    Control lyapunov functions for compliant hybrid zero dynamic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2021control.pdf\"\n     onclick=\"log_download('reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021', 'http://ames.caltech.edu/reher2021control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control lyapunov functions for compliant hybrid zero dynamic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/X0bHOHXOp9E\"\n     onclick=\"log_download('reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021', 'https://youtu.be/X0bHOHXOp9E', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control lyapunov functions for compliant hybrid zero dynamic walking [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-ames-controllyapunovfunctionsforcomplianthybridzerodynamicwalking-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rosolia-chen-daftry-ono-yue-ames-themixedobservableconstrainedlinearquadraticregulatorproblemtheexactsolutionandpracticalalgorithms-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2021mixed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rosolia-chen-daftry-ono-yue-ames-themixedobservableconstrainedlinearquadraticregulatorproblemtheexactsolutionandpracticalalgorithms-2021', 'http://ames.caltech.edu/rosolia2021mixed.pdf', event);\">\n    The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rosolia, U.; Chen, Y.; Daftry, S.; Ono, M.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2021mixed.pdf\"\n     onclick=\"log_download('rosolia-chen-daftry-ono-yue-ames-themixedobservableconstrainedlinearquadraticregulatorproblemtheexactsolutionandpracticalalgorithms-2021', 'http://ames.caltech.edu/rosolia2021mixed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rosolia-chen-daftry-ono-yue-ames-themixedobservableconstrainedlinearquadraticregulatorproblemtheexactsolutionandpracticalalgorithms-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rosolia-chen-daftry-ono-yue-ames-themixedobservableconstrainedlinearquadraticregulatorproblemtheexactsolutionandpracticalalgorithms-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-rosolia-ames-learningperformanceboundsforsafetycriticalsystems-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2021mixed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-rosolia-ames-learningperformanceboundsforsafetycriticalsystems-2021', 'http://ames.caltech.edu/rosolia2021mixed.pdf', event);\">\n    Learning Performance Bounds for Safety-Critical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.; Rosolia, U.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2021mixed.pdf\"\n     onclick=\"log_download('akella-rosolia-ames-learningperformanceboundsforsafetycriticalsystems-2021', 'http://ames.caltech.edu/rosolia2021mixed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning Performance Bounds for Safety-Critical Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-rosolia-ames-learningperformanceboundsforsafetycriticalsystems-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-rosolia-ames-learningperformanceboundsforsafetycriticalsystems-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-rosolia-ingham-murray-ames-riskaversedecisionmakingunderuncertainty-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021riskdecision.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-rosolia-ingham-murray-ames-riskaversedecisionmakingunderuncertainty-2021', 'http://ames.caltech.edu/ahmadi2021riskdecision.pdf', event);\">\n    Risk-Averse Decision Making Under Uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2021riskdecision.pdf\"\n     onclick=\"log_download('ahmadi-rosolia-ingham-murray-ames-riskaversedecisionmakingunderuncertainty-2021', 'http://ames.caltech.edu/ahmadi2021riskdecision.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Risk-Averse Decision Making Under Uncertainty [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-rosolia-ingham-murray-ames-riskaversedecisionmakingunderuncertainty-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-rosolia-ingham-murray-ames-riskaversedecisionmakingunderuncertainty-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/johansson2021mixed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021', 'http://ames.caltech.edu/johansson2021mixed.pdf', event);\">\n    Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Johansson, K.; Rosolia, U.; Ubellacker, W.; Singletary, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/johansson2021mixed.pdf\"\n     onclick=\"log_download('johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021', 'http://ames.caltech.edu/johansson2021mixed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/VZvWCURmRE0\"\n     onclick=\"log_download('johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021', 'https://youtu.be/VZvWCURmRE0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('johansson-rosolia-ubellacker-singletary-ames-mixedobservablerrtmultiagentmissionplanninginpartiallyobservableenvironments-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cosner2021safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021', 'http://ames.caltech.edu/cosner2021safety.pdf', event);\">\n    Safety-Aware Preference-Based Learning for Safety-Critical Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cosner, R. K; Tucker, M.; Taylor, A. J; Li, K.; Molnár, T. G; Ubellacker, W.; Alan, A.; Orosz, G.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cosner2021safety.pdf\"\n     onclick=\"log_download('cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021', 'http://ames.caltech.edu/cosner2021safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Aware Preference-Based Learning for Safety-Critical Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/QEuwRDTG7TE\"\n     onclick=\"log_download('cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021', 'https://youtu.be/QEuwRDTG7TE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety-Aware Preference-Based Learning for Safety-Critical Control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cosner-tucker-taylor-li-molnr-ubellacker-alan-orosz-etal-safetyawarepreferencebasedlearningforsafetycriticalcontrol-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&#x27;a}r, Tam{\\&#x27;a}s G and Ubellacker, Wyatt and Alan, Anil and Orosz, G{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (50)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2020quadrupedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020', 'http://ames.caltech.edu/ma2020quadrupedal.pdf', event);\">\n    Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; <a class=\"bibbase author link\" href=\"https://noelc-s.github.io/website/research/2021/12/14/Publications/\">Csomay-Shanklin, N.</a>;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 4006–4011,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2020quadrupedal.pdf\"\n     onclick=\"log_download('ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020', 'http://ames.caltech.edu/ma2020quadrupedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ma2020quadrupedal.mp4\"\n     onclick=\"log_download('ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020', 'http://ames.caltech.edu/ma2020quadrupedal.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-csomayshanklin-ames-quadrupedalroboticwalkingonslopedterrainsviaexactdecompositionintocoupledbipedalrobots-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"folkestad-chen-ames-burdick-datadrivensafetycriticalcontrolsynthesizingcontrolbarrierfunctionswithkoopmanoperators-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/folkestad2020data.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'folkestad-chen-ames-burdick-datadrivensafetycriticalcontrolsynthesizingcontrolbarrierfunctionswithkoopmanoperators-2020', 'http://ames.caltech.edu/folkestad2020data.pdf', event);\">\n    Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Folkestad, C.; Chen, Y.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Burdick, J. W\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(6): 2012–2017.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/folkestad2020data.pdf\"\n     onclick=\"log_download('folkestad-chen-ames-burdick-datadrivensafetycriticalcontrolsynthesizingcontrolbarrierfunctionswithkoopmanoperators-2020', 'http://ames.caltech.edu/folkestad2020data.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/folkestad-chen-ames-burdick-datadrivensafetycriticalcontrolsynthesizingcontrolbarrierfunctionswithkoopmanoperators-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('folkestad-chen-ames-burdick-datadrivensafetycriticalcontrolsynthesizingcontrolbarrierfunctionswithkoopmanoperators-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rosolia-singletary-ames-unifiedmultiratecontrolfromlowlevelactuationtohighlevelplanning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rosolia2020unified.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rosolia-singletary-ames-unifiedmultiratecontrolfromlowlevelactuationtohighlevelplanning-2020', 'http://ames.caltech.edu/rosolia2020unified.pdf', event);\">\n    Unified multi-rate control: from low level actuation to high level planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rosolia, U.; Singletary, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rosolia2020unified.pdf\"\n     onclick=\"log_download('rosolia-singletary-ames-unifiedmultiratecontrolfromlowlevelactuationtohighlevelplanning-2020', 'http://ames.caltech.edu/rosolia2020unified.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Unified multi-rate control: from low level actuation to high level planning [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rosolia-singletary-ames-unifiedmultiratecontrolfromlowlevelactuationtohighlevelplanning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rosolia-singletary-ames-unifiedmultiratecontrolfromlowlevelactuationtohighlevelplanning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-santillo-jankovic-ames-onlinedecentralizeddecisionmakingwithinequalityconstraintsanadmmapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2020online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-santillo-jankovic-ames-onlinedecentralizeddecisionmakingwithinequalityconstraintsanadmmapproach-2020', 'http://ames.caltech.edu/chen2020online.pdf', event);\">\n    Online decentralized decision making with inequality constraints: an ADMM approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Santillo, M.; Jankovic, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(6): 2156–2161.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2020online.pdf\"\n     onclick=\"log_download('chen-santillo-jankovic-ames-onlinedecentralizeddecisionmakingwithinequalityconstraintsanadmmapproach-2020', 'http://ames.caltech.edu/chen2020online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online decentralized decision making with inequality constraints: an ADMM approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-santillo-jankovic-ames-onlinedecentralizeddecisionmakingwithinequalityconstraintsanadmmapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-santillo-jankovic-ames-onlinedecentralizeddecisionmakingwithinequalityconstraintsanadmmapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-viswanathan-ingham-tan-ames-partiallyobservablegamesforsecureautonomy-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020partially.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-viswanathan-ingham-tan-ames-partiallyobservablegamesforsecureautonomy-2020', 'http://ames.caltech.edu/ahmadi2020partially.pdf', event);\">\n    Partially Observable Games for Secure Autonomy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Viswanathan, A. A; Ingham, M. D; Tan, K.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE Security and Privacy Workshops (SPW)</i>, pages 185–188,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020partially.pdf\"\n     onclick=\"log_download('ahmadi-viswanathan-ingham-tan-ames-partiallyobservablegamesforsecureautonomy-2020', 'http://ames.caltech.edu/ahmadi2020partially.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Partially Observable Games for Secure Autonomy [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-viswanathan-ingham-tan-ames-partiallyobservablegamesforsecureautonomy-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-viswanathan-ingham-tan-ames-partiallyobservablegamesforsecureautonomy-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/tucker2020human.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020', 'http://ames.caltech.edu/tucker2020human.pdf', event);\">\n    Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tucker, M.; Cheng, M.; Novoseller, E.; Cheng, R.; Yue, Y.; Burdick, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 3423–3430,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/tucker2020human.pdf\"\n     onclick=\"log_download('tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020', 'http://ames.caltech.edu/tucker2020human.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/tucker2020human.mp4\"\n     onclick=\"log_download('tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020', 'http://ames.caltech.edu/tucker2020human.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tucker-cheng-novoseller-cheng-yue-burdick-ames-humanpreferencebasedlearningforhighdimensionaloptimizationofexoskeletonwalkinggaits-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gehlhar2020data.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020', 'http://ames.caltech.edu/gehlhar2020data.pdf', event);\">\n    Data-driven characterization of human interaction for model-based control of powered prostheses.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.; Chen, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 4126–4133,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2020data.pdf\"\n     onclick=\"log_download('gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020', 'http://ames.caltech.edu/gehlhar2020data.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Data-driven characterization of human interaction for model-based control of powered prostheses [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2020data.mp4\"\n     onclick=\"log_download('gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020', 'http://ames.caltech.edu/gehlhar2020data.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Data-driven characterization of human interaction for model-based control of powered prostheses [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-chen-ames-datadrivencharacterizationofhumaninteractionformodelbasedcontrolofpoweredprostheses-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020barrier.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020', 'http://ames.caltech.edu/ahmadi2020barrier.pdf', event);\">\n    Barrier functions for multiagent-pomdps with dtl specifications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Singletary, A.; Burdick, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 59th IEEE Conference on Decision and Control (CDC)</i>, pages 1380–1385,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020barrier.pdf\"\n     onclick=\"log_download('ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020', 'http://ames.caltech.edu/ahmadi2020barrier.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Barrier functions for multiagent-pomdps with dtl specifications [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.youtube.com/watch?v=7VyF7P-oM9I\"\n     onclick=\"log_download('ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020', 'https://www.youtube.com/watch?v=7VyF7P-oM9I', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Barrier functions for multiagent-pomdps with dtl specifications [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-singletary-burdick-ames-barrierfunctionsformultiagentpomdpswithdtlspecifications-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cheng-khojasteh-ames-burdick-safemultiagentinteractionthroughrobustcontrolbarrierfunctionswithlearneduncertainties-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cheng2020safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cheng-khojasteh-ames-burdick-safemultiagentinteractionthroughrobustcontrolbarrierfunctionswithlearneduncertainties-2020', 'http://ames.caltech.edu/cheng2020safe.pdf', event);\">\n    Safe multi-agent interaction through robust control barrier functions with learned uncertainties.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cheng, R.; Khojasteh, M. J.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Burdick, J. W\n</span>\n\n  \n\n</span>\n\n  In <i>2020 59th IEEE Conference on Decision and Control (CDC)</i>, pages 777–783,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cheng2020safe.pdf\"\n     onclick=\"log_download('cheng-khojasteh-ames-burdick-safemultiagentinteractionthroughrobustcontrolbarrierfunctionswithlearneduncertainties-2020', 'http://ames.caltech.edu/cheng2020safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe multi-agent interaction through robust control barrier functions with learned uncertainties [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cheng-khojasteh-ames-burdick-safemultiagentinteractionthroughrobustcontrolbarrierfunctionswithlearneduncertainties-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cheng-khojasteh-ames-burdick-safemultiagentinteractionthroughrobustcontrolbarrierfunctionswithlearneduncertainties-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akella-ahmadi-murray-ames-formaltestsynthesisforsafetycriticalautonomoussystemsbasedoncontrolbarrierfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akella2020formal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akella-ahmadi-murray-ames-formaltestsynthesisforsafetycriticalautonomoussystemsbasedoncontrolbarrierfunctions-2020', 'http://ames.caltech.edu/akella2020formal.pdf', event);\">\n    Formal test synthesis for safety-critical autonomous systems based on control barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akella, P.; Ahmadi, M.; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 59th IEEE Conference on Decision and Control (CDC)</i>, pages 790–795,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akella2020formal.pdf\"\n     onclick=\"log_download('akella-ahmadi-murray-ames-formaltestsynthesisforsafetycriticalautonomoussystemsbasedoncontrolbarrierfunctions-2020', 'http://ames.caltech.edu/akella2020formal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Formal test synthesis for safety-critical autonomous systems based on control barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akella-ahmadi-murray-ames-formaltestsynthesisforsafetycriticalautonomoussystemsbasedoncontrolbarrierfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akella-ahmadi-murray-ames-formaltestsynthesisforsafetycriticalautonomoussystemsbasedoncontrolbarrierfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-chen-ames-controlbarrierfunctionsforsampleddatasystemswithinputdelays-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2020control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-chen-ames-controlbarrierfunctionsforsampleddatasystemswithinputdelays-2020', 'http://ames.caltech.edu/singletary2020control.pdf', event);\">\n    Control barrier functions for sampled-data systems with input delays.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Chen, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 59th IEEE Conference on Decision and Control (CDC)</i>, pages 804–809,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2020control.pdf\"\n     onclick=\"log_download('singletary-chen-ames-controlbarrierfunctionsforsampleddatasystemswithinputdelays-2020', 'http://ames.caltech.edu/singletary2020control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control barrier functions for sampled-data systems with input delays [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-chen-ames-controlbarrierfunctionsforsampleddatasystemswithinputdelays-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-chen-ames-controlbarrierfunctionsforsampleddatasystemswithinputdelays-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2020algorithmic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020', 'http://ames.caltech.edu/reher2020algorithmic.pdf', event);\">\n    Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Algorithmic Foundations of Robotics XII</i>, pages 400–415. Springer, Cham,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2020algorithmic.pdf\"\n     onclick=\"log_download('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020', 'http://ames.caltech.edu/reher2020algorithmic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/1fC7b2LjVW4\"\n     onclick=\"log_download('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020', 'https://youtu.be/1fC7b2LjVW4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-molnr-singletary-orosz-safetycriticalcontrolofactiveinterventionsforcovid19mitigation-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ames2020safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-molnr-singletary-orosz-safetycriticalcontrolofactiveinterventionsforcovid19mitigation-2020', 'http://ames.caltech.edu/ames2020safety.pdf', event);\">\n    Safety-critical control of active interventions for COVID-19 mitigation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Molnár, T. G; Singletary, A. W;  and Orosz, G.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 8: 188454–188474.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ames2020safety.pdf\"\n     onclick=\"log_download('ames-molnr-singletary-orosz-safetycriticalcontrolofactiveinterventionsforcovid19mitigation-2020', 'http://ames.caltech.edu/ames2020safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-critical control of active interventions for COVID-19 mitigation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-molnr-singletary-orosz-safetycriticalcontrolofactiveinterventionsforcovid19mitigation-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-molnr-singletary-orosz-safetycriticalcontrolofactiveinterventionsforcovid19mitigation-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{ames2020safety,\n  title={Safety-critical control of active interventions for COVID-19 mitigation},\n  author={Ames, Aaron D and Moln{\\&#x27;a}r, Tam{\\&#x27;a}s G and Singletary, Andrew W and Orosz, G{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"molnr-singletary-orosz-ames-safetycriticalcontrolofcompartmentalepidemiologicalmodelswithmeasurementdelays-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/molnar2020safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'molnr-singletary-orosz-ames-safetycriticalcontrolofcompartmentalepidemiologicalmodelswithmeasurementdelays-2020', 'http://ames.caltech.edu/molnar2020safety.pdf', event);\">\n    Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Molnár, T. G; Singletary, A. W; Orosz, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/molnar2020safety.pdf\"\n     onclick=\"log_download('molnr-singletary-orosz-ames-safetycriticalcontrolofcompartmentalepidemiologicalmodelswithmeasurementdelays-2020', 'http://ames.caltech.edu/molnar2020safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/molnr-singletary-orosz-ames-safetycriticalcontrolofcompartmentalepidemiologicalmodelswithmeasurementdelays-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('molnr-singletary-orosz-ames-safetycriticalcontrolofcompartmentalepidemiologicalmodelswithmeasurementdelays-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{molnar2020safety,\n  title={Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays},\n  author={Moln{\\&#x27;a}r, Tam{\\&#x27;a}s G and Singletary, Andrew W and Orosz, G{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-kamidi-pandala-ma-ames-distributedfeedbackcontrollersforstablecooperativelocomotionofquadrupedalrobotsavirtualconstraintapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hamed2019distributed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-kamidi-pandala-ma-ames-distributedfeedbackcontrollersforstablecooperativelocomotionofquadrupedalrobotsavirtualconstraintapproach-2020', 'http://ames.caltech.edu/hamed2019distributed.pdf', event);\">\n    Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.; Kamidi, V. R; Pandala, A.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 5314–5321,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hamed2019distributed.pdf\"\n     onclick=\"log_download('hamed-kamidi-pandala-ma-ames-distributedfeedbackcontrollersforstablecooperativelocomotionofquadrupedalrobotsavirtualconstraintapproach-2020', 'http://ames.caltech.edu/hamed2019distributed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-kamidi-pandala-ma-ames-distributedfeedbackcontrollersforstablecooperativelocomotionofquadrupedalrobotsavirtualconstraintapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-kamidi-pandala-ma-ames-distributedfeedbackcontrollersforstablecooperativelocomotionofquadrupedalrobotsavirtualconstraintapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2019towards.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020', 'http://ames.caltech.edu/gurriet2019towards.pdf', event);\">\n    Towards Variable Assistance for Lower Body Exoskeletons.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Tucker, M.; Duburcq, A.; Boeris, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 5(1): 266–273.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019towards.pdf\"\n     onclick=\"log_download('gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020', 'http://ames.caltech.edu/gurriet2019towards.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards Variable Assistance for Lower Body Exoskeletons [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019towards.mp4\"\n     onclick=\"log_download('gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020', 'http://ames.caltech.edu/gurriet2019towards.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards Variable Assistance for Lower Body Exoskeletons [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-tucker-duburcq-boeris-ames-towardsvariableassistanceforlowerbodyexoskeletons-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-mote-singletary-nilsson-feron-ames-ascalablesafetycriticalcontrolframeworkfornonlinearsystems-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2020scalable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-mote-singletary-nilsson-feron-ames-ascalablesafetycriticalcontrolframeworkfornonlinearsystems-2020', 'http://ames.caltech.edu/gurriet2020scalable.pdf', event);\">\n    A Scalable Safety Critical Control Framework for Nonlinear Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Mote, M.; Singletary, A.; Nilsson, P.; Feron, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 8: 187249–187275.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2020scalable.pdf\"\n     onclick=\"log_download('gurriet-mote-singletary-nilsson-feron-ames-ascalablesafetycriticalcontrolframeworkfornonlinearsystems-2020', 'http://ames.caltech.edu/gurriet2020scalable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Scalable Safety Critical Control Framework for Nonlinear Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-mote-singletary-nilsson-feron-ames-ascalablesafetycriticalcontrolframeworkfornonlinearsystems-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-mote-singletary-nilsson-feron-ames-ascalablesafetycriticalcontrolframeworkfornonlinearsystems-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-anderson-kalsi-ames-low-safetycriticalcontrolsynthesisfornetworksystemswithcontrolbarrierfunctionsandassumeguaranteecontracts-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2019safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-anderson-kalsi-ames-low-safetycriticalcontrolsynthesisfornetworksystemswithcontrolbarrierfunctionsandassumeguaranteecontracts-2020', 'http://ames.caltech.edu/chen2019safety.pdf', event);\">\n    Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Anderson, J.; Kalsi, K.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Low, S. H\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Control of Network Systems</i>, 8(1): 487–499.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2019safety.pdf\"\n     onclick=\"log_download('chen-anderson-kalsi-ames-low-safetycriticalcontrolsynthesisfornetworksystemswithcontrolbarrierfunctionsandassumeguaranteecontracts-2020', 'http://ames.caltech.edu/chen2019safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-anderson-kalsi-ames-low-safetycriticalcontrolsynthesisfornetworksystemswithcontrolbarrierfunctionsandassumeguaranteecontracts-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-anderson-kalsi-ames-low-safetycriticalcontrolsynthesisfornetworksystemswithcontrolbarrierfunctionsandassumeguaranteecontracts-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-ahmadi-ames-optimalsafecontrollersynthesisadensityfunctionapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2019optimal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-ahmadi-ames-optimalsafecontrollersynthesisadensityfunctionapproach-2020', 'http://ames.caltech.edu/chen2019optimal.pdf', event);\">\n    Optimal safe controller synthesis: A density function approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Ahmadi, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 5407–5412,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2019optimal.pdf\"\n     onclick=\"log_download('chen-ahmadi-ames-optimalsafecontrollersynthesisadensityfunctionapproach-2020', 'http://ames.caltech.edu/chen2019optimal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimal safe controller synthesis: A density function approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-ahmadi-ames-optimalsafecontrollersynthesisadensityfunctionapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-ahmadi-ames-optimalsafecontrollersynthesisadensityfunctionapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ambrose2019improved.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020', 'http://ames.caltech.edu/ambrose2019improved.pdf', event);\">\n    Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ambrose, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2457–2463,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ambrose2019improved.pdf\"\n     onclick=\"log_download('ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020', 'http://ames.caltech.edu/ambrose2019improved.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ambrose2019improved.mp4\"\n     onclick=\"log_download('ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020', 'http://ames.caltech.edu/ambrose2019improved.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ambrose-ames-improvedperformanceonmovingmasshoppingrobotswithparallelelasticity-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-ames-adaptivesafetywithcontrolbarrierfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2019adaptive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-ames-adaptivesafetywithcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/taylor2019adaptive.pdf', event);\">\n    Adaptive safety with control barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 1399–1405,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2019adaptive.pdf\"\n     onclick=\"log_download('taylor-ames-adaptivesafetywithcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/taylor2019adaptive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Adaptive safety with control barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-ames-adaptivesafetywithcontrolbarrierfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-ames-adaptivesafetywithcontrolbarrierfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2019inverse.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020', 'http://ames.caltech.edu/reher2019inverse.pdf', event);\">\n    An inverse dynamics approach to control Lyapunov functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.; Kann, C.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 2444–2451,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2019inverse.pdf\"\n     onclick=\"log_download('reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020', 'http://ames.caltech.edu/reher2019inverse.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An inverse dynamics approach to control Lyapunov functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/362721158\"\n     onclick=\"log_download('reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020', 'https://vimeo.com/362721158', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An inverse dynamics approach to control Lyapunov functions [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>16 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-kann-ames-aninversedynamicsapproachtocontrollyapunovfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-singletary-ames-densityfunctionsforguaranteedsafetyonroboticsystems-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2020density.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-singletary-ames-densityfunctionsforguaranteedsafetyonroboticsystems-2020', 'http://ames.caltech.edu/chen2020density.pdf', event);\">\n    Density Functions for Guaranteed Safety on Robotic Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Singletary, A. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 3199–3204,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2020density.pdf\"\n     onclick=\"log_download('chen-singletary-ames-densityfunctionsforguaranteedsafetyonroboticsystems-2020', 'http://ames.caltech.edu/chen2020density.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Density Functions for Guaranteed Safety on Robotic Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-singletary-ames-densityfunctionsforguaranteedsafetyonroboticsystems-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-singletary-ames-densityfunctionsforguaranteedsafetyonroboticsystems-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"klaesson-nilsson-ames-murray-intermittentconnectivityforexplorationincommunicationconstrainedmultiagentsystems-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/klaesson2019intermittent.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'klaesson-nilsson-ames-murray-intermittentconnectivityforexplorationincommunicationconstrainedmultiagentsystems-2020', 'http://ames.caltech.edu/klaesson2019intermittent.pdf', event);\">\n    Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Klaesson, F.; Nilsson, P.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Murray, R. M\n</span>\n\n  \n\n</span>\n\n  In <i>2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS)</i>, pages 196–205,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/klaesson2019intermittent.pdf\"\n     onclick=\"log_download('klaesson-nilsson-ames-murray-intermittentconnectivityforexplorationincommunicationconstrainedmultiagentsystems-2020', 'http://ames.caltech.edu/klaesson2019intermittent.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/klaesson-nilsson-ames-murray-intermittentconnectivityforexplorationincommunicationconstrainedmultiagentsystems-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('klaesson-nilsson-ames-murray-intermittentconnectivityforexplorationincommunicationconstrainedmultiagentsystems-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2020learning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/taylor2020learning.pdf', event);\">\n    Learning for safety-critical control with control barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A.; Singletary, A.; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Learning for Dynamics and Control</i>, pages 708–717,  2020. PMLR\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2020learning.pdf\"\n     onclick=\"log_download('taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/taylor2020learning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning for safety-critical control with control barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/380798276/f37b003db3\"\n     onclick=\"log_download('taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020', 'https://vimeo.com/380798276/f37b003db3', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Learning for safety-critical control with control barrier functions [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-singletary-yue-ames-learningforsafetycriticalcontrolwithcontrolbarrierfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-ono-ingham-murray-ames-riskaverseplanningunderuncertainty-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020risk.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-ono-ingham-murray-ames-riskaverseplanningunderuncertainty-2020', 'http://ames.caltech.edu/ahmadi2020risk.pdf', event);\">\n    Risk-Averse Planning Under Uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Ono, M.; Ingham, M. D; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 3305–3312,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020risk.pdf\"\n     onclick=\"log_download('ahmadi-ono-ingham-murray-ames-riskaverseplanningunderuncertainty-2020', 'http://ames.caltech.edu/ahmadi2020risk.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Risk-Averse Planning Under Uncertainty [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-ono-ingham-murray-ames-riskaverseplanningunderuncertainty-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-ono-ingham-murray-ames-riskaverseplanningunderuncertainty-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gao2020recurrent.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020', 'http://ames.caltech.edu/gao2020recurrent.pdf', event);\">\n    Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gao, C.; Gehlhar, R.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Liu, S.;  and Delbruck, T.\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 5460-5466,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gao2020recurrent.pdf\"\n     onclick=\"log_download('gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020', 'http://ames.caltech.edu/gao2020recurrent.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/gao2020recurrent.mp4\"\n     onclick=\"log_download('gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020', 'http://ames.caltech.edu/gao2020recurrent.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gao-gehlhar-ames-liu-delbruck-recurrentneuralnetworkcontrolofahybriddynamicaltransfemoralprosthesiswithedgedrnnaccelerator-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/yu2020biofuel.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020', 'http://ames.caltech.edu/yu2020biofuel.pdf', event);\">\n    Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yu, Y.; Nassar, J.; Xu, C.; Min, J.; Yang, Y.; Dai, A.; Doshi, R.; Huang, A.; Song, Y.; Gehlhar, R.;  and others\n</span>\n\n  \n\n</span>\n\n  <i>Science Robotics</i>, 5(41).  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/yu2020biofuel.pdf\"\n     onclick=\"log_download('yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020', 'http://ames.caltech.edu/yu2020biofuel.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/yu2020biofuel.mp4\"\n     onclick=\"log_download('yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020', 'http://ames.caltech.edu/yu2020biofuel.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yu-nassar-xu-min-yang-dai-doshi-huang-etal-biofuelpoweredsoftelectronicskinwithmultiplexedandwirelesssensingforhumanmachineinterfaces-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2019bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020', 'http://ames.caltech.edu/ma2019bipedal.pdf', event);\">\n    From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 4491-4497,  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2019bipedal.pdf\"\n     onclick=\"log_download('ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020', 'http://ames.caltech.edu/ma2019bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ma2019bipedal.mp4\"\n     onclick=\"log_download('ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020', 'http://ames.caltech.edu/ma2019bipedal.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-ames-frombipedalwalkingtoquadrupedallocomotionfullbodydynamicsdecompositionforrapidgaitgeneration-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2020passive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020', 'http://ames.caltech.edu/reher2020passive.pdf', event);\">\n    Passive Dynamic Balancing and Walking in Actuated Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.; <a class=\"bibbase author link\" href=\"https://noelc-s.github.io/website/research/2021/12/14/Publications/\">Csomay-Shanklin, N.</a>; Christensen, D. L.; Bristow, B.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D.</a>;  and Smoot, L.\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 9775-9781,  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2020passive.pdf\"\n     onclick=\"log_download('reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020', 'http://ames.caltech.edu/reher2020passive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Passive Dynamic Balancing and Walking in Actuated Environments [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/reher2020passive.mp4\"\n     onclick=\"log_download('reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020', 'http://ames.caltech.edu/reher2020passive.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Passive Dynamic Balancing and Walking in Actuated Environments [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-csomayshanklin-christensen-bristow-ames-smoot-passivedynamicbalancingandwalkinginactuatedenvironments-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/tucker2019preference.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020', 'http://ames.caltech.edu/tucker2019preference.pdf', event);\">\n    Preference-Based Learning for Exoskeleton Gait Optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tucker, M.; Novoseller, E.; Kann, C.; Sui, Y.; Yue, Y.; Burdick, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2351-2357,  2020. \n  <span class=\"note\">ICRA Best Conference Paper Award, and Best Paper Award on Human-Robot Interaction (HRI)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/tucker2019preference.pdf\"\n     onclick=\"log_download('tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020', 'http://ames.caltech.edu/tucker2019preference.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Preference-Based Learning for Exoskeleton Gait Optimization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/-27sHXsvONE\"\n     onclick=\"log_download('tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020', 'https://youtu.be/-27sHXsvONE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Preference-Based Learning for Exoskeleton Gait Optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tucker-novoseller-kann-sui-yue-burdick-ames-preferencebasedlearningforexoskeletongaitoptimization-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2020safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020', 'http://ames.caltech.edu/singletary2020safety.pdf', event);\">\n    Safety-Critical Rapid Aerial Exploration of Unknown Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Gurriet, T.; Nilsson, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 10270-10276,  2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2020safety.pdf\"\n     onclick=\"log_download('singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020', 'http://ames.caltech.edu/singletary2020safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety-Critical Rapid Aerial Exploration of Unknown Environments [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/singletary2020safety.mp4\"\n     onclick=\"log_download('singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020', 'http://ames.caltech.edu/singletary2020safety.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety-Critical Rapid Aerial Exploration of Unknown Environments [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-gurriet-nilsson-ames-safetycriticalrapidaerialexplorationofunknownenvironments-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ibuki-wilson-ames-egerstedt-distributedcollisionfreemotioncoordinationonasphereaconiccontrolbarrierfunctionapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ibuki2020distributed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ibuki-wilson-ames-egerstedt-distributedcollisionfreemotioncoordinationonasphereaconiccontrolbarrierfunctionapproach-2020', 'http://ames.caltech.edu/ibuki2020distributed.pdf', event);\">\n    Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ibuki, T.; Wilson, S.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 4(4): 976-981.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ibuki2020distributed.pdf\"\n     onclick=\"log_download('ibuki-wilson-ames-egerstedt-distributedcollisionfreemotioncoordinationonasphereaconiccontrolbarrierfunctionapproach-2020', 'http://ames.caltech.edu/ibuki2020distributed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ibuki-wilson-ames-egerstedt-distributedcollisionfreemotioncoordinationonasphereaconiccontrolbarrierfunctionapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ibuki-wilson-ames-egerstedt-distributedcollisionfreemotioncoordinationonasphereaconiccontrolbarrierfunctionapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-notomista-wardi-egerstedt-integralcontrolbarrierfunctionsfordynamicallydefinedcontrollaws-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ames2020integral.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-notomista-wardi-egerstedt-integralcontrolbarrierfunctionsfordynamicallydefinedcontrollaws-2020', 'http://ames.caltech.edu/ames2020integral.pdf', event);\">\n    Integral Control Barrier Functions for Dynamically Defined Control Laws.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Notomista, G.; Wardi, Y.;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 5(3): 887–892.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ames2020integral.pdf\"\n     onclick=\"log_download('ames-notomista-wardi-egerstedt-integralcontrolbarrierfunctionsfordynamicallydefinedcontrollaws-2020', 'http://ames.caltech.edu/ames2020integral.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Integral Control Barrier Functions for Dynamically Defined Control Laws [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-notomista-wardi-egerstedt-integralcontrolbarrierfunctionsfordynamicallydefinedcontrollaws-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-notomista-wardi-egerstedt-integralcontrolbarrierfunctionsfordynamicallydefinedcontrollaws-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"doeser-nilsson-ames-murray-invariantsetsforintegratorsandquadrotorobstacleavoidance-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/doeser2020invariant.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'doeser-nilsson-ames-murray-invariantsetsforintegratorsandquadrotorobstacleavoidance-2020', 'http://ames.caltech.edu/doeser2020invariant.pdf', event);\">\n    Invariant Sets for Integrators and Quadrotor Obstacle Avoidance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Doeser, L.; Nilsson, P.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Murray, R. M\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 3814–3821,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/doeser2020invariant.pdf\"\n     onclick=\"log_download('doeser-nilsson-ames-murray-invariantsetsforintegratorsandquadrotorobstacleavoidance-2020', 'http://ames.caltech.edu/doeser2020invariant.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Invariant Sets for Integrators and Quadrotor Obstacle Avoidance [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/doeser-nilsson-ames-murray-invariantsetsforintegratorsandquadrotorobstacleavoidance-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('doeser-nilsson-ames-murray-invariantsetsforintegratorsandquadrotorobstacleavoidance-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nilsson-ames-lyapunovlikeconditionsfortightexitprobabilityboundsthroughcomparisontheoremsforsdes-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/nilsson2020lyapunov.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nilsson-ames-lyapunovlikeconditionsfortightexitprobabilityboundsthroughcomparisontheoremsforsdes-2020', 'http://ames.caltech.edu/nilsson2020lyapunov.pdf', event);\">\n    Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nilsson, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 5175–5181,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/nilsson2020lyapunov.pdf\"\n     onclick=\"log_download('nilsson-ames-lyapunovlikeconditionsfortightexitprobabilityboundsthroughcomparisontheoremsforsdes-2020', 'http://ames.caltech.edu/nilsson2020lyapunov.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nilsson-ames-lyapunovlikeconditionsfortightexitprobabilityboundsthroughcomparisontheoremsforsdes-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nilsson-ames-lyapunovlikeconditionsfortightexitprobabilityboundsthroughcomparisontheoremsforsdes-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pandey-ames-onaconversetheoremforfinitetimelyapunovfunctionstoestimatedomainsofattraction-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/pandey2020converse.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pandey-ames-onaconversetheoremforfinitetimelyapunovfunctionstoestimatedomainsofattraction-2020', 'http://ames.caltech.edu/pandey2020converse.pdf', event);\">\n    On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pandey, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 American Control Conference (ACC)</i>, pages 3763–3769,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/pandey2020converse.pdf\"\n     onclick=\"log_download('pandey-ames-onaconversetheoremforfinitetimelyapunovfunctionstoestimatedomainsofattraction-2020', 'http://ames.caltech.edu/pandey2020converse.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pandey-ames-onaconversetheoremforfinitetimelyapunovfunctionstoestimatedomainsofattraction-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pandey-ames-onaconversetheoremforfinitetimelyapunovfunctionstoestimatedomainsofattraction-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2020dynamic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020', 'http://ames.caltech.edu/xiong2020dynamic.pdf', event);\">\n    Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 5(4): 6286–6293.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2020dynamic.pdf\"\n     onclick=\"log_download('xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020', 'http://ames.caltech.edu/xiong2020dynamic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2020dynamic.mp4\"\n     onclick=\"log_download('xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020', 'http://ames.caltech.edu/xiong2020dynamic.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-dynamicandversatilehumanoidwalkingviaembedding3dactuatedslipmodelwithhybridlipbasedstepping-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-sequentialmotionplanningforbipedalsomersaultviaflywheelslipandmomentumtransmissionwithtaskspacecontrol-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2020sequential.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-sequentialmotionplanningforbipedalsomersaultviaflywheelslipandmomentumtransmissionwithtaskspacecontrol-2020', 'http://ames.caltech.edu/xiong2020sequential.pdf', event);\">\n    Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2020sequential.pdf\"\n     onclick=\"log_download('xiong-ames-sequentialmotionplanningforbipedalsomersaultviaflywheelslipandmomentumtransmissionwithtaskspacecontrol-2020', 'http://ames.caltech.edu/xiong2020sequential.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-sequentialmotionplanningforbipedalsomersaultviaflywheelslipandmomentumtransmissionwithtaskspacecontrol-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-sequentialmotionplanningforbipedalsomersaultviaflywheelslipandmomentumtransmissionwithtaskspacecontrol-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/suh2020optimal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020', 'http://ames.caltech.edu/suh2020optimal.pdf', event);\">\n    Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Suh, H.; Xiong, X.; Singletary, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Burdick, J. W\n</span>\n\n  \n\n</span>\n\n  In <i>2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>,  2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/suh2020optimal.pdf\"\n     onclick=\"log_download('suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020', 'http://ames.caltech.edu/suh2020optimal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/suh2020optimal.mp4\"\n     onclick=\"log_download('suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020', 'http://ames.caltech.edu/suh2020optimal.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('suh-xiong-singletary-ames-burdick-energyefficientmotionplanningformultimodalhybridlocomotion-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chang-hubicki-aguilar-goldman-ames-vela-learningterraindynamicsagaussianprocessmodelingandoptimalcontroladaptationframeworkappliedtoroboticjumping-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chang2020learning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chang-hubicki-aguilar-goldman-ames-vela-learningterraindynamicsagaussianprocessmodelingandoptimalcontroladaptationframeworkappliedtoroboticjumping-2020', 'http://ames.caltech.edu/chang2020learning.pdf', event);\">\n    Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Vela, P. A\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Control Systems Technology</i>.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chang2020learning.pdf\"\n     onclick=\"log_download('chang-hubicki-aguilar-goldman-ames-vela-learningterraindynamicsagaussianprocessmodelingandoptimalcontroladaptationframeworkappliedtoroboticjumping-2020', 'http://ames.caltech.edu/chang2020learning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chang-hubicki-aguilar-goldman-ames-vela-learningterraindynamicsagaussianprocessmodelingandoptimalcontroladaptationframeworkappliedtoroboticjumping-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chang-hubicki-aguilar-goldman-ames-vela-learningterraindynamicsagaussianprocessmodelingandoptimalcontroladaptationframeworkappliedtoroboticjumping-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-kamidi-ma-leonessa-ames-hierarchicalandsafemotioncontrolforcooperativelocomotionofroboticguidedogsandhumansahybridsystemsapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hamed2019hierarchical.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-kamidi-ma-leonessa-ames-hierarchicalandsafemotioncontrolforcooperativelocomotionofroboticguidedogsandhumansahybridsystemsapproach-2020', 'http://ames.caltech.edu/hamed2019hierarchical.pdf', event);\">\n    Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.; Kamidi, V. R; Ma, W.; Leonessa, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 5(1): 56–63.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hamed2019hierarchical.pdf\"\n     onclick=\"log_download('hamed-kamidi-ma-leonessa-ames-hierarchicalandsafemotioncontrolforcooperativelocomotionofroboticguidedogsandhumansahybridsystemsapproach-2020', 'http://ames.caltech.edu/hamed2019hierarchical.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-kamidi-ma-leonessa-ames-hierarchicalandsafemotioncontrolforcooperativelocomotionofroboticguidedogsandhumansahybridsystemsapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-kamidi-ma-leonessa-ames-hierarchicalandsafemotioncontrolforcooperativelocomotionofroboticguidedogsandhumansahybridsystemsapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Proc. 12th Adv. Robot. Algorithmic Found. Robot</i>, 13: 400–415.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grandia-taylor-singletary-hutter-ames-nonlinearmodelpredictivecontrolofroboticsystemswithcontrollyapunovfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grandia2020nonlinear.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grandia-taylor-singletary-hutter-ames-nonlinearmodelpredictivecontrolofroboticsystemswithcontrollyapunovfunctions-2020', 'http://ames.caltech.edu/grandia2020nonlinear.pdf', event);\">\n    Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grandia, R.; Taylor, A. J; Singletary, A.; Hutter, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:2006.01229,  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grandia2020nonlinear.pdf\"\n     onclick=\"log_download('grandia-taylor-singletary-hutter-ames-nonlinearmodelpredictivecontrolofroboticsystemswithcontrollyapunovfunctions-2020', 'http://ames.caltech.edu/grandia2020nonlinear.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grandia-taylor-singletary-hutter-ames-nonlinearmodelpredictivecontrolofroboticsystemswithcontrollyapunovfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grandia-taylor-singletary-hutter-ames-nonlinearmodelpredictivecontrolofroboticsystemswithcontrollyapunovfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2020dynamic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2020', 'http://ames.caltech.edu/reher2020dynamic.pdf', event);\">\n    Dynamic Walking: Toward Agile and Efficient Bipedal Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2020dynamic.pdf\"\n     onclick=\"log_download('reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2020', 'http://ames.caltech.edu/reher2020dynamic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic Walking: Toward Agile and Efficient Bipedal Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-ames-dynamicwalkingtowardagileandefficientbipedalrobots-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2020comparative.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020', 'http://ames.caltech.edu/singletary2020comparative.pdf', event);\">\n    Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Klingebiel, K.; Bourne, J.; Browning, A.; Tokumaru, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2020comparative.pdf\"\n     onclick=\"log_download('singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020', 'http://ames.caltech.edu/singletary2020comparative.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/468799586\"\n     onclick=\"log_download('singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020', 'https://vimeo.com/468799586', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-klingebiel-bourne-browning-tokumaru-ames-comparativeanalysisofcontrolbarrierfunctionsandartificialpotentialfieldsforobstacleavoidance-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-xiong-ames-risksensitivepathplanningviacvarbarrierfunctionsapplicationtobipedallocomotion-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020riskBF.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-xiong-ames-risksensitivepathplanningviacvarbarrierfunctionsapplicationtobipedallocomotion-2020', 'http://ames.caltech.edu/ahmadi2020riskBF.pdf', event);\">\n    Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2020riskBF.pdf\"\n     onclick=\"log_download('ahmadi-xiong-ames-risksensitivepathplanningviacvarbarrierfunctionsapplicationtobipedallocomotion-2020', 'http://ames.caltech.edu/ahmadi2020riskBF.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-xiong-ames-risksensitivepathplanningviacvarbarrierfunctionsapplicationtobipedallocomotion-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-xiong-ames-risksensitivepathplanningviacvarbarrierfunctionsapplicationtobipedallocomotion-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dean-taylor-cosner-recht-ames-guaranteeingsafetyoflearnedperceptionmodulesviameasurementrobustcontrolbarrierfunctions-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/dean2020guaranteeing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dean-taylor-cosner-recht-ames-guaranteeingsafetyoflearnedperceptionmodulesviameasurementrobustcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/dean2020guaranteeing.pdf', event);\">\n    Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dean, S.; Taylor, A. J; Cosner, R. K; Recht, B.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/dean2020guaranteeing.pdf\"\n     onclick=\"log_download('dean-taylor-cosner-recht-ames-guaranteeingsafetyoflearnedperceptionmodulesviameasurementrobustcontrolbarrierfunctions-2020', 'http://ames.caltech.edu/dean2020guaranteeing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dean-taylor-cosner-recht-ames-guaranteeingsafetyoflearnedperceptionmodulesviameasurementrobustcontrolbarrierfunctions-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dean-taylor-cosner-recht-ames-guaranteeingsafetyoflearnedperceptionmodulesviameasurementrobustcontrolbarrierfunctions-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-rosolia-fan-ames-murray-reactivemotionplanningwithprobabilisticssafetyguarantees-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2020reactive.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-rosolia-fan-ames-murray-reactivemotionplanningwithprobabilisticssafetyguarantees-2020', 'http://ames.caltech.edu/chen2020reactive.pdf', event);\">\n    Reactive motion planning with probabilistics safety guarantees.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Rosolia, U.; Fan, C.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Murray, R.\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2020reactive.pdf\"\n     onclick=\"log_download('chen-rosolia-fan-ames-murray-reactivemotionplanningwithprobabilisticssafetyguarantees-2020', 'http://ames.caltech.edu/chen2020reactive.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Reactive motion planning with probabilistics safety guarantees [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-rosolia-fan-ames-murray-reactivemotionplanningwithprobabilisticssafetyguarantees-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-rosolia-fan-ames-murray-reactivemotionplanningwithprobabilisticssafetyguarantees-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-singletary-ames-lidarbasedexplorationanddiscretizationformobilerobotplanning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2020lidar.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-singletary-ames-lidarbasedexplorationanddiscretizationformobilerobotplanning-2020', 'http://ames.caltech.edu/chen2020lidar.pdf', event);\">\n    Lidar-based exploration and discretization for mobile robot planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Singletary, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n   2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2020lidar.pdf\"\n     onclick=\"log_download('chen-singletary-ames-lidarbasedexplorationanddiscretizationformobilerobotplanning-2020', 'http://ames.caltech.edu/chen2020lidar.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Lidar-based exploration and discretization for mobile robot planning [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-singletary-ames-lidarbasedexplorationanddiscretizationformobilerobotplanning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-singletary-ames-lidarbasedexplorationanddiscretizationformobilerobotplanning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (26)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-coogan-egerstedt-notomista-sreenath-tabuada-controlbarrierfunctionstheoryandapplications-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ames2019control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-coogan-egerstedt-notomista-sreenath-tabuada-controlbarrierfunctionstheoryandapplications-2019', 'http://ames.caltech.edu/ames2019control.pdf', event);\">\n    Control barrier functions: Theory and applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Coogan, S.; Egerstedt, M.; Notomista, G.; Sreenath, K.;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 18th European Control Conference (ECC)</i>, pages 3420–3431,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ames2019control.pdf\"\n     onclick=\"log_download('ames-coogan-egerstedt-notomista-sreenath-tabuada-controlbarrierfunctionstheoryandapplications-2019', 'http://ames.caltech.edu/ames2019control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control barrier functions: Theory and applications [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-coogan-egerstedt-notomista-sreenath-tabuada-controlbarrierfunctionstheoryandapplications-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>25 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-coogan-egerstedt-notomista-sreenath-tabuada-controlbarrierfunctionstheoryandapplications-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/azimi2019model.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019', 'http://ames.caltech.edu/azimi2019model.pdf', event);\">\n    Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Azimi, V.; Shu, T.; Zhao, H.; Gehlhar, R.; Simon, D.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Systems, Man, and Cybernetics: Systems</i>.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/azimi2019model.pdf\"\n     onclick=\"log_download('azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019', 'http://ames.caltech.edu/azimi2019model.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/azimi2019model.mp4\"\n     onclick=\"log_download('azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019', 'http://ames.caltech.edu/azimi2019model.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('azimi-shu-zhao-gehlhar-simon-ames-modelbasedadaptivecontroloftransfemoralprosthesestheorysimulationandexperiments-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/reher2019dynamic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019', 'http://ames.caltech.edu/reher2019dynamic.pdf', event);\">\n    Dynamic walking with compliance on a cassie bipedal robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 18th European Control Conference (ECC)</i>, pages 2589–2595,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/reher2019dynamic.pdf\"\n     onclick=\"log_download('reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019', 'http://ames.caltech.edu/reher2019dynamic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic walking with compliance on a cassie bipedal robot [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/NYooAyAC0kA\"\n     onclick=\"log_download('reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019', 'https://youtu.be/NYooAyAC0kA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic walking with compliance on a cassie bipedal robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-ma-ames-dynamicwalkingwithcomplianceonacassiebipedalrobot-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"westenbroek-xiong-ames-sastry-optimalcontrolofpiecewisesmoothcontrolsystemsviasingularperturbations-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/westenbroek2019optimal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'westenbroek-xiong-ames-sastry-optimalcontrolofpiecewisesmoothcontrolsystemsviasingularperturbations-2019', 'http://ames.caltech.edu/westenbroek2019optimal.pdf', event);\">\n    Optimal control of piecewise-smooth control systems via singular perturbations.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Westenbroek, T.; Xiong, X.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S S.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 58th Conference on Decision and Control (CDC)</i>, pages 3046–3053,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/westenbroek2019optimal.pdf\"\n     onclick=\"log_download('westenbroek-xiong-ames-sastry-optimalcontrolofpiecewisesmoothcontrolsystemsviasingularperturbations-2019', 'http://ames.caltech.edu/westenbroek2019optimal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimal control of piecewise-smooth control systems via singular perturbations [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/westenbroek-xiong-ames-sastry-optimalcontrolofpiecewisesmoothcontrolsystemsviasingularperturbations-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('westenbroek-xiong-ames-sastry-optimalcontrolofpiecewisesmoothcontrolsystemsviasingularperturbations-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ahmadi-singletary-burdick-ames-safepolicysynthesisinmultiagentpomdpsviadiscretetimebarrierfunctions-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ahmadi2019safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ahmadi-singletary-burdick-ames-safepolicysynthesisinmultiagentpomdpsviadiscretetimebarrierfunctions-2019', 'http://ames.caltech.edu/ahmadi2019safe.pdf', event);\">\n    Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ahmadi, M.; Singletary, A.; Burdick, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 58th Conference on Decision and Control (CDC)</i>, pages 4797-4803,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ahmadi2019safe.pdf\"\n     onclick=\"log_download('ahmadi-singletary-burdick-ames-safepolicysynthesisinmultiagentpomdpsviadiscretetimebarrierfunctions-2019', 'http://ames.caltech.edu/ahmadi2019safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ahmadi-singletary-burdick-ames-safepolicysynthesisinmultiagentpomdpsviadiscretetimebarrierfunctions-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ahmadi-singletary-burdick-ames-safepolicysynthesisinmultiagentpomdpsviadiscretetimebarrierfunctions-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-dorobantu-krishnamoorthy-le-yue-ames-acontrollyapunovperspectiveonepisodiclearningviaprojectiontostatestability-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2019control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-dorobantu-krishnamoorthy-le-yue-ames-acontrollyapunovperspectiveonepisodiclearningviaprojectiontostatestability-2019', 'http://ames.caltech.edu/taylor2019control.pdf', event);\">\n    A control lyapunov perspective on episodic learning via projection to state stability.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Dorobantu, V. D; Krishnamoorthy, M.; Le, H. M; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 58th Conference on Decision and Control (CDC)</i>, pages 4797-4803,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2019control.pdf\"\n     onclick=\"log_download('taylor-dorobantu-krishnamoorthy-le-yue-ames-acontrollyapunovperspectiveonepisodiclearningviaprojectiontostatestability-2019', 'http://ames.caltech.edu/taylor2019control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A control lyapunov perspective on episodic learning via projection to state stability [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-dorobantu-krishnamoorthy-le-yue-ames-acontrollyapunovperspectiveonepisodiclearningviaprojectiontostatestability-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-dorobantu-krishnamoorthy-le-yue-ames-acontrollyapunovperspectiveonepisodiclearningviaprojectiontostatestability-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-mote-singletary-feron-ames-ascalablecontrolledsetinvarianceframeworkwithpracticalsafetyguarantees-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2019scalable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-mote-singletary-feron-ames-ascalablecontrolledsetinvarianceframeworkwithpracticalsafetyguarantees-2019', 'http://ames.caltech.edu/gurriet2019scalable.pdf', event);\">\n    A scalable controlled set invariance framework with practical safety guarantees.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Mote, M.; Singletary, A.; Feron, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 58th Conference on Decision and Control (CDC)</i>, pages 2046–2053,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019scalable.pdf\"\n     onclick=\"log_download('gurriet-mote-singletary-feron-ames-ascalablecontrolledsetinvarianceframeworkwithpracticalsafetyguarantees-2019', 'http://ames.caltech.edu/gurriet2019scalable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A scalable controlled set invariance framework with practical safety guarantees [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-mote-singletary-feron-ames-ascalablecontrolledsetinvarianceframeworkwithpracticalsafetyguarantees-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-mote-singletary-feron-ames-ascalablecontrolledsetinvarianceframeworkwithpracticalsafetyguarantees-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"murali-ames-verriest-optimalwalkingspeedtransitionsforfullyactuatedbipedalrobots-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/murali2019optimal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'murali-ames-verriest-optimalwalkingspeedtransitionsforfullyactuatedbipedalrobots-2019', 'http://ames.caltech.edu/murali2019optimal.pdf', event);\">\n    Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Murali, V.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Verriest, E. I\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 58th Conference on Decision and Control (CDC)</i>, pages 6295–6300,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/murali2019optimal.pdf\"\n     onclick=\"log_download('murali-ames-verriest-optimalwalkingspeedtransitionsforfullyactuatedbipedalrobots-2019', 'http://ames.caltech.edu/murali2019optimal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/murali-ames-verriest-optimalwalkingspeedtransitionsforfullyactuatedbipedalrobots-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('murali-ames-verriest-optimalwalkingspeedtransitionsforfullyactuatedbipedalrobots-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chang2019every.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019', 'http://ames.caltech.edu/chang2019every.pdf', event);\">\n    Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chang, A. H; Hubicki, C.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Vela, P. A\n</span>\n\n  \n\n</span>\n\n  In <i>2019 International Conference on Robotics and Automation (ICRA)</i>, pages 3188–3194,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chang2019every.pdf\"\n     onclick=\"log_download('chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019', 'http://ames.caltech.edu/chang2019every.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/chang2019every.mp4\"\n     onclick=\"log_download('chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019', 'http://ames.caltech.edu/chang2019every.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chang-hubicki-ames-vela-everyhopisanopportunityquicklyclassifyingandadaptingtoterrainduringtargetedhopping-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"orosz-ames-safetyfunctionalsfortimedelaysystems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2019realizable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'orosz-ames-safetyfunctionalsfortimedelaysystems-2019', 'http://ames.caltech.edu/gurriet2019realizable.pdf', event);\">\n    Safety Functionals for Time Delay Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Orosz, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 4374–4379,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019realizable.pdf\"\n     onclick=\"log_download('orosz-ames-safetyfunctionalsfortimedelaysystems-2019', 'http://ames.caltech.edu/gurriet2019realizable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety Functionals for Time Delay Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/orosz-ames-safetyfunctionalsfortimedelaysystems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('orosz-ames-safetyfunctionalsfortimedelaysystems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{orosz2019safety,\n  title={Safety Functionals for Time Delay Systems},\n  author={Orosz, G{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-nilsson-singletary-ames-realizablesetinvarianceconditionsforcyberphysicalsystems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2019realizable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-nilsson-singletary-ames-realizablesetinvarianceconditionsforcyberphysicalsystems-2019', 'http://ames.caltech.edu/gurriet2019realizable.pdf', event);\">\n    Realizable Set Invariance Conditions for Cyber-Physical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Nilsson, P.; Singletary, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 3642–3649,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019realizable.pdf\"\n     onclick=\"log_download('gurriet-nilsson-singletary-ames-realizablesetinvarianceconditionsforcyberphysicalsystems-2019', 'http://ames.caltech.edu/gurriet2019realizable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realizable Set Invariance Conditions for Cyber-Physical Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-nilsson-singletary-ames-realizablesetinvarianceconditionsforcyberphysicalsystems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-nilsson-singletary-ames-realizablesetinvarianceconditionsforcyberphysicalsystems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-ames-nonholonomichybridzerodynamicsforthestabilizationofperiodicorbitsapplicationtounderactuatedroboticwalking-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hamed2019nonholonomic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-ames-nonholonomichybridzerodynamicsforthestabilizationofperiodicorbitsapplicationtounderactuatedroboticwalking-2019', 'http://ames.caltech.edu/hamed2019nonholonomic.pdf', event);\">\n    Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Control Systems Technology</i>.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hamed2019nonholonomic.pdf\"\n     onclick=\"log_download('hamed-ames-nonholonomichybridzerodynamicsforthestabilizationofperiodicorbitsapplicationtounderactuatedroboticwalking-2019', 'http://ames.caltech.edu/hamed2019nonholonomic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-ames-nonholonomichybridzerodynamicsforthestabilizationofperiodicorbitsapplicationtounderactuatedroboticwalking-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-ames-nonholonomichybridzerodynamicsforthestabilizationofperiodicorbitsapplicationtounderactuatedroboticwalking-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2019motion.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019', 'http://ames.caltech.edu/xiong2019motion.pdf', event);\">\n    Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 1018-1024,  2019. IEEE\n  <span class=\"note\">IROS RoboCup Best Paper Award</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2019motion.pdf\"\n     onclick=\"log_download('xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019', 'http://ames.caltech.edu/xiong2019motion.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2019motion.mp4\"\n     onclick=\"log_download('xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019', 'http://ames.caltech.edu/xiong2019motion.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-motiondecouplingandcompositionviareducedordermodeloptimizationfordynamichumanoidwalkingwithclfqpbasedactiveforcecontrol-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2019first.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019', 'http://ames.caltech.edu/ma2019first.pdf', event);\">\n    First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Hamed, K. A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 5498-5503,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2019first.pdf\"\n     onclick=\"log_download('ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019', 'http://ames.caltech.edu/ma2019first.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ma2019first.mp4\"\n     onclick=\"log_download('ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019', 'http://ames.caltech.edu/ma2019first.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-hamed-ames-firststepstowardsfullmodelbasedmotionplanningandcontrolofquadrupedsahybridzerodynamicsapproach-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/taylor2019episodic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019', 'http://ames.caltech.edu/taylor2019episodic.pdf', event);\">\n    Episodic learning with control lyapunov functions for uncertain robotic systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taylor, A. J; Dorobantu, V. D; Le, H. M; Yue, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 6878-6884,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/taylor2019episodic.pdf\"\n     onclick=\"log_download('taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019', 'http://ames.caltech.edu/taylor2019episodic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Episodic learning with control lyapunov functions for uncertain robotic systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/taylor2019episodic.mp4\"\n     onclick=\"log_download('taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019', 'http://ames.caltech.edu/taylor2019episodic.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Episodic learning with control lyapunov functions for uncertain robotic systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taylor-dorobantu-le-yue-ames-episodiclearningwithcontrollyapunovfunctionsforuncertainroboticsystems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2019orbit.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019', 'http://ames.caltech.edu/xiong2019orbit.pdf', event);\">\n    Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 4644-4651,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2019orbit.pdf\"\n     onclick=\"log_download('xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019', 'http://ames.caltech.edu/xiong2019orbit.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/xiong2019orbit.mp4\"\n     onclick=\"log_download('xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019', 'http://ames.caltech.edu/xiong2019orbit.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-orbitcharacterizationstabilizationandcompositionon3dunderactuatedbipedalwalkingviahybridpassivelinearinvertedpendulummodel-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ambrose2019design.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019', 'http://ames.caltech.edu/ambrose2019design.pdf', event);\">\n    Design and Comparative Analysis of 1D Hopping Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ambrose, E.; <a class=\"bibbase author link\" href=\"https://noelc-s.github.io/website/research/2021/12/14/Publications/\">Csomay-Shanklin, N.</a>; Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 5717-5724,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ambrose2019design.pdf\"\n     onclick=\"log_download('ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019', 'http://ames.caltech.edu/ambrose2019design.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Design and Comparative Analysis of 1D Hopping Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/ambrose2019design.mp4\"\n     onclick=\"log_download('ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019', 'http://ames.caltech.edu/ambrose2019design.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Comparative Analysis of 1D Hopping Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ambrose-csomayshanklin-or-ames-designandcomparativeanalysisof1dhoppingrobots-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/singletary2019online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019', 'http://ames.caltech.edu/singletary2019online.pdf', event);\">\n    Online Active Safety for Robotic Manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Singletary, A.; Nilsson, P.; Gurriet, T.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 173-178,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/singletary2019online.pdf\"\n     onclick=\"log_download('singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019', 'http://ames.caltech.edu/singletary2019online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online Active Safety for Robotic Manipulators [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://vimeo.com/320906655\"\n     onclick=\"log_download('singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019', 'https://vimeo.com/320906655', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Online Active Safety for Robotic Manipulators [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('singletary-nilsson-gurriet-ames-onlineactivesafetyforroboticmanipulators-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-ma-ames-dynamicallystable3dquadrupedalwalkingwithmultidomainhybridsystemmodelsandvirtualconstraintcontrollers-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hamed2019dynamically.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-ma-ames-dynamicallystable3dquadrupedalwalkingwithmultidomainhybridsystemmodelsandvirtualconstraintcontrollers-2019', 'http://ames.caltech.edu/hamed2019dynamically.pdf', event);\">\n    Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 4588–4595,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hamed2019dynamically.pdf\"\n     onclick=\"log_download('hamed-ma-ames-dynamicallystable3dquadrupedalwalkingwithmultidomainhybridsystemmodelsandvirtualconstraintcontrollers-2019', 'http://ames.caltech.edu/hamed2019dynamically.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-ma-ames-dynamicallystable3dquadrupedalwalkingwithmultidomainhybridsystemmodelsandvirtualconstraintcontrollers-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-ma-ames-dynamicallystable3dquadrupedalwalkingwithmultidomainhybridsystemmodelsandvirtualconstraintcontrollers-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-anderson-kalsi-low-ames-compositionalsetinvarianceinnetworksystemswithassumeguaranteecontracts-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chen2019compositional.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-anderson-kalsi-low-ames-compositionalsetinvarianceinnetworksystemswithassumeguaranteecontracts-2019', 'http://ames.caltech.edu/chen2019compositional.pdf', event);\">\n    Compositional set invariance in network systems with assume-guarantee contracts.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.; Anderson, J.; Kalsi, K.; Low, S. H;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 1027–1034,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chen2019compositional.pdf\"\n     onclick=\"log_download('chen-anderson-kalsi-low-ames-compositionalsetinvarianceinnetworksystemswithassumeguaranteecontracts-2019', 'http://ames.caltech.edu/chen2019compositional.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Compositional set invariance in network systems with assume-guarantee contracts [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-anderson-kalsi-low-ames-compositionalsetinvarianceinnetworksystemswithassumeguaranteecontracts-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-anderson-kalsi-low-ames-compositionalsetinvarianceinnetworksystemswithassumeguaranteecontracts-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2019dynamic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019', 'http://ames.caltech.edu/ma2019dynamic.pdf', event);\">\n    Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2019 International Conference on Robotics and Automation (ICRA)</i>, pages 3705–3711,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2019dynamic.pdf\"\n     onclick=\"log_download('ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019', 'http://ames.caltech.edu/ma2019dynamic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/G9dhcgyvcyI\"\n     onclick=\"log_download('ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019', 'https://youtu.be/G9dhcgyvcyI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-or-ames-dynamicwalkingonslipperysurfacesdemonstratingstablebipedalgaitswithplannedgroundslippage-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-ames-inputtostatesafetywithcontrolbarrierfunctions-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kolathaya2019input.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ames-inputtostatesafetywithcontrolbarrierfunctions-2019', 'http://ames.caltech.edu/kolathaya2019input.pdf', event);\">\n    Input-to-State Safety with Control Barrier Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 3(1): 108–113.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kolathaya2019input.pdf\"\n     onclick=\"log_download('kolathaya-ames-inputtostatesafetywithcontrolbarrierfunctions-2019', 'http://ames.caltech.edu/kolathaya2019input.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Input-to-State Safety with Control Barrier Functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ames-inputtostatesafetywithcontrolbarrierfunctions-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ames-inputtostatesafetywithcontrolbarrierfunctions-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gehlhar-reher-ames-controlofseparablesubsystemswithapplicationtoprostheses-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gehlhar2019control.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gehlhar-reher-ames-controlofseparablesubsystemswithapplicationtoprostheses-2019', 'http://ames.caltech.edu/gehlhar2019control.pdf', event);\">\n    Control of Separable Subsystems with Application to Prostheses.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gehlhar, R.; Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1909.03102,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gehlhar2019control.pdf\"\n     onclick=\"log_download('gehlhar-reher-ames-controlofseparablesubsystemswithapplicationtoprostheses-2019', 'http://ames.caltech.edu/gehlhar2019control.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control of Separable Subsystems with Application to Prostheses [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gehlhar-reher-ames-controlofseparablesubsystemswithapplicationtoprostheses-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gehlhar-reher-ames-controlofseparablesubsystemswithapplicationtoprostheses-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-tucker-kann-boeris-ames-stabilizationofexoskeletonsthroughactiveanklecompensation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2019stabilization.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-tucker-kann-boeris-ames-stabilizationofexoskeletonsthroughactiveanklecompensation-2019', 'http://ames.caltech.edu/gurriet2019stabilization.pdf', event);\">\n    Stabilization of Exoskeletons through Active Ankle Compensation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Tucker, M.; Kann, C.; Boeris, G.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1909.11848,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2019stabilization.pdf\"\n     onclick=\"log_download('gurriet-tucker-kann-boeris-ames-stabilizationofexoskeletonsthroughactiveanklecompensation-2019', 'http://ames.caltech.edu/gurriet2019stabilization.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stabilization of Exoskeletons through Active Ankle Compensation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-tucker-kann-boeris-ames-stabilizationofexoskeletonsthroughactiveanklecompensation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-tucker-kann-boeris-ames-stabilizationofexoskeletonsthroughactiveanklecompensation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akbarihamed-ma-kamidi-ames-hierarchicalfeedbackcontrolforcomplexhybridmodelsofmultiagentleggedroboticsystems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akbari2019hierarchical.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akbarihamed-ma-kamidi-ames-hierarchicalfeedbackcontrolforcomplexhybridmodelsofmultiagentleggedroboticsystems-2019', 'http://ames.caltech.edu/akbari2019hierarchical.pdf', event);\">\n    Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Akbari Hamed, K.; Ma, W.; Kamidi, V. R;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1902.03690,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akbari2019hierarchical.pdf\"\n     onclick=\"log_download('akbarihamed-ma-kamidi-ames-hierarchicalfeedbackcontrolforcomplexhybridmodelsofmultiagentleggedroboticsystems-2019', 'http://ames.caltech.edu/akbari2019hierarchical.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akbarihamed-ma-kamidi-ames-hierarchicalfeedbackcontrolforcomplexhybridmodelsofmultiagentleggedroboticsystems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akbarihamed-ma-kamidi-ames-hierarchicalfeedbackcontrolforcomplexhybridmodelsofmultiagentleggedroboticsystems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-ames-dualitybetweendensityfunctionandvaluefunctionwithapplicationsinconstrainedoptimalcontrolandmarkovdecisionprocess-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\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</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chen, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1902.09583,  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-ames-dualitybetweendensityfunctionandvaluefunctionwithapplicationsinconstrainedoptimalcontrolandmarkovdecisionprocess-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-ames-dualitybetweendensityfunctionandvaluefunctionwithapplicationsinconstrainedoptimalcontrolandmarkovdecisionprocess-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (18)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"gurriet-mote-ames-feron-anonlineapproachtoactivesetinvariance-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gurriet2018online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-mote-ames-feron-anonlineapproachtoactivesetinvariance-2018', 'http://ames.caltech.edu/gurriet2018online.pdf', event);\">\n    An online approach to active set invariance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Mote, M.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Feron, E.\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE Conference on Decision and Control (CDC)</i>, pages 3592–3599,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gurriet2018online.pdf\"\n     onclick=\"log_download('gurriet-mote-ames-feron-anonlineapproachtoactivesetinvariance-2018', 'http://ames.caltech.edu/gurriet2018online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An online approach to active set invariance [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-mote-ames-feron-anonlineapproachtoactivesetinvariance-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-mote-ames-feron-anonlineapproachtoactivesetinvariance-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nilsson-ames-barrierfunctionsbridgingthegapbetweenplanningfromspecificationsandsafetycriticalcontrol-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/nilsson2018barrier.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nilsson-ames-barrierfunctionsbridgingthegapbetweenplanningfromspecificationsandsafetycriticalcontrol-2018', 'http://ames.caltech.edu/nilsson2018barrier.pdf', event);\">\n    Barrier functions: Bridging the gap between planning from specifications and safety-critical control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nilsson, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE Conference on Decision and Control (CDC)</i>, pages 765–772,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/nilsson2018barrier.pdf\"\n     onclick=\"log_download('nilsson-ames-barrierfunctionsbridgingthegapbetweenplanningfromspecificationsandsafetycriticalcontrol-2018', 'http://ames.caltech.edu/nilsson2018barrier.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Barrier functions: Bridging the gap between planning from specifications and safety-critical control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nilsson-ames-barrierfunctionsbridgingthegapbetweenplanningfromspecificationsandsafetycriticalcontrol-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nilsson-ames-barrierfunctionsbridgingthegapbetweenplanningfromspecificationsandsafetycriticalcontrol-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"smoot-niemeyer-ames-christensen-roboticbouncingball-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/patent_US010092850B1.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'smoot-niemeyer-ames-christensen-roboticbouncingball-2018', 'http://ames.caltech.edu/patent_US010092850B1.pdf', event);\">\n    Robotic bouncing ball.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Smoot, L. S; Niemeyer, G. D; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Christensen, D. L.\n</span>\n\n  \n\n</span>\n\n  October 2018.<!-- NOTE FROM BIBBASE: This entry has an invalid bibtex entry type: patient. Therefore, we don't know how to render it properly. Please consider fixing this. -->\n  <span class=\"note\">US Patent 10,092,850</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/patent_US010092850B1.pdf\"\n     onclick=\"log_download('smoot-niemeyer-ames-christensen-roboticbouncingball-2018', 'http://ames.caltech.edu/patent_US010092850B1.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robotic bouncing ball [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/smoot-niemeyer-ames-christensen-roboticbouncingball-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('smoot-niemeyer-ames-christensen-roboticbouncingball-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-bipedalhoppingreducedordermodelembeddingviaoptimizationbasedcontrol-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2018bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-bipedalhoppingreducedordermodelembeddingviaoptimizationbasedcontrol-2018', 'http://ames.caltech.edu/xiong2018bipedal.pdf', event);\">\n    Bipedal hopping: Reduced-order model embedding via optimization-based control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 3821–3828,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2018bipedal.pdf\"\n     onclick=\"log_download('xiong-ames-bipedalhoppingreducedordermodelembeddingviaoptimizationbasedcontrol-2018', 'http://ames.caltech.edu/xiong2018bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedal hopping: Reduced-order model embedding via optimization-based control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-bipedalhoppingreducedordermodelembeddingviaoptimizationbasedcontrol-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-bipedalhoppingreducedordermodelembeddingviaoptimizationbasedcontrol-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-couplingreducedordermodelsviafeedbackcontrolfor3dunderactuatedbipedalroboticwalking-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2018coupling.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-couplingreducedordermodelsviafeedbackcontrolfor3dunderactuatedbipedalroboticwalking-2018', 'http://ames.caltech.edu/xiong2018coupling.pdf', event);\">\n    Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)</i>, pages 1–9,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2018coupling.pdf\"\n     onclick=\"log_download('xiong-ames-couplingreducedordermodelsviafeedbackcontrolfor3dunderactuatedbipedalroboticwalking-2018', 'http://ames.caltech.edu/xiong2018coupling.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-couplingreducedordermodelsviafeedbackcontrolfor3dunderactuatedbipedalroboticwalking-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-couplingreducedordermodelsviafeedbackcontrolfor3dunderactuatedbipedalroboticwalking-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gosyne-hubicki-xiong-ames-goldman-bipediallocomotionupsandyslopessystematicexperimentsusingzeromomentpointmethods-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/gosyne2018bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gosyne-hubicki-xiong-ames-goldman-bipediallocomotionupsandyslopessystematicexperimentsusingzeromomentpointmethods-2018', 'http://ames.caltech.edu/gosyne2018bipedal.pdf', event);\">\n    Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gosyne, J. R; Hubicki, C. M; Xiong, X.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Goldman, D. I\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)</i>, pages 994–1001,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/gosyne2018bipedal.pdf\"\n     onclick=\"log_download('gosyne-hubicki-xiong-ames-goldman-bipediallocomotionupsandyslopessystematicexperimentsusingzeromomentpointmethods-2018', 'http://ames.caltech.edu/gosyne2018bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gosyne-hubicki-xiong-ames-goldman-bipediallocomotionupsandyslopessystematicexperimentsusingzeromomentpointmethods-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gosyne-hubicki-xiong-ames-goldman-bipediallocomotionupsandyslopessystematicexperimentsusingzeromomentpointmethods-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kolathaya2018directtrajectory.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018', 'http://ames.caltech.edu/kolathaya2018directtrajectory.pdf', event);\">\n    Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Guffey, W.; Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 3(4): 3677–3684.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kolathaya2018directtrajectory.pdf\"\n     onclick=\"log_download('kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018', 'http://ames.caltech.edu/kolathaya2018directtrajectory.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/cBhngkE0WLY\"\n     onclick=\"log_download('kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018', 'https://youtu.be/cBhngkE0WLY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-guffey-sinnet-ames-directcollocationfordynamicbehaviorswithnonprehensilecontactsapplicationtoflippingburgers-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/exo-icra_2018.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018', 'http://ames.caltech.edu/exo-icra_2018.pdf', event);\">\n    Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Hereid, A.; Harib, O.; Masselin, M.; Grizzle, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2804–2811,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/exo-icra_2018.pdf\"\n     onclick=\"log_download('gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018', 'http://ames.caltech.edu/exo-icra_2018.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/V30HsyUD4fs\"\n     onclick=\"log_download('gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018', 'https://youtu.be/V30HsyUD4fs', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-finet-boeris-duburcq-hereid-harib-masselin-grizzle-etal-towardsrestoringlocomotionforparaplegicsrealizingdynamicallystablewalkingonexoskeletons-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/mars_rss18.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018', 'http://ames.caltech.edu/mars_rss18.pdf', event);\">\n    Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nilsson, P.; Haesaert, S.; Thakker, R.; Otsu, K.; Vasile, C. I.; Agha-Mohammadi, A.; Murray, R. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and systems</i>,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/mars_rss18.pdf\"\n     onclick=\"log_download('nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018', 'http://ames.caltech.edu/mars_rss18.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/ZKKFOiXSeaw\"\n     onclick=\"log_download('nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018', 'https://youtu.be/ZKKFOiXSeaw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nilsson-haesaert-thakker-otsu-vasile-aghamohammadi-murray-ames-towardspecificationguidedactivemarsexplorationforcooperativerobotteams-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"haesaert-nilsson-vasile-thakker-aghamohammadi-ames-murray-temporallogiccontrolofpomdpsvialabelbasedstochasticsimulationrelations-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hetal_adhs18.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'haesaert-nilsson-vasile-thakker-aghamohammadi-ames-murray-temporallogiccontrolofpomdpsvialabelbasedstochasticsimulationrelations-2018', 'http://ames.caltech.edu/hetal_adhs18.pdf', event);\">\n    Temporal logic control of POMDPs via label-based stochastic simulation relations.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Haesaert, S.; Nilsson, P.; Vasile, C. I.; Thakker, R.; Agha-mohammadi, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Murray, R. M\n</span>\n\n  \n\n</span>\n\n  In <i>IFAC Conference on Analysis and Design of Hybrid Systems (ADHS)</i>, volume 51, pages 271–276,  2018. Elsevier\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hetal_adhs18.pdf\"\n     onclick=\"log_download('haesaert-nilsson-vasile-thakker-aghamohammadi-ames-murray-temporallogiccontrolofpomdpsvialabelbasedstochasticsimulationrelations-2018', 'http://ames.caltech.edu/hetal_adhs18.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Temporal logic control of POMDPs via label-based stochastic simulation relations [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/haesaert-nilsson-vasile-thakker-aghamohammadi-ames-murray-temporallogiccontrolofpomdpsvialabelbasedstochasticsimulationrelations-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('haesaert-nilsson-vasile-thakker-aghamohammadi-ames-murray-temporallogiccontrolofpomdpsvialabelbasedstochasticsimulationrelations-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/safety_iccps_2018.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018', 'http://ames.caltech.edu/safety_iccps_2018.pdf', event);\">\n    Towards a framework for realizable safety critical control through active set invariance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Singletary, A.; Reher, J.; Ciarletta, L.; Feron, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)</i>, pages 98–106,  2018. IEEE\n  <span class=\"note\">Best Theory Paper Award Finalist of ICCPS</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/safety_iccps_2018.pdf\"\n     onclick=\"log_download('gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018', 'http://ames.caltech.edu/safety_iccps_2018.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards a framework for realizable safety critical control through active set invariance [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/RYXcGTo8Chg\"\n     onclick=\"log_download('gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018', 'https://youtu.be/RYXcGTo8Chg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards a framework for realizable safety critical control through active set invariance [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-singletary-reher-ciarletta-feron-ames-towardsaframeworkforrealizablesafetycriticalcontrolthroughactivesetinvariance-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Hereid2018Dynamic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018', 'http://ames.caltech.edu/Hereid2018Dynamic.pdf', event);\">\n    Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Hubicki, C. M; Cousineau, E. A;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>, 34(2): 370–387.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Hereid2018Dynamic.pdf\"\n     onclick=\"log_download('hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018', 'http://ames.caltech.edu/Hereid2018Dynamic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://ames.caltech.edu/Hereid2018Dynamic.mp4\"\n     onclick=\"log_download('hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018', 'http://ames.caltech.edu/Hereid2018Dynamic.mp4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-hubicki-cousineau-ames-dynamichumanoidlocomotionascalableformulationforhzdgaitoptimization-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"harib-hereid-agrawal-gurriet-finet-boeris-duburcq-mungai-etal-feedbackcontrolofanexoskeletonforparaplegicstowardrobustlystablehandsfreedynamicwalking-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/harib2018feedback.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'harib-hereid-agrawal-gurriet-finet-boeris-duburcq-mungai-etal-feedbackcontrolofanexoskeletonforparaplegicstowardrobustlystablehandsfreedynamicwalking-2018', 'http://ames.caltech.edu/harib2018feedback.pdf', event);\">\n    Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Harib, O.; Hereid, A.; Agrawal, A.; Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Mungai, M E.; Masselin, M.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and others\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Magazine</i>, 38(6): 61–87.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/harib2018feedback.pdf\"\n     onclick=\"log_download('harib-hereid-agrawal-gurriet-finet-boeris-duburcq-mungai-etal-feedbackcontrolofanexoskeletonforparaplegicstowardrobustlystablehandsfreedynamicwalking-2018', 'http://ames.caltech.edu/harib2018feedback.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/harib-hereid-agrawal-gurriet-finet-boeris-duburcq-mungai-etal-feedbackcontrolofanexoskeletonforparaplegicstowardrobustlystablehandsfreedynamicwalking-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('harib-hereid-agrawal-gurriet-finet-boeris-duburcq-mungai-etal-feedbackcontrolofanexoskeletonforparaplegicstowardrobustlystablehandsfreedynamicwalking-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akbari2018exponentially.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018', 'http://ames.caltech.edu/akbari2018exponentially.pdf', event);\">\n    Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Reher, J.; Hereid, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 Annual American Control Conference (ACC)</i>, pages 2224–2230,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akbari2018exponentially.pdf\"\n     onclick=\"log_download('kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018', 'http://ames.caltech.edu/akbari2018exponentially.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/g5HlzXRhcSQ\"\n     onclick=\"log_download('kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018', 'https://youtu.be/g5HlzXRhcSQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-reher-hereid-ames-inputtostatestabilizingcontrollyapunovfunctionsforrobustbipedalroboticlocomotion-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-gregg-ames-exponentiallystabilizingcontrollersformulticontact3dbipedallocomotion-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akbari2018exponentially.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-gregg-ames-exponentiallystabilizingcontrollersformulticontact3dbipedallocomotion-2018', 'http://ames.caltech.edu/akbari2018exponentially.pdf', event);\">\n    Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.; Gregg, R. D;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>2018 Annual American Control Conference (ACC)</i>, pages 2210–2217,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akbari2018exponentially.pdf\"\n     onclick=\"log_download('hamed-gregg-ames-exponentiallystabilizingcontrollersformulticontact3dbipedallocomotion-2018', 'http://ames.caltech.edu/akbari2018exponentially.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-gregg-ames-exponentiallystabilizingcontrollersformulticontact3dbipedallocomotion-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-gregg-ames-exponentiallystabilizingcontrollersformulticontact3dbipedallocomotion-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hamed-ames-gregg-observerbasedfeedbackcontrollersforexponentialstabilizationofhybridperiodicorbitsapplicationtounderactuatedbipedalwalking-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/akbari2018observer.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hamed-ames-gregg-observerbasedfeedbackcontrollersforexponentialstabilizationofhybridperiodicorbitsapplicationtounderactuatedbipedalwalking-2018', 'http://ames.caltech.edu/akbari2018observer.pdf', event);\">\n    Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hamed, K. A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Gregg, R. D\n</span>\n\n  \n\n</span>\n\n  In <i>2018 Annual American Control Conference (ACC)</i>, pages 1438–1445,  2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/akbari2018observer.pdf\"\n     onclick=\"log_download('hamed-ames-gregg-observerbasedfeedbackcontrollersforexponentialstabilizationofhybridperiodicorbitsapplicationtounderactuatedbipedalwalking-2018', 'http://ames.caltech.edu/akbari2018observer.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hamed-ames-gregg-observerbasedfeedbackcontrollersforexponentialstabilizationofhybridperiodicorbitsapplicationtounderactuatedbipedalwalking-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hamed-ames-gregg-observerbasedfeedbackcontrollersforexponentialstabilizationofhybridperiodicorbitsapplicationtounderactuatedbipedalwalking-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xu-grizzle-tabuada-ames-correctnessguaranteesforthecompositionoflanekeepingandadaptivecruisecontrol-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xu2017correctness.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xu-grizzle-tabuada-ames-correctnessguaranteesforthecompositionoflanekeepingandadaptivecruisecontrol-2018', 'http://ames.caltech.edu/xu2017correctness.pdf', event);\">\n    Correctness guarantees for the composition of lane keeping and adaptive cruise control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xu, X.; Grizzle, J. W; Tabuada, P.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, 15(3): 1216–1229.  2018.\n  <span class=\"note\">Best New Application Paper Award</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xu2017correctness.pdf\"\n     onclick=\"log_download('xu-grizzle-tabuada-ames-correctnessguaranteesforthecompositionoflanekeepingandadaptivecruisecontrol-2018', 'http://ames.caltech.edu/xu2017correctness.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Correctness guarantees for the composition of lane keeping and adaptive cruise control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xu-grizzle-tabuada-ames-correctnessguaranteesforthecompositionoflanekeepingandadaptivecruisecontrol-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xu-grizzle-tabuada-ames-correctnessguaranteesforthecompositionoflanekeepingandadaptivecruisecontrol-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-reher-ames-inputtostatestabilityofbipedalwalkingrobotsapplicationtodurus-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kolathaya2018inputstability.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-reher-ames-inputtostatestabilityofbipedalwalkingrobotsapplicationtodurus-2018', 'http://ames.caltech.edu/kolathaya2018inputstability.pdf', event);\">\n    Input to State Stability of Bipedal Walking Robots: Application to DURUS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Reher, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1801.00618,  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kolathaya2018inputstability.pdf\"\n     onclick=\"log_download('kolathaya-reher-ames-inputtostatestabilityofbipedalwalkingrobotsapplicationtodurus-2018', 'http://ames.caltech.edu/kolathaya2018inputstability.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Input to State Stability of Bipedal Walking Robots: Application to DURUS [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-reher-ames-inputtostatestabilityofbipedalwalkingrobotsapplicationtodurus-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-reher-ames-inputtostatestabilityofbipedalwalkingrobotsapplicationtodurus-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (25)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-xu-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramsforsafetycriticalsystems-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ames2017cbf.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-xu-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramsforsafetycriticalsystems-2017', 'http://ames.caltech.edu/ames2017cbf.pdf', event);\">\n    Control barrier function based quadratic programs for safety critical systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Xu, X.; Grizzle, J. W;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automatic Control</i>, 62(8): 3861–3876.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ames2017cbf.pdf\"\n     onclick=\"log_download('ames-xu-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramsforsafetycriticalsystems-2017', 'http://ames.caltech.edu/ames2017cbf.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control barrier function based quadratic programs for safety critical systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-xu-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramsforsafetycriticalsystems-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-xu-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramsforsafetycriticalsystems-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-horn-reher-paredes-ames-firststepstowardtranslatingroboticwalkingtoprosthesesanonlinearoptimizationbasedcontrolapproach-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/autorobots_specialissue.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-horn-reher-paredes-ames-firststepstowardtranslatingroboticwalkingtoprosthesesanonlinearoptimizationbasedcontrolapproach-2017', 'http://ames.caltech.edu/autorobots_specialissue.pdf', event);\">\n    First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Horn, J.; Reher, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Autonomous Robots</i>, 41(3): 725–742.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/autorobots_specialissue.pdf\"\n     onclick=\"log_download('zhao-horn-reher-paredes-ames-firststepstowardtranslatingroboticwalkingtoprosthesesanonlinearoptimizationbasedcontrolapproach-2017', 'http://ames.caltech.edu/autorobots_specialissue.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-horn-reher-paredes-ames-firststepstowardtranslatingroboticwalkingtoprosthesesanonlinearoptimizationbasedcontrolapproach-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-horn-reher-paredes-ames-firststepstowardtranslatingroboticwalkingtoprosthesesanonlinearoptimizationbasedcontrolapproach-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-hereid-ma-ames-multicontactbipedalroboticlocomotion-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/zhao2017multi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-hereid-ma-ames-multicontactbipedalroboticlocomotion-2017', 'http://ames.caltech.edu/zhao2017multi.pdf', event);\">\n    Multi-contact bipedal robotic locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Hereid, A.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Robotica</i>, 35(5): 1072–1106.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/zhao2017multi.pdf\"\n     onclick=\"log_download('zhao-hereid-ma-ames-multicontactbipedalroboticlocomotion-2017', 'http://ames.caltech.edu/zhao2017multi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-contact bipedal robotic locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-hereid-ma-ames-multicontactbipedalroboticlocomotion-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>12 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-hereid-ma-ames-multicontactbipedalroboticlocomotion-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/robotarium-icra_2017.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017', 'http://ames.caltech.edu/robotarium-icra_2017.pdf', event);\">\n    The Robotarium: A remotely accessible swarm robotics research testbed.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pickem, D.; Glotfelter, P.; Wang, L.; Mote, M.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Feron, E.;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2017 IEEE International Conference on</i>, pages 1699–1706,  2017. IEEE\n  <span class=\"note\">Best Multi-Robot Systems Paper Award & Best Conference Paper Award Finalist of ICRA 2017.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/robotarium-icra_2017.pdf\"\n     onclick=\"log_download('pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017', 'http://ames.caltech.edu/robotarium-icra_2017.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Robotarium: A remotely accessible swarm robotics research testbed [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/PWJk-oMcgn4\"\n     onclick=\"log_download('pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017', 'https://youtu.be/PWJk-oMcgn4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Robotarium: A remotely accessible swarm robotics research testbed [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pickem-glotfelter-wang-mote-ames-feron-egerstedt-therobotariumaremotelyaccessibleswarmroboticsresearchtestbed-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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 \\&amp; 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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/azimi2017robust.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017', 'http://ames.caltech.edu/azimi2017robust.pdf', event);\">\n    Robust control of a powered transfemoral prosthesis device with experimental verification.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Azimi, V.; Shu, T.; Zhao, H.; Ambrose, E.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Simon, D.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2017</i>, pages 517–522,  2017. IEEE\n  <span class=\"note\">Best Student Paper Award Finalist, ACC 2017.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/azimi2017robust.pdf\"\n     onclick=\"log_download('azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017', 'http://ames.caltech.edu/azimi2017robust.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robust control of a powered transfemoral prosthesis device with experimental verification [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/Aq8_H_nSAxI\"\n     onclick=\"log_download('azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017', 'https://youtu.be/Aq8_H_nSAxI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust control of a powered transfemoral prosthesis device with experimental verification [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('azimi-shu-zhao-ambrose-ames-simon-robustcontrolofapoweredtransfemoralprosthesisdevicewithexperimentalverification-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-ames-parametertostatestabilityofcontrollyapunovfunctionsforhybridsystemmodelsofrobots-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kolathaya2017parameter.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ames-parametertostatestabilityofcontrollyapunovfunctionsforhybridsystemmodelsofrobots-2017', 'http://ames.caltech.edu/kolathaya2017parameter.pdf', event);\">\n    Parameter to state stability of control Lyapunov functions for hybrid system models of robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Nonlinear Analysis: Hybrid Systems</i>, 25: 174–191.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kolathaya2017parameter.pdf\"\n     onclick=\"log_download('kolathaya-ames-parametertostatestabilityofcontrollyapunovfunctionsforhybridsystemmodelsofrobots-2017', 'http://ames.caltech.edu/kolathaya2017parameter.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Parameter to state stability of control Lyapunov functions for hybrid system models of robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ames-parametertostatestabilityofcontrollyapunovfunctionsforhybridsystemmodelsofrobots-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ames-parametertostatestabilityofcontrollyapunovfunctionsforhybridsystemmodelsofrobots-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grey-ames-liu-probabilisticcompletenessofrandomizedpossibilitygraphsappliedtobipedalwalkinginsemiunstructuredenvironments-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grey2017probabilistic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grey-ames-liu-probabilisticcompletenessofrandomizedpossibilitygraphsappliedtobipedalwalkinginsemiunstructuredenvironments-2017', 'http://ames.caltech.edu/grey2017probabilistic.pdf', event);\">\n    Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grey, M. X.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Liu, K. C\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of Robotics: Science and Systems</i>,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grey2017probabilistic.pdf\"\n     onclick=\"log_download('grey-ames-liu-probabilisticcompletenessofrandomizedpossibilitygraphsappliedtobipedalwalkinginsemiunstructuredenvironments-2017', 'http://ames.caltech.edu/grey2017probabilistic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grey-ames-liu-probabilisticcompletenessofrandomizedpossibilitygraphsappliedtobipedalwalkinginsemiunstructuredenvironments-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grey-ames-liu-probabilisticcompletenessofrandomizedpossibilitygraphsappliedtobipedalwalkinginsemiunstructuredenvironments-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/wang2017safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017', 'http://ames.caltech.edu/wang2017safe.pdf', event);\">\n    Safe certificate-based maneuvers for teams of quadrotors using differential flatness.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2017 IEEE International Conference on</i>, pages 3293–3298,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/wang2017safe.pdf\"\n     onclick=\"log_download('wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017', 'http://ames.caltech.edu/wang2017safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe certificate-based maneuvers for teams of quadrotors using differential flatness [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/rK9oyqccMJw\"\n     onclick=\"log_download('wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017', 'https://youtu.be/rK9oyqccMJw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safe certificate-based maneuvers for teams of quadrotors using differential flatness [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-ames-egerstedt-safecertificatebasedmaneuversforteamsofquadrotorsusingdifferentialflatness-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"agrawal-harib-hereid-finet-masselin-praly-ames-sreenath-etal-firststepstowardstranslatinghzdcontrolofbipedalrobotstodecentralizedcontrolofexoskeletons-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/agrawal2017first.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'agrawal-harib-hereid-finet-masselin-praly-ames-sreenath-etal-firststepstowardstranslatinghzdcontrolofbipedalrobotstodecentralizedcontrolofexoskeletons-2017', 'http://ames.caltech.edu/agrawal2017first.pdf', event);\">\n    First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Agrawal, A.; Harib, O.; Hereid, A.; Finet, S.; Masselin, M.; Praly, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Sreenath, K.;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 5: 9919–9934.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/agrawal2017first.pdf\"\n     onclick=\"log_download('agrawal-harib-hereid-finet-masselin-praly-ames-sreenath-etal-firststepstowardstranslatinghzdcontrolofbipedalrobotstodecentralizedcontrolofexoskeletons-2017', 'http://ames.caltech.edu/agrawal2017first.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/agrawal-harib-hereid-finet-masselin-praly-ames-sreenath-etal-firststepstowardstranslatinghzdcontrolofbipedalrobotstodecentralizedcontrolofexoskeletons-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('agrawal-harib-hereid-finet-masselin-praly-ames-sreenath-etal-firststepstowardstranslatinghzdcontrolofbipedalrobotstodecentralizedcontrolofexoskeletons-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ames2017first.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017', 'http://ames.caltech.edu/ames2017first.pdf', event);\">\n    First steps toward formal controller synthesis for bipedal robots with experimental implementation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Tabuada, P.; Jones, A.; Ma, W.; Rungger, M.; Schürmann, B.; Kolathaya, S.;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  <i>Nonlinear Analysis: Hybrid Systems</i>, 25: 155–173.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ames2017first.pdf\"\n     onclick=\"log_download('ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017', 'http://ames.caltech.edu/ames2017first.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps toward formal controller synthesis for bipedal robots with experimental implementation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/UKuI7cEOEzs\"\n     onclick=\"log_download('ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017', 'https://youtu.be/UKuI7cEOEzs', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"First steps toward formal controller synthesis for bipedal robots with experimental implementation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-tabuada-jones-ma-rungger-schrmann-kolathaya-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobotswithexperimentalimplementation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&quot;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/wang2017safety.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017', 'http://ames.caltech.edu/wang2017safety.pdf', event);\">\n    Safety Barrier certificates for collisions-free multirobot systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Robotics</i>, 33(3): 661–674.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/wang2017safety.pdf\"\n     onclick=\"log_download('wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017', 'http://ames.caltech.edu/wang2017safety.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety Barrier certificates for collisions-free multirobot systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/-WUkzik1_VQ\"\n     onclick=\"log_download('wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017', 'https://youtu.be/-WUkzik1_VQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety Barrier certificates for collisions-free multirobot systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-ames-egerstedt-safetybarriercertificatesforcollisionsfreemultirobotsystems-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grey-ames-liu-footstepandmotionplanninginsemiunstructuredenvironmentsusingrandomizedpossibilitygraphs-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grey2017footstep.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grey-ames-liu-footstepandmotionplanninginsemiunstructuredenvironmentsusingrandomizedpossibilitygraphs-2017', 'http://ames.caltech.edu/grey2017footstep.pdf', event);\">\n    Footstep and motion planning in semi-unstructured environments using randomized possibility graphs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grey, M. X; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Liu, C K.\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2017 IEEE International Conference on</i>, pages 4747–4753,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grey2017footstep.pdf\"\n     onclick=\"log_download('grey-ames-liu-footstepandmotionplanninginsemiunstructuredenvironmentsusingrandomizedpossibilitygraphs-2017', 'http://ames.caltech.edu/grey2017footstep.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Footstep and motion planning in semi-unstructured environments using randomized possibility graphs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grey-ames-liu-footstepandmotionplanninginsemiunstructuredenvironmentsusingrandomizedpossibilitygraphs-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grey-ames-liu-footstepandmotionplanninginsemiunstructuredenvironmentsusingrandomizedpossibilitygraphs-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ma2017bipedal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017', 'http://ames.caltech.edu/ma2017bipedal.pdf', event);\">\n    Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Kolathaya, S.; Ambrose, E. R; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control</i>, pages 265–274,  2017. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ma2017bipedal.pdf\"\n     onclick=\"log_download('ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017', 'http://ames.caltech.edu/ma2017bipedal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/3XQOO6kvHFY\"\n     onclick=\"log_download('ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017', 'https://youtu.be/3XQOO6kvHFY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-kolathaya-ambrose-hubicki-ames-bipedalroboticrunningwithdurus2dbridgingthegapbetweentheoryandexperiment-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hubicki-aguilar-kim-rieser-ames-goldman-pausedintrusionsimproverobotjumpingperformanceingranularmedia-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hubicki2017paused.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hubicki-aguilar-kim-rieser-ames-goldman-pausedintrusionsimproverobotjumpingperformanceingranularmedia-2017', 'http://ames.caltech.edu/hubicki2017paused.pdf', event);\">\n    Paused intrusions improve robot jumping performance in granular media.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hubicki, C.; Aguilar, J.; Kim, A.; Rieser, J.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Goldman, D.\n</span>\n\n  \n\n</span>\n\n  In <i>APS Meeting Abstracts</i>,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hubicki2017paused.pdf\"\n     onclick=\"log_download('hubicki-aguilar-kim-rieser-ames-goldman-pausedintrusionsimproverobotjumpingperformanceingranularmedia-2017', 'http://ames.caltech.edu/hubicki2017paused.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Paused intrusions improve robot jumping performance in granular media [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hubicki-aguilar-kim-rieser-ames-goldman-pausedintrusionsimproverobotjumpingperformanceingranularmedia-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hubicki-aguilar-kim-rieser-ames-goldman-pausedintrusionsimproverobotjumpingperformanceingranularmedia-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-aguilar-rieser-kim-ames-goldman-overshootintrusionforcespromoterobophysicalbipedalwalkingonhomogenousgranularmedia-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2017overshoot.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-aguilar-rieser-kim-ames-goldman-overshootintrusionforcespromoterobophysicalbipedalwalkingonhomogenousgranularmedia-2017', 'http://ames.caltech.edu/xiong2017overshoot.pdf', event);\">\n    Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.; Aguilar, J.; Rieser, J.; Kim, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Goldman, D.\n</span>\n\n  \n\n</span>\n\n  In <i>APS Meeting Abstracts</i>,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2017overshoot.pdf\"\n     onclick=\"log_download('xiong-aguilar-rieser-kim-ames-goldman-overshootintrusionforcespromoterobophysicalbipedalwalkingonhomogenousgranularmedia-2017', 'http://ames.caltech.edu/xiong2017overshoot.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-aguilar-rieser-kim-ames-goldman-overshootintrusionforcespromoterobophysicalbipedalwalkingonhomogenousgranularmedia-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-aguilar-rieser-kim-ames-goldman-overshootintrusionforcespromoterobophysicalbipedalwalkingonhomogenousgranularmedia-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hussien-ames-tabuada-abstractingpartiallyfeedbacklinearizablesystemscompositionally-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hussien2017abstracting.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hussien-ames-tabuada-abstractingpartiallyfeedbacklinearizablesystemscompositionally-2017', 'http://ames.caltech.edu/hussien2017abstracting.pdf', event);\">\n    Abstracting Partially Feedback Linearizable Systems Compositionally.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hussien, O.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Control Systems Letters</i>, 1(2): 227–232.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hussien2017abstracting.pdf\"\n     onclick=\"log_download('hussien-ames-tabuada-abstractingpartiallyfeedbacklinearizablesystemscompositionally-2017', 'http://ames.caltech.edu/hussien2017abstracting.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Abstracting Partially Feedback Linearizable Systems Compositionally [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hussien-ames-tabuada-abstractingpartiallyfeedbacklinearizablesystemscompositionally-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hussien-ames-tabuada-abstractingpartiallyfeedbacklinearizablesystemscompositionally-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shoukry-tabuada-tsuei-milam-grizzle-ames-closedformcontrolledinvariantsetsforpedestrianavoidance-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/shoukry2017closed.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shoukry-tabuada-tsuei-milam-grizzle-ames-closedformcontrolledinvariantsetsforpedestrianavoidance-2017', 'http://ames.caltech.edu/shoukry2017closed.pdf', event);\">\n    Closed-form controlled invariant sets for pedestrian avoidance.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shoukry, Y.; Tabuada, P.; Tsuei, S.; Milam, M. B; Grizzle, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2017</i>, pages 1622–1628,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/shoukry2017closed.pdf\"\n     onclick=\"log_download('shoukry-tabuada-tsuei-milam-grizzle-ames-closedformcontrolledinvariantsetsforpedestrianavoidance-2017', 'http://ames.caltech.edu/shoukry2017closed.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Closed-form controlled invariant sets for pedestrian avoidance [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shoukry-tabuada-tsuei-milam-grizzle-ames-closedformcontrolledinvariantsetsforpedestrianavoidance-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shoukry-tabuada-tsuei-milam-grizzle-ames-closedformcontrolledinvariantsetsforpedestrianavoidance-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/zhao2017preliminary.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017', 'http://ames.caltech.edu/zhao2017preliminary.pdf', event);\">\n    Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Ambrose, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2017 IEEE International Conference on</i>, pages 1140–1147,  2017. IEEE\n  <span class=\"note\">BestMedical Robotics Paper Award Finalist of ICRA 2017.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/zhao2017preliminary.pdf\"\n     onclick=\"log_download('zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017', 'http://ames.caltech.edu/zhao2017preliminary.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/496xsYxGuV8\"\n     onclick=\"log_download('zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017', 'https://youtu.be/496xsYxGuV8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-ambrose-ames-preliminaryresultsonenergyefficient3dprostheticwalkingwithapoweredcomplianttransfemoralprosthesis-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chang-hubicki-aguilar-goldman-ames-vela-learningtojumpingranularmediaunifyingoptimalcontrolsynthesiswithgaussianprocessbasedregression-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/chang2017learning.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chang-hubicki-aguilar-goldman-ames-vela-learningtojumpingranularmediaunifyingoptimalcontrolsynthesiswithgaussianprocessbasedregression-2017', 'http://ames.caltech.edu/chang2017learning.pdf', event);\">\n    Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Vela, P. A\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2017 IEEE International Conference on</i>, pages 2154–2160,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/chang2017learning.pdf\"\n     onclick=\"log_download('chang-hubicki-aguilar-goldman-ames-vela-learningtojumpingranularmediaunifyingoptimalcontrolsynthesiswithgaussianprocessbasedregression-2017', 'http://ames.caltech.edu/chang2017learning.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chang-hubicki-aguilar-goldman-ames-vela-learningtojumpingranularmediaunifyingoptimalcontrolsynthesiswithgaussianprocessbasedregression-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chang-hubicki-aguilar-goldman-ames-vela-learningtojumpingranularmediaunifyingoptimalcontrolsynthesiswithgaussianprocessbasedregression-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ambrose2017toward.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017', 'http://ames.caltech.edu/ambrose2017toward.pdf', event);\">\n    Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ambrose, E.; Ma, W.; Hubicki, C.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Control Technology and Applications (CCTA), 2017 IEEE Conference on</i>, pages 1270–1276,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ambrose2017toward.pdf\"\n     onclick=\"log_download('ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017', 'http://ames.caltech.edu/ambrose2017toward.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/sHA2Bwjij7Y\"\n     onclick=\"log_download('ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017', 'https://youtu.be/sHA2Bwjij7Y', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ambrose-ma-hubicki-ames-towardbenchmarkinglocomotioneconomyacrossdesignconfigurationsonthemodularrobotamber3m-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xu2017realizing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017', 'http://ames.caltech.edu/xu2017realizing.pdf', event);\">\n    Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xu, X.; Waters, T.; Pickem, D.; Glotfelter, P.; Egerstedt, M.; Tabuada, P.; Grizzle, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Control Technology and Applications (CCTA), 2017 IEEE Conference on</i>, pages 1769–1775,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xu2017realizing.pdf\"\n     onclick=\"log_download('xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017', 'http://ames.caltech.edu/xu2017realizing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/VgoEcOFwJ2M\"\n     onclick=\"log_download('xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017', 'https://youtu.be/VgoEcOFwJ2M', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xu-waters-pickem-glotfelter-egerstedt-tabuada-grizzle-ames-realizingsimultaneouslanekeepingandadaptivespeedregulationonaccessiblemobilerobottestbeds-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/xiong2017stability.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017', 'http://ames.caltech.edu/xiong2017stability.pdf', event);\">\n    A stability region criterion for flat-footed bipedal walking on deformable granular terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xiong, X.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Goldman, D. I\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on</i>, pages 4552–4559,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/xiong2017stability.pdf\"\n     onclick=\"log_download('xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017', 'http://ames.caltech.edu/xiong2017stability.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A stability region criterion for flat-footed bipedal walking on deformable granular terrain [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/7sjJs95awK8\"\n     onclick=\"log_download('xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017', 'https://youtu.be/7sjJs95awK8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A stability region criterion for flat-footed bipedal walking on deformable granular terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xiong-ames-goldman-astabilityregioncriterionforflatfootedbipedalwalkingondeformablegranularterrain-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hereid2017frost.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017', 'http://ames.caltech.edu/hereid2017frost.pdf', event);\">\n    FROST: Fast Robot Optimization and Simulation Toolkit.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on</i>, pages 4552–4559,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hereid2017frost.pdf\"\n     onclick=\"log_download('hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017', 'http://ames.caltech.edu/hereid2017frost.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"FROST: Fast Robot Optimization and Simulation Toolkit [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://github.com/ayonga/frost-dev\"\n     onclick=\"log_download('hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017', 'https://github.com/ayonga/frost-dev', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"FROST: Fast Robot Optimization and Simulation Toolkit [link]\"\n       title=\" code\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> code</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-ames-frostfastrobotoptimizationandsimulationtoolkit-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-poulakakis-hybridzerodynamicscontrolofleggedrobots-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HZD_bookchapter.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-poulakakis-hybridzerodynamicscontrolofleggedrobots-2017', 'http://ames.caltech.edu/HZD_bookchapter.pdf', event);\">\n    Hybrid Zero Dynamics Control of Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Poulakakis, I.\n</span>\n\n  \n\n</span>\n\n  In <i>Bioinspired Legged Locomotion: Models, Concepts, Control and Applications</i>, pages 292–331. Elsevier,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HZD_bookchapter.pdf\"\n     onclick=\"log_download('ames-poulakakis-hybridzerodynamicscontrolofleggedrobots-2017', 'http://ames.caltech.edu/HZD_bookchapter.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Zero Dynamics Control of Legged Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-poulakakis-hybridzerodynamicscontrolofleggedrobots-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-poulakakis-hybridzerodynamicscontrolofleggedrobots-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/tabuada2017data.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017', 'http://ames.caltech.edu/tabuada2017data.pdf', event);\">\n    Data-driven control for feedback linearizable single-input systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tabuada, P.; Ma, W.; Grizzle, J.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2017 IEEE 56th Annual Conference on</i>, pages 6265–6270,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/tabuada2017data.pdf\"\n     onclick=\"log_download('tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017', 'http://ames.caltech.edu/tabuada2017data.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Data-driven control for feedback linearizable single-input systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/wzL9O3FOHyA\"\n     onclick=\"log_download('tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017', 'https://youtu.be/wzL9O3FOHyA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Data-driven control for feedback linearizable single-input systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tabuada-ma-grizzle-ames-datadrivencontrolforfeedbacklinearizablesingleinputsystems-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (26)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/WAFR_2016_multicontact.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016', 'http://ames.caltech.edu/WAFR_2016_multicontact.pdf', event);\">\n    Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>The International Workshop on the Algorithmic Foundations of Robotics (WAFR)</i>,  2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/WAFR_2016_multicontact.pdf\"\n     onclick=\"log_download('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016', 'http://ames.caltech.edu/WAFR_2016_multicontact.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/1fC7b2LjVW4\"\n     onclick=\"log_download('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016', 'https://youtu.be/1fC7b2LjVW4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-hereid-kolathaya-hubicki-ames-algorithmicfoundationsofrealizingmulticontactlocomotiononthehumanoidrobotdurus-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016', 'http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf', event);\">\n    Safety barrier certificates for heterogeneous multi-robot systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2016</i>, pages 5213–5218,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf\"\n     onclick=\"log_download('wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016', 'http://ames.caltech.edu/2016ACC_Hetero_Barrier_vFinal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safety barrier certificates for heterogeneous multi-robot systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/9RnV18u1T0g\"\n     onclick=\"log_download('wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016', 'https://youtu.be/9RnV18u1T0g', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Safety barrier certificates for heterogeneous multi-robot systems [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-ames-egerstedt-safetybarriercertificatesforheterogeneousmultirobotsystems-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-ames-towardsrealtimeparameteroptimizationforfeasiblenonlinearcontrolwithapplicationstorobotlocomotion-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/2016ACC_1232_FI.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-ames-towardsrealtimeparameteroptimizationforfeasiblenonlinearcontrolwithapplicationstorobotlocomotion-2016', 'http://ames.caltech.edu/2016ACC_1232_FI.pdf', event);\">\n    Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2016</i>, pages 3922–3927,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/2016ACC_1232_FI.pdf\"\n     onclick=\"log_download('powell-ames-towardsrealtimeparameteroptimizationforfeasiblenonlinearcontrolwithapplicationstorobotlocomotion-2016', 'http://ames.caltech.edu/2016ACC_1232_FI.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-ames-towardsrealtimeparameteroptimizationforfeasiblenonlinearcontrolwithapplicationstorobotlocomotion-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-ames-towardsrealtimeparameteroptimizationforfeasiblenonlinearcontrolwithapplicationstorobotlocomotion-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hubicki-hereid-grey-thomaz-ames-workthosearmstowarddynamicandstablehumanoidwalkingthatoptimizesfullbodymotion-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra-2016-hubo.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hubicki-hereid-grey-thomaz-ames-workthosearmstowarddynamicandstablehumanoidwalkingthatoptimizesfullbodymotion-2016', 'http://ames.caltech.edu/icra-2016-hubo.pdf', event);\">\n    Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hubicki, C. M; Hereid, A.; Grey, M. X; Thomaz, A. L;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2016 IEEE International Conference on</i>, pages 1552–1559,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra-2016-hubo.pdf\"\n     onclick=\"log_download('hubicki-hereid-grey-thomaz-ames-workthosearmstowarddynamicandstablehumanoidwalkingthatoptimizesfullbodymotion-2016', 'http://ames.caltech.edu/icra-2016-hubo.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hubicki-hereid-grey-thomaz-ames-workthosearmstowarddynamicandstablehumanoidwalkingthatoptimizesfullbodymotion-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hubicki-hereid-grey-thomaz-ames-workthosearmstowarddynamicandstablehumanoidwalkingthatoptimizesfullbodymotion-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016', 'http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf', event);\">\n    Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Hereid, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2016</i>, pages 3916–3921,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf\"\n     onclick=\"log_download('kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016', 'http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/5JugZGxZnqg\"\n     onclick=\"log_download('kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016', 'https://youtu.be/5JugZGxZnqg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-hereid-ames-timedependentcontrollyapunovfunctionsandhybridzerodynamicsforstableroboticlocomotion-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra_2016_collocation.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016', 'http://ames.caltech.edu/icra_2016_collocation.pdf', event);\">\n    3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Cousineau, E. A; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2016 IEEE International Conference on</i>, pages 1447–1454,  2016. IEEE\n  <span class=\"note\">Best Paper Award Finalist of ICRA 2016.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra_2016_collocation.pdf\"\n     onclick=\"log_download('hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016', 'http://ames.caltech.edu/icra_2016_collocation.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/a-R4H8-8074\"\n     onclick=\"log_download('hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016', 'https://youtu.be/a-R4H8-8074', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-cousineau-hubicki-ames-3ddynamicwalkingwithunderactuatedhumanoidrobotsadirectcollocationframeworkforoptimizinghybridzerodynamics-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/2016ACC_1852_FI.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016', 'http://ames.caltech.edu/2016ACC_1852_FI.pdf', event);\">\n    Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chao, K. Y; Powell, M. J; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Hur, P.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2016</i>, pages 3910–3915,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/2016ACC_1852_FI.pdf\"\n     onclick=\"log_download('chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016', 'http://ames.caltech.edu/2016ACC_1852_FI.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/KNUo4AH2fv0\"\n     onclick=\"log_download('chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016', 'https://youtu.be/KNUo4AH2fv0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chao-powell-ames-hur-unificationoflocomotionpatterngenerationandcontrollyapunovfunctionbasedquadraticprograms-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ICRA2016_DURUS.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016', 'http://ames.caltech.edu/ICRA2016_DURUS.pdf', event);\">\n    Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Reher, J.; Cousineau, E. A; Hereid, A.; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2016 IEEE International Conference on</i>, pages 1794–1801,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ICRA2016_DURUS.pdf\"\n     onclick=\"log_download('reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016', 'http://ames.caltech.edu/ICRA2016_DURUS.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/a-R4H8-8074\"\n     onclick=\"log_download('reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016', 'https://youtu.be/a-R4H8-8074', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('reher-cousineau-hereid-hubicki-ames-realizingdynamicandefficientbipedallocomotiononthehumanoidrobotdurus-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/multicontact_tase.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016', 'http://ames.caltech.edu/multicontact_tase.pdf', event);\">\n    Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Horn, J.; Reher, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, 13(2): 502–513.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/multicontact_tase.pdf\"\n     onclick=\"log_download('zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016', 'http://ames.caltech.edu/multicontact_tase.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/K6mKYrVYVwE\"\n     onclick=\"log_download('zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016', 'https://youtu.be/K6mKYrVYVwE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-horn-reher-paredes-ames-multicontactlocomotionontransfemoralprosthesesviahybridsystemmodelsandoptimizationbasedcontrol-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nilsson-hussien-balkan-chen-ames-grizzle-ozay-peng-etal-correctbyconstructionadaptivecruisecontroltwoapproaches-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Nilsson_tcst16.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nilsson-hussien-balkan-chen-ames-grizzle-ozay-peng-etal-correctbyconstructionadaptivecruisecontroltwoapproaches-2016', 'http://ames.caltech.edu/Nilsson_tcst16.pdf', event);\">\n    Correct-by-construction adaptive cruise control: Two approaches.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nilsson, P.; Hussien, O.; Balkan, A.; Chen, Y.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Grizzle, J. W; Ozay, N.; Peng, H.;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Control Systems Technology</i>, 24(4): 1294–1307.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Nilsson_tcst16.pdf\"\n     onclick=\"log_download('nilsson-hussien-balkan-chen-ames-grizzle-ozay-peng-etal-correctbyconstructionadaptivecruisecontroltwoapproaches-2016', 'http://ames.caltech.edu/Nilsson_tcst16.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Correct-by-construction adaptive cruise control: Two approaches [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nilsson-hussien-balkan-chen-ames-grizzle-ozay-peng-etal-correctbyconstructionadaptivecruisecontroltwoapproaches-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nilsson-hussien-balkan-chen-ames-grizzle-ozay-peng-etal-correctbyconstructionadaptivecruisecontroltwoapproaches-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hubicki-goldman-ames-optimalbipedalinteractionswithdynamicterrainsynthesisandanalysisvianonlinearprogramming-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hubicki2016optimal_aps.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hubicki-goldman-ames-optimalbipedalinteractionswithdynamicterrainsynthesisandanalysisvianonlinearprogramming-2016', 'http://ames.caltech.edu/hubicki2016optimal_aps.pdf', event);\">\n    Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hubicki, C.; Goldman, D.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>APS March Meeting Abstracts</i>,  2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hubicki2016optimal_aps.pdf\"\n     onclick=\"log_download('hubicki-goldman-ames-optimalbipedalinteractionswithdynamicterrainsynthesisandanalysisvianonlinearprogramming-2016', 'http://ames.caltech.edu/hubicki2016optimal_aps.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hubicki-goldman-ames-optimalbipedalinteractionswithdynamicterrainsynthesisandanalysisvianonlinearprogramming-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hubicki-goldman-ames-optimalbipedalinteractionswithdynamicterrainsynthesisandanalysisvianonlinearprogramming-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grey-garrett-liu-ames-thomaz-humanoidmanipulationplanningusingbackwardforwardsearch-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/humanoid_hbf_iros2016.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grey-garrett-liu-ames-thomaz-humanoidmanipulationplanningusingbackwardforwardsearch-2016', 'http://ames.caltech.edu/humanoid_hbf_iros2016.pdf', event);\">\n    Humanoid manipulation planning using backward-forward search.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grey, M. X; Garrett, C. R; Liu, C K.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Thomaz, A. L\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on</i>, pages 5467–5473,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/humanoid_hbf_iros2016.pdf\"\n     onclick=\"log_download('grey-garrett-liu-ames-thomaz-humanoidmanipulationplanningusingbackwardforwardsearch-2016', 'http://ames.caltech.edu/humanoid_hbf_iros2016.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Humanoid manipulation planning using backward-forward search [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grey-garrett-liu-ames-thomaz-humanoidmanipulationplanningusingbackwardforwardsearch-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grey-garrett-liu-ames-thomaz-humanoidmanipulationplanningusingbackwardforwardsearch-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/2016CDC_Composable_Barrier_Final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016', 'http://ames.caltech.edu/2016CDC_Composable_Barrier_Final.pdf', event);\">\n    Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2016 IEEE 55th Conference on</i>, pages 2659–2664,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/2016CDC_Composable_Barrier_Final.pdf\"\n     onclick=\"log_download('wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016', 'http://ames.caltech.edu/2016CDC_Composable_Barrier_Final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/LXzgxCzZIsM\"\n     onclick=\"log_download('wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016', 'https://youtu.be/LXzgxCzZIsM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-ames-egerstedt-multiobjectivecompositionsforcollisionfreeconnectivitymaintenanceinteamsofmobilerobots-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ampro3d_2016cdc.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016', 'http://ames.caltech.edu/ampro3d_2016cdc.pdf', event);\">\n    3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Hereid, A.; Ambrose, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2016 IEEE 55th Conference on</i>, pages 3668–3674,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ampro3d_2016cdc.pdf\"\n     onclick=\"log_download('zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016', 'http://ames.caltech.edu/ampro3d_2016cdc.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/eH6NRq1OK3w\"\n     onclick=\"log_download('zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016', 'https://youtu.be/eH6NRq1OK3w', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-hereid-ambrose-ames-3dmulticontactgaitdesignforprostheseshybridsystemmodelsvirtualconstraintsandtwostepdirectcollocation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hubicki-aguilar-goldman-ames-tractableterrainawaremotionplanningongranularmediaanimpulsivejumpingstudy-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hubicki2016tractable.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hubicki-aguilar-goldman-ames-tractableterrainawaremotionplanningongranularmediaanimpulsivejumpingstudy-2016', 'http://ames.caltech.edu/hubicki2016tractable.pdf', event);\">\n    Tractable terrain-aware motion planning on granular media: an impulsive jumping study.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hubicki, C. M; Aguilar, J. J; Goldman, D. I;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on</i>, pages 3887–3892,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hubicki2016tractable.pdf\"\n     onclick=\"log_download('hubicki-aguilar-goldman-ames-tractableterrainawaremotionplanningongranularmediaanimpulsivejumpingstudy-2016', 'http://ames.caltech.edu/hubicki2016tractable.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Tractable terrain-aware motion planning on granular media: an impulsive jumping study [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hubicki-aguilar-goldman-ames-tractableterrainawaremotionplanningongranularmediaanimpulsivejumpingstudy-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hubicki-aguilar-goldman-ames-tractableterrainawaremotionplanningongranularmediaanimpulsivejumpingstudy-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/3D_Stepping_Stones.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016', 'http://ames.caltech.edu/3D_Stepping_Stones.pdf', event);\">\n    3D dynamic walking on stepping stones with control barrier functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nguyen, Q.; Hereid, A.; Grizzle, J. W; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sreenath, K.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2016 IEEE 55th Conference on</i>, pages 827–834,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/3D_Stepping_Stones.pdf\"\n     onclick=\"log_download('nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016', 'http://ames.caltech.edu/3D_Stepping_Stones.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D dynamic walking on stepping stones with control barrier functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/yUSTraDn9-U\"\n     onclick=\"log_download('nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016', 'https://youtu.be/yUSTraDn9-U', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"3D dynamic walking on stepping stones with control barrier functions [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nguyen-hereid-grizzle-ames-sreenath-3ddynamicwalkingonsteppingstoneswithcontrolbarrierfunctions-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/iros2016pa.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016', 'http://ames.caltech.edu/iros2016pa.pdf', event);\">\n    Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on</i>, pages 555–560,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/iros2016pa.pdf\"\n     onclick=\"log_download('powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016', 'http://ames.caltech.edu/iros2016pa.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/kIuuBMWYljM\"\n     onclick=\"log_download('powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016', 'https://youtu.be/kIuuBMWYljM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-ames-mechanicsbasedcontrolofunderactuated3droboticwalkingdynamicgaitgenerationundertorqueconstraints-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/durusrun.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016', 'http://ames.caltech.edu/durusrun.pdf', event);\">\n    Efficient HZD gait generation for three-dimensional underactuated humanoid running.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Hereid, A.; Hubicki, C. M;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on</i>, pages 5819–5825,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/durusrun.pdf\"\n     onclick=\"log_download('ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016', 'http://ames.caltech.edu/durusrun.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Efficient HZD gait generation for three-dimensional underactuated humanoid running [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/7uQOY3reavo\"\n     onclick=\"log_download('ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016', 'https://youtu.be/7uQOY3reavo', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Efficient HZD gait generation for three-dimensional underactuated humanoid running [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-hereid-hubicki-ames-efficienthzdgaitgenerationforthreedimensionalunderactuatedhumanoidrunning-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc_2016_online.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016', 'http://ames.caltech.edu/cdc_2016_online.pdf', event);\">\n    Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2016 IEEE 55th Conference on</i>, pages 6173–6179,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc_2016_online.pdf\"\n     onclick=\"log_download('hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016', 'http://ames.caltech.edu/cdc_2016_online.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/pvH3c2G2Pj4\"\n     onclick=\"log_download('hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016', 'https://youtu.be/pvH3c2G2Pj4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-kolathaya-ames-onlineoptimalgaitgenerationforbipedalwalkingrobotsusinglegendrepseudospectraloptimization-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/humanoids2016.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016', 'http://ames.caltech.edu/humanoids2016.pdf', event);\">\n    Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J; Ma, W.; Ambrose, E. R;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on</i>, pages 981–986,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/humanoids2016.pdf\"\n     onclick=\"log_download('powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016', 'http://ames.caltech.edu/humanoids2016.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/xw8jaDz8XTc\"\n     onclick=\"log_download('powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016', 'https://youtu.be/xw8jaDz8XTc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-ma-ambrose-ames-mechanicsbaseddesignofunderactuatedroboticwalkinggaitsinitialexperimentalrealization-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gurriet-mote-ames-feron-establishingtrustinremotelyreprogrammablesystems-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/a19-gurriet.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gurriet-mote-ames-feron-establishingtrustinremotelyreprogrammablesystems-2016', 'http://ames.caltech.edu/a19-gurriet.pdf', event);\">\n    Establishing trust in remotely reprogrammable systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gurriet, T.; Mote, M. L; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Feron, E.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the International Conference on Human-Computer Interaction in Aerospace</i>, pages 19,  2016. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/a19-gurriet.pdf\"\n     onclick=\"log_download('gurriet-mote-ames-feron-establishingtrustinremotelyreprogrammablesystems-2016', 'http://ames.caltech.edu/a19-gurriet.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Establishing trust in remotely reprogrammable systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gurriet-mote-ames-feron-establishingtrustinremotelyreprogrammablesystems-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gurriet-mote-ames-feron-establishingtrustinremotelyreprogrammablesystems-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"konecny-taha-bartha-duracz-duracz-ames-enclosingthebehaviorofahybridautomatonuptoandbeyondazenopoint-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Zeno_enclosing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'konecny-taha-bartha-duracz-duracz-ames-enclosingthebehaviorofahybridautomatonuptoandbeyondazenopoint-2016', 'http://ames.caltech.edu/Zeno_enclosing.pdf', event);\">\n    Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Konecny, M.; Taha, W.; Bartha, F. A; Duracz, J.; Duracz, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Nonlinear Analysis: Hybrid Systems</i>, 20: 1–20.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Zeno_enclosing.pdf\"\n     onclick=\"log_download('konecny-taha-bartha-duracz-duracz-ames-enclosingthebehaviorofahybridautomatonuptoandbeyondazenopoint-2016', 'http://ames.caltech.edu/Zeno_enclosing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/konecny-taha-bartha-duracz-duracz-ames-enclosingthebehaviorofahybridautomatonuptoandbeyondazenopoint-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('konecny-taha-bartha-duracz-duracz-ames-enclosingthebehaviorofahybridautomatonuptoandbeyondazenopoint-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pickem-wang-glotfelter-diazmercado-mote-ames-feron-egerstedt-saferemoteaccessswarmroboticsresearchontherobotarium-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/pickem2016safe.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pickem-wang-glotfelter-diazmercado-mote-ames-feron-egerstedt-saferemoteaccessswarmroboticsresearchontherobotarium-2016', 'http://ames.caltech.edu/pickem2016safe.pdf', event);\">\n    Safe, remote-access swarm robotics research on the Robotarium.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pickem, D.; Wang, L.; Glotfelter, P.; Diaz-Mercado, Y.; Mote, M.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Feron, E.;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1604.00640,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/pickem2016safe.pdf\"\n     onclick=\"log_download('pickem-wang-glotfelter-diazmercado-mote-ames-feron-egerstedt-saferemoteaccessswarmroboticsresearchontherobotarium-2016', 'http://ames.caltech.edu/pickem2016safe.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Safe, remote-access swarm robotics research on the Robotarium [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pickem-wang-glotfelter-diazmercado-mote-ames-feron-egerstedt-saferemoteaccessswarmroboticsresearchontherobotarium-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pickem-wang-glotfelter-diazmercado-mote-ames-feron-egerstedt-saferemoteaccessswarmroboticsresearchontherobotarium-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-morris-sinnet-ames-systemidentificationandcontrolofvalkyriethroughsvabasedregressorcomputation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/kolathaya2016system.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-morris-sinnet-ames-systemidentificationandcontrolofvalkyriethroughsvabasedregressorcomputation-2016', 'http://ames.caltech.edu/kolathaya2016system.pdf', event);\">\n    System Identification and Control of Valkyrie through SVA–Based Regressor Computation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Morris, B. J; Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1608.02683,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/kolathaya2016system.pdf\"\n     onclick=\"log_download('kolathaya-morris-sinnet-ames-systemidentificationandcontrolofvalkyriethroughsvabasedregressorcomputation-2016', 'http://ames.caltech.edu/kolathaya2016system.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"System Identification and Control of Valkyrie through SVA–Based Regressor Computation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-morris-sinnet-ames-systemidentificationandcontrolofvalkyriethroughsvabasedregressorcomputation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-morris-sinnet-ames-systemidentificationandcontrolofvalkyriethroughsvabasedregressorcomputation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grey-ames-liu-traversingenvironmentsusingpossibilitygraphsforhumanoidrobots-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grey2016traversing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grey-ames-liu-traversingenvironmentsusingpossibilitygraphsforhumanoidrobots-2016', 'http://ames.caltech.edu/grey2016traversing.pdf', event);\">\n    Traversing Environments Using Possibility Graphs for Humanoid Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grey, M. X; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Liu, C K.\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1608.03845,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grey2016traversing.pdf\"\n     onclick=\"log_download('grey-ames-liu-traversingenvironmentsusingpossibilitygraphsforhumanoidrobots-2016', 'http://ames.caltech.edu/grey2016traversing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Traversing Environments Using Possibility Graphs for Humanoid Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grey-ames-liu-traversingenvironmentsusingpossibilitygraphsforhumanoidrobots-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grey-ames-liu-traversingenvironmentsusingpossibilitygraphsforhumanoidrobots-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grey-liu-ames-traversingenvironmentsusingpossibilitygraphswithmultipleactiontypes-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/grey2016traversing2.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grey-liu-ames-traversingenvironmentsusingpossibilitygraphswithmultipleactiontypes-2016', 'http://ames.caltech.edu/grey2016traversing2.pdf', event);\">\n    Traversing Environments Using Possibility Graphs with Multiple Action Types.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grey, M. X; Liu, C K.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1610.00701,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/grey2016traversing2.pdf\"\n     onclick=\"log_download('grey-liu-ames-traversingenvironmentsusingpossibilitygraphswithmultipleactiontypes-2016', 'http://ames.caltech.edu/grey2016traversing2.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Traversing Environments Using Possibility Graphs with Multiple Action Types [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grey-liu-ames-traversingenvironmentsusingpossibilitygraphswithmultipleactiontypes-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grey-liu-ames-traversingenvironmentsusingpossibilitygraphswithmultipleactiontypes-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (21)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/dynamicdancing.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015', 'http://ames.caltech.edu/dynamicdancing.pdf', event);\">\n    Composing Dynamical Systems to Realize Dynamic Robotic Dancing.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.; Ma, W.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Algorithmic Foundations of Robotics XI</i>, pages 425–442. Springer, Cham,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/dynamicdancing.pdf\"\n     onclick=\"log_download('kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015', 'http://ames.caltech.edu/dynamicdancing.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Composing Dynamical Systems to Realize Dynamic Robotic Dancing [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/IwR9XvojXWo\"\n     onclick=\"log_download('kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015', 'https://youtu.be/IwR9XvojXWo', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Composing Dynamical Systems to Realize Dynamic Robotic Dancing [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ma-ames-composingdynamicalsystemstorealizedynamicroboticdancing-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AMPRO_CONTROL_ICCPS15.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015', 'http://ames.caltech.edu/AMPRO_CONTROL_ICCPS15.pdf', event);\">\n    Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Reher, J.; Horn, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems</i>, pages 130–138,  2015. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AMPRO_CONTROL_ICCPS15.pdf\"\n     onclick=\"log_download('zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015', 'http://ames.caltech.edu/AMPRO_CONTROL_ICCPS15.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/NxJ7nMsJ63o\"\n     onclick=\"log_download('zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015', 'https://youtu.be/NxJ7nMsJ63o', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-reher-horn-paredes-ames-realizationofnonlinearrealtimeoptimizationbasedcontrollersonselfcontainedtransfemoralprosthesis-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-tabuada-schrmann-ma-kolathaya-rungger-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobots-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-tabuada-schrmann-ma-kolathaya-rungger-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobots-2015', 'http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf', event);\">\n    First steps toward formal controller synthesis for bipedal robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Tabuada, P.; Schürmann, B.; Ma, W.; Kolathaya, S.; Rungger, M.;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, pages 209–218,  2015. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf\"\n     onclick=\"log_download('ames-tabuada-schrmann-ma-kolathaya-rungger-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobots-2015', 'http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps toward formal controller synthesis for bipedal robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-tabuada-schrmann-ma-kolathaya-rungger-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobots-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-tabuada-schrmann-ma-kolathaya-rungger-grizzle-firststepstowardformalcontrollersynthesisforbipedalrobots-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ames2015first,\n  title={First steps toward formal controller synthesis for bipedal robots},\n  author={Ames, Aaron D and Tabuada, Paulo and Sch{\\&quot;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-energyshapingofhybridsystemsviacontrollyapunovfunctions-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/acc_2015_sa_01.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-energyshapingofhybridsystemsviacontrollyapunovfunctions-2015', 'http://ames.caltech.edu/acc_2015_sa_01.pdf', event);\">\n    Energy shaping of hybrid systems via control Lyapunov functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2015</i>, pages 5992–5997,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/acc_2015_sa_01.pdf\"\n     onclick=\"log_download('sinnet-ames-energyshapingofhybridsystemsviacontrollyapunovfunctions-2015', 'http://ames.caltech.edu/acc_2015_sa_01.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Energy shaping of hybrid systems via control Lyapunov functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-energyshapingofhybridsystemsviacontrollyapunovfunctions-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-energyshapingofhybridsystemsviacontrollyapunovfunctions-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dantam-lofaro-hereid-oh-ames-stilman-theachlibraryanewframeworkforrealtimecommunication-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/RAM_ACH.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dantam-lofaro-hereid-oh-ames-stilman-theachlibraryanewframeworkforrealtimecommunication-2015', 'http://ames.caltech.edu/RAM_ACH.pdf', event);\">\n    The Ach library: a new framework for real-time communication.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Stilman, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics & Automation Magazine</i>, 22(1): 76–85.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/RAM_ACH.pdf\"\n     onclick=\"log_download('dantam-lofaro-hereid-oh-ames-stilman-theachlibraryanewframeworkforrealtimecommunication-2015', 'http://ames.caltech.edu/RAM_ACH.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Ach library: a new framework for real-time communication [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dantam-lofaro-hereid-oh-ames-stilman-theachlibraryanewframeworkforrealtimecommunication-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dantam-lofaro-hereid-oh-ames-stilman-theachlibraryanewframeworkforrealtimecommunication-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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 \\&amp; 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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hsu-xu-ames-controlbarrierfunctionbasedquadraticprogramswithapplicationtobipedalroboticwalking-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ACC_2015_CBF_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hsu-xu-ames-controlbarrierfunctionbasedquadraticprogramswithapplicationtobipedalroboticwalking-2015', 'http://ames.caltech.edu/ACC_2015_CBF_final.pdf', event);\">\n    Control barrier function based quadratic programs with application to bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hsu, S.; Xu, X.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2015</i>, pages 4542–4548,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ACC_2015_CBF_final.pdf\"\n     onclick=\"log_download('hsu-xu-ames-controlbarrierfunctionbasedquadraticprogramswithapplicationtobipedalroboticwalking-2015', 'http://ames.caltech.edu/ACC_2015_CBF_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control barrier function based quadratic programs with application to bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hsu-xu-ames-controlbarrierfunctionbasedquadraticprogramswithapplicationtobipedalroboticwalking-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hsu-xu-ames-controlbarrierfunctionbasedquadraticprogramswithapplicationtobipedalroboticwalking-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-reher-horn-paredes-ames-demonstrationoflocomotionwiththepoweredprosthesisamproutilizingonlineoptimizationbasedcontrol-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HSCC_2015_demo_abstract.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-reher-horn-paredes-ames-demonstrationoflocomotionwiththepoweredprosthesisamproutilizingonlineoptimizationbasedcontrol-2015', 'http://ames.caltech.edu/HSCC_2015_demo_abstract.pdf', event);\">\n    Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Reher, J.; Horn, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, pages 305–306,  2015. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HSCC_2015_demo_abstract.pdf\"\n     onclick=\"log_download('zhao-reher-horn-paredes-ames-demonstrationoflocomotionwiththepoweredprosthesisamproutilizingonlineoptimizationbasedcontrol-2015', 'http://ames.caltech.edu/HSCC_2015_demo_abstract.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-reher-horn-paredes-ames-demonstrationoflocomotionwiththepoweredprosthesisamproutilizingonlineoptimizationbasedcontrol-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-reher-horn-paredes-ames-demonstrationoflocomotionwiththepoweredprosthesisamproutilizingonlineoptimizationbasedcontrol-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-hubicki-cousineau-hurst-ames-hybridzerodynamicsbasedmultipleshootingoptimizationwithapplicationstoroboticwalking-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra_2015_multiple_shooting.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-hubicki-cousineau-hurst-ames-hybridzerodynamicsbasedmultipleshootingoptimizationwithapplicationstoroboticwalking-2015', 'http://ames.caltech.edu/icra_2015_multiple_shooting.pdf', event);\">\n    Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Hubicki, C. M; Cousineau, E. A; Hurst, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2015 IEEE International Conference on</i>, pages 5734–5740,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra_2015_multiple_shooting.pdf\"\n     onclick=\"log_download('hereid-hubicki-cousineau-hurst-ames-hybridzerodynamicsbasedmultipleshootingoptimizationwithapplicationstoroboticwalking-2015', 'http://ames.caltech.edu/icra_2015_multiple_shooting.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-hubicki-cousineau-hurst-ames-hybridzerodynamicsbasedmultipleshootingoptimizationwithapplicationstoroboticwalking-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-hubicki-cousineau-hurst-ames-hybridzerodynamicsbasedmultipleshootingoptimizationwithapplicationstoroboticwalking-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra2015_imrmm.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015', 'http://ames.caltech.edu/icra2015_imrmm.pdf', event);\">\n    Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Cousineau, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2015 IEEE International Conference on</i>, pages 5747–5753,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra2015_imrmm.pdf\"\n     onclick=\"log_download('cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015', 'http://ames.caltech.edu/icra2015_imrmm.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/6BAzHszOpsA\"\n     onclick=\"log_download('cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015', 'https://youtu.be/6BAzHszOpsA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cousineau-ames-realizingunderactuatedbipedalwalkingwithtorquecontrollersviatheidealmodelresolvedmotionmethod-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra2015_iompc.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015', 'http://ames.caltech.edu/icra2015_iompc.pdf', event);\">\n    Model predictive control of underactuated bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J; Cousineau, E. A;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2015 IEEE International Conference on</i>, pages 5121–5126,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra2015_iompc.pdf\"\n     onclick=\"log_download('powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015', 'http://ames.caltech.edu/icra2015_iompc.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Model predictive control of underactuated bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/OG-WIfWMZek\"\n     onclick=\"log_download('powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015', 'https://youtu.be/OG-WIfWMZek', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Model predictive control of underactuated bipedal robotic walking [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-cousineau-ames-modelpredictivecontrolofunderactuatedbipedalroboticwalking-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ACC_Paper_cars_2015.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015', 'http://ames.caltech.edu/ACC_Paper_cars_2015.pdf', event);\">\n    Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Mehra, A.; Ma, W.; Berg, F.; Tabuada, P.; Grizzle, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2015</i>, pages 1411–1418,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ACC_Paper_cars_2015.pdf\"\n     onclick=\"log_download('mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015', 'http://ames.caltech.edu/ACC_Paper_cars_2015.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/9Du7F76s4jQ\"\n     onclick=\"log_download('mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015', 'https://youtu.be/9Du7F76s4jQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mehra-ma-berg-tabuada-grizzle-ames-adaptivecruisecontrolexperimentalvalidationofadvancedcontrollersonscalemodelcars-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xu-tabuada-grizzle-ames-robustnessofcontrolbarrierfunctionsforsafetycriticalcontrol-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ADHS15_Final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xu-tabuada-grizzle-ames-robustnessofcontrolbarrierfunctionsforsafetycriticalcontrol-2015', 'http://ames.caltech.edu/ADHS15_Final.pdf', event);\">\n    Robustness of Control Barrier Functions for Safety Critical Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xu, X.; Tabuada, P.; Grizzle, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IFAC-PapersOnLine</i>, 48(27): 54–61.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ADHS15_Final.pdf\"\n     onclick=\"log_download('xu-tabuada-grizzle-ames-robustnessofcontrolbarrierfunctionsforsafetycriticalcontrol-2015', 'http://ames.caltech.edu/ADHS15_Final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Robustness of Control Barrier Functions for Safety Critical Control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xu-tabuada-grizzle-ames-robustnessofcontrolbarrierfunctionsforsafetycriticalcontrol-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xu-tabuada-grizzle-ames-robustnessofcontrolbarrierfunctionsforsafetycriticalcontrol-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/moprimitive_icorr2015_finalsubmission.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015', 'http://ames.caltech.edu/moprimitive_icorr2015_finalsubmission.pdf', event);\">\n    Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Reher, J.; Horn, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on</i>, pages 265–270,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/moprimitive_icorr2015_finalsubmission.pdf\"\n     onclick=\"log_download('zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015', 'http://ames.caltech.edu/moprimitive_icorr2015_finalsubmission.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/oNZxkiiCnUg\"\n     onclick=\"log_download('zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015', 'https://youtu.be/oNZxkiiCnUg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-reher-horn-paredes-ames-realizationofstairascentandmotiontransitionsonprosthesesutilizingoptimizationbasedcontrolandintentrecognition-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-ames-parametersensitivityandboundednessofrobotichybridperiodicorbits-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ADHS15_0071_FI.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ames-parametersensitivityandboundednessofrobotichybridperiodicorbits-2015', 'http://ames.caltech.edu/ADHS15_0071_FI.pdf', event);\">\n    Parameter sensitivity and boundedness of robotic hybrid periodic orbits.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IFAC-PapersOnLine</i>, 48(27): 377–382.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ADHS15_0071_FI.pdf\"\n     onclick=\"log_download('kolathaya-ames-parametersensitivityandboundednessofrobotichybridperiodicorbits-2015', 'http://ames.caltech.edu/ADHS15_0071_FI.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Parameter sensitivity and boundedness of robotic hybrid periodic orbits [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ames-parametersensitivityandboundednessofrobotichybridperiodicorbits-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ames-parametersensitivityandboundednessofrobotichybridperiodicorbits-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"borrmann-wang-ames-egerstedt-controlbarriercertificatesforsafeswarmbehavior-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Control barrier certificates for safe swarm behavior.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Borrmann, U.; Wang, L.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Egerstedt, M.\n</span>\n\n  \n\n</span>\n\n  <i>IFAC-PapersOnLine</i>, 48(27): 68–73.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/borrmann-wang-ames-egerstedt-controlbarriercertificatesforsafeswarmbehavior-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('borrmann-wang-ames-egerstedt-controlbarriercertificatesforsafeswarmbehavior-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/IEEE_Access_QP.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015', 'http://ames.caltech.edu/IEEE_Access_QP.pdf', event);\">\n    Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Galloway, K.; Sreenath, K.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 3: 323–332.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/IEEE_Access_QP.pdf\"\n     onclick=\"log_download('galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015', 'http://ames.caltech.edu/IEEE_Access_QP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/onOd7xWbGAk\"\n     onclick=\"log_download('galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015', 'https://youtu.be/onOd7xWbGAk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('galloway-sreenath-ames-grizzle-torquesaturationinbipedalroboticwalkingthroughcontrollyapunovfunctionbasedquadraticprograms-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"morris-powell-ames-continuityandsmoothnesspropertiesofnonlinearoptimizationbasedfeedbackcontrollers-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/MPA%20-%20CDC15.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'morris-powell-ames-continuityandsmoothnesspropertiesofnonlinearoptimizationbasedfeedbackcontrollers-2015', 'http://ames.caltech.edu/MPA%20-%20CDC15.pdf', event);\">\n    Continuity and smoothness properties of nonlinear optimization-based feedback controllers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Morris, B. J; Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2015 IEEE 54th Annual Conference on</i>, pages 151–158,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/MPA%20-%20CDC15.pdf\"\n     onclick=\"log_download('morris-powell-ames-continuityandsmoothnesspropertiesofnonlinearoptimizationbasedfeedbackcontrollers-2015', 'http://ames.caltech.edu/MPA%20-%20CDC15.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Continuity and smoothness properties of nonlinear optimization-based feedback controllers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/morris-powell-ames-continuityandsmoothnesspropertiesofnonlinearoptimizationbasedfeedbackcontrollers-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('morris-powell-ames-continuityandsmoothnesspropertiesofnonlinearoptimizationbasedfeedbackcontrollers-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/multicontact_2015cdc_finalsubmission.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015', 'http://ames.caltech.edu/multicontact_2015cdc_finalsubmission.pdf', event);\">\n    A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Horn, J.; Reher, J.; Paredes, V.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2015 IEEE 54th Annual Conference on</i>, pages 1607–1612,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/multicontact_2015cdc_finalsubmission.pdf\"\n     onclick=\"log_download('zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015', 'http://ames.caltech.edu/multicontact_2015cdc_finalsubmission.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/K6mKYrVYVwE\"\n     onclick=\"log_download('zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015', 'https://youtu.be/K6mKYrVYVwE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-horn-reher-paredes-ames-ahybridsystemsandoptimizationbasedcontrolapproachtorealizingmulticontactlocomotionontransfemoralprostheses-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"radford-strawser-hambuchen-mehling-verdeyen-donnan-holley-sanchez-etal-valkyrienasasfirstbipedalhumanoidrobot-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Val-NASA-JFR-Final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'radford-strawser-hambuchen-mehling-verdeyen-donnan-holley-sanchez-etal-valkyrienasasfirstbipedalhumanoidrobot-2015', 'http://ames.caltech.edu/Val-NASA-JFR-Final.pdf', event);\">\n    Valkyrie: NASA's first bipedal humanoid robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\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.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Akinyode, J.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>, 32(3): 397–419.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Val-NASA-JFR-Final.pdf\"\n     onclick=\"log_download('radford-strawser-hambuchen-mehling-verdeyen-donnan-holley-sanchez-etal-valkyrienasasfirstbipedalhumanoidrobot-2015', 'http://ames.caltech.edu/Val-NASA-JFR-Final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Valkyrie: NASA&#x27;s first bipedal humanoid robot [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/radford-strawser-hambuchen-mehling-verdeyen-donnan-holley-sanchez-etal-valkyrienasasfirstbipedalhumanoidrobot-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('radford-strawser-hambuchen-mehling-verdeyen-donnan-holley-sanchez-etal-valkyrienasasfirstbipedalhumanoidrobot-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{radford2015valkyrie,\n  title={Valkyrie: {NASA}&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taha-duracz-zeng-atkinson-bartha-brauner-duracz-xu-etal-acumenanopensourcetestbedforcyberphysicalsystemsresearch-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cyclone15Taha.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taha-duracz-zeng-atkinson-bartha-brauner-duracz-xu-etal-acumenanopensourcetestbedforcyberphysicalsystemsresearch-2015', 'http://ames.caltech.edu/cyclone15Taha.pdf', event);\">\n    Acumen: An open-source testbed for cyber-physical systems research.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\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.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Gaspes, V.; Hvatum, L.; Mehta, S.; Eriksson, H.;  and Grante, C.\n</span>\n\n  \n\n</span>\n\n  In <i>International Internet of Things Summit</i>, pages 118–130,  2015. Springer, Cham\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cyclone15Taha.pdf\"\n     onclick=\"log_download('taha-duracz-zeng-atkinson-bartha-brauner-duracz-xu-etal-acumenanopensourcetestbedforcyberphysicalsystemsresearch-2015', 'http://ames.caltech.edu/cyclone15Taha.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Acumen: An open-source testbed for cyber-physical systems research [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taha-duracz-zeng-atkinson-bartha-brauner-duracz-xu-etal-acumenanopensourcetestbedforcyberphysicalsystemsresearch-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taha-duracz-zeng-atkinson-bartha-brauner-duracz-xu-etal-acumenanopensourcetestbedforcyberphysicalsystemsresearch-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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{\\&#x27;y}, Michal\nand Moggi, Eugenio\nand Masood, Jawad\nand Andreasson, Pererik\nand Inoue, Jun\nand Sant&#x27;Anna, Anita\nand Philippsen, Roland\n and Chapoutot, Alexandre\nand O&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-optimalenergybasedcontrolofhybridsystemswithapplicationstoroboticwalking-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/sinnet2015optimal.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-optimalenergybasedcontrolofhybridsystemswithapplicationstoroboticwalking-2015', 'http://ames.caltech.edu/sinnet2015optimal.pdf', event);\">\n    Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  Book of Abstracts-Extract,  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/sinnet2015optimal.pdf\"\n     onclick=\"log_download('sinnet-ames-optimalenergybasedcontrolofhybridsystemswithapplicationstoroboticwalking-2015', 'http://ames.caltech.edu/sinnet2015optimal.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-optimalenergybasedcontrolofhybridsystemswithapplicationstoroboticwalking-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-optimalenergybasedcontrolofhybridsystemswithapplicationstoroboticwalking-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (18)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramswithapplicationtoadaptivecruisecontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CLF_QP_ACC_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramswithapplicationtoadaptivecruisecontrol-2014', 'http://ames.caltech.edu/CLF_QP_ACC_final.pdf', event);\">\n    Control barrier function based quadratic programs with application to adaptive cruise control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Grizzle, J. W;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on</i>, pages 6271–6278,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CLF_QP_ACC_final.pdf\"\n     onclick=\"log_download('ames-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramswithapplicationtoadaptivecruisecontrol-2014', 'http://ames.caltech.edu/CLF_QP_ACC_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control barrier function based quadratic programs with application to adaptive cruise control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramswithapplicationtoadaptivecruisecontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-grizzle-tabuada-controlbarrierfunctionbasedquadraticprogramswithapplicationtoadaptivecruisecontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CFL_Robotics_TAC.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014', 'http://ames.caltech.edu/CFL_Robotics_TAC.pdf', event);\">\n    Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Galloway, K.; Sreenath, K.;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automatic Control</i>, 59(4): 876–891.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CFL_Robotics_TAC.pdf\"\n     onclick=\"log_download('ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014', 'http://ames.caltech.edu/CFL_Robotics_TAC.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/onOd7xWbGAk\"\n     onclick=\"log_download('ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014', 'https://youtu.be/onOd7xWbGAk', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-galloway-sreenath-grizzle-rapidlyexponentiallystabilizingcontrollyapunovfunctionsandhybridzerodynamics-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-humaninspiredcontrolofbipedalwalkingrobots-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/TAC_Human-Inspired_Final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-humaninspiredcontrolofbipedalwalkingrobots-2014', 'http://ames.caltech.edu/TAC_Human-Inspired_Final.pdf', event);\">\n    Human-inspired control of bipedal walking robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automatic Control</i>, 59(5): 1115–1130.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/TAC_Human-Inspired_Final.pdf\"\n     onclick=\"log_download('ames-humaninspiredcontrolofbipedalwalkingrobots-2014', 'http://ames.caltech.edu/TAC_Human-Inspired_Final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired control of bipedal walking robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/SYXWoNU8QUE\"\n     onclick=\"log_download('ames-humaninspiredcontrolofbipedalwalkingrobots-2014', 'https://youtu.be/SYXWoNU8QUE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human-inspired control of bipedal walking robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/OBGHU-e1kc0\"\n     onclick=\"log_download('ames-humaninspiredcontrolofbipedalwalkingrobots-2014', 'https://youtu.be/OBGHU-e1kc0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human-inspired control of bipedal walking robots [link]\"\n       title=\" video2\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video2</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-humaninspiredcontrolofbipedalwalkingrobots-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>12 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-humaninspiredcontrolofbipedalwalkingrobots-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-powell-ames-humaninspiredmotionprimitivesandtransitionsforbipedalroboticlocomotionindiverseterrain-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/oca2099.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-powell-ames-humaninspiredmotionprimitivesandtransitionsforbipedalroboticlocomotionindiverseterrain-2014', 'http://ames.caltech.edu/oca2099.pdf', event);\">\n    Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Optimal Control Applications and Methods</i>, 35(6): 730–755.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/oca2099.pdf\"\n     onclick=\"log_download('zhao-powell-ames-humaninspiredmotionprimitivesandtransitionsforbipedalroboticlocomotionindiverseterrain-2014', 'http://ames.caltech.edu/oca2099.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-powell-ames-humaninspiredmotionprimitivesandtransitionsforbipedalroboticlocomotionindiverseterrain-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-powell-ames-humaninspiredmotionprimitivesandtransitionsforbipedalroboticlocomotionindiverseterrain-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/amber1_impedance_icra14_reduced.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014', 'http://ames.caltech.edu/amber1_impedance_icra14_reduced.pdf', event);\">\n    Quadratic programming and impedance control for transfemoral prosthesis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and automation (ICRA), 2014 IEEE international conference on</i>, pages 1341–1347,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/amber1_impedance_icra14_reduced.pdf\"\n     onclick=\"log_download('zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014', 'http://ames.caltech.edu/amber1_impedance_icra14_reduced.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quadratic programming and impedance control for transfemoral prosthesis [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/5TuTyKhMNiU\"\n     onclick=\"log_download('zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014', 'https://youtu.be/5TuTyKhMNiU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quadratic programming and impedance control for transfemoral prosthesis [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-kolathaya-ames-quadraticprogrammingandimpedancecontrolfortransfemoralprosthesis-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hscc-2014_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014', 'http://ames.caltech.edu/hscc-2014_final.pdf', event);\">\n    Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Kolathaya, S.; Jones, M. S; Van Why, J.; Hurst, J. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 17th international conference on Hybrid systems: computation and control</i>, pages 263–272,  2014. ACM\n  <span class=\"note\">DENSO Best Student Paper Award of HSCC 2014.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hscc-2014_final.pdf\"\n     onclick=\"log_download('hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014', 'http://ames.caltech.edu/hscc-2014_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/yiEbWwC-sR0\"\n     onclick=\"log_download('hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014', 'https://youtu.be/yiEbWwC-sR0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-kolathaya-jones-vanwhy-hurst-ames-dynamicmultidomainbipedalwalkingwithatriasthroughslipbasedhumaninspiredcontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/miqpimpedance_acc2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014', 'http://ames.caltech.edu/miqpimpedance_acc2014.pdf', event);\">\n    Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2014</i>, pages 4101–4107,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/miqpimpedance_acc2014.pdf\"\n     onclick=\"log_download('zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014', 'http://ames.caltech.edu/miqpimpedance_acc2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/5TuTyKhMNiU\"\n     onclick=\"log_download('zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014', 'https://youtu.be/5TuTyKhMNiU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-ames-quadraticprogrambasedcontroloffullyactuatedtransfemoralprosthesisforflatgroundandupslopelocomotion-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/amber2_iccps2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014', 'http://ames.caltech.edu/amber2_iccps2014.pdf', event);\">\n    Human-inspired multi-contact locomotion with AMBER2.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zhao, H.; Ma, W.; Zeagler, M. B;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on</i>, pages 199–210,  2014. IEEE\n  <span class=\"note\">Best Paper Award Finalist of ICCPS 2014.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/amber2_iccps2014.pdf\"\n     onclick=\"log_download('zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014', 'http://ames.caltech.edu/amber2_iccps2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired multi-contact locomotion with AMBER2 [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/VvkIdCKlL54\"\n     onclick=\"log_download('zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014', 'https://youtu.be/VvkIdCKlL54', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human-inspired multi-contact locomotion with AMBER2 [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhao-ma-zeagler-ames-humaninspiredmulticontactlocomotionwithamber2-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/amber2_icra2014_reduced.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014', 'http://ames.caltech.edu/amber2_icra2014_reduced.pdf', event);\">\n    Human-inspired walking via unified PD and impedance control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ma, W.; Zhao, H.; Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2014 IEEE International Conference on</i>, pages 5088–5094,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/amber2_icra2014_reduced.pdf\"\n     onclick=\"log_download('ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014', 'http://ames.caltech.edu/amber2_icra2014_reduced.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired walking via unified PD and impedance control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/d6oM5sLI9vA\"\n     onclick=\"log_download('ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014', 'https://youtu.be/d6oM5sLI9vA', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human-inspired walking via unified PD and impedance control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ma-zhao-kolathaya-ames-humaninspiredwalkingviaunifiedpdandimpedancecontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nilsson-hussien-chen-balkan-rungger-ames-grizzle-ozay-etal-preliminaryresultsoncorrectbyconstructioncontrolsoftwaresynthesisforadaptivecruisecontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC_formal_methods.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nilsson-hussien-chen-balkan-rungger-ames-grizzle-ozay-etal-preliminaryresultsoncorrectbyconstructioncontrolsoftwaresynthesisforadaptivecruisecontrol-2014', 'http://ames.caltech.edu/CDC_formal_methods.pdf', event);\">\n    Preliminary results on correct-by-construction control software synthesis for adaptive cruise control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nilsson, P.; Hussien, O.; Chen, Y.; Balkan, A.; Rungger, M.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A.</a>; Grizzle, J.; Ozay, N.; Peng, H.;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on</i>, pages 816–823,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC_formal_methods.pdf\"\n     onclick=\"log_download('nilsson-hussien-chen-balkan-rungger-ames-grizzle-ozay-etal-preliminaryresultsoncorrectbyconstructioncontrolsoftwaresynthesisforadaptivecruisecontrol-2014', 'http://ames.caltech.edu/CDC_formal_methods.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Preliminary results on correct-by-construction control software synthesis for adaptive cruise control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nilsson-hussien-chen-balkan-rungger-ames-grizzle-ozay-etal-preliminaryresultsoncorrectbyconstructioncontrolsoftwaresynthesisforadaptivecruisecontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nilsson-hussien-chen-balkan-rungger-ames-grizzle-ozay-etal-preliminaryresultsoncorrectbyconstructioncontrolsoftwaresynthesisforadaptivecruisecontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dantam-lofaro-hereid-oh-ames-stilman-multiprocesscommunicationandcontrolsoftwareforhumanoidrobots-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/dantam2014multiprocess.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dantam-lofaro-hereid-oh-ames-stilman-multiprocesscommunicationandcontrolsoftwareforhumanoidrobots-2014', 'http://ames.caltech.edu/dantam2014multiprocess.pdf', event);\">\n    Multiprocess Communication and Control Software for Humanoid Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Stilman, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Magazine</i>.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/dantam2014multiprocess.pdf\"\n     onclick=\"log_download('dantam-lofaro-hereid-oh-ames-stilman-multiprocesscommunicationandcontrolsoftwareforhumanoidrobots-2014', 'http://ames.caltech.edu/dantam2014multiprocess.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multiprocess Communication and Control Software for Humanoid Robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dantam-lofaro-hereid-oh-ames-stilman-multiprocesscommunicationandcontrolsoftwareforhumanoidrobots-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dantam-lofaro-hereid-oh-ames-stilman-multiprocesscommunicationandcontrolsoftwareforhumanoidrobots-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"grizzle-chevallereau-sinnet-ames-modelsfeedbackcontrolandopenproblemsof3dbipedalroboticwalking-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grizzle-chevallereau-sinnet-ames-modelsfeedbackcontrolandopenproblemsof3dbipedalroboticwalking-2014', 'http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf', event);\">\n    Models, feedback control, and open problems of 3D bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grizzle, J. W; Chevallereau, C.; Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Automatica</i>, 50(8): 1955–1988.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf\"\n     onclick=\"log_download('grizzle-chevallereau-sinnet-ames-modelsfeedbackcontrolandopenproblemsof3dbipedalroboticwalking-2014', 'http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Models, feedback control, and open problems of 3D bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grizzle-chevallereau-sinnet-ames-modelsfeedbackcontrolandopenproblemsof3dbipedalroboticwalking-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grizzle-chevallereau-sinnet-ames-modelsfeedbackcontrolandopenproblemsof3dbipedalroboticwalking-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lack-powell-ames-planarmulticontactbipedalwalkingusinghybridzerodynamics-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra_lpa_2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lack-powell-ames-planarmulticontactbipedalwalkingusinghybridzerodynamics-2014', 'http://ames.caltech.edu/icra_lpa_2014.pdf', event);\">\n    Planar multi-contact bipedal walking using hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lack, J.; Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2014 IEEE International Conference on</i>, pages 2582–2588,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra_lpa_2014.pdf\"\n     onclick=\"log_download('lack-powell-ames-planarmulticontactbipedalwalkingusinghybridzerodynamics-2014', 'http://ames.caltech.edu/icra_lpa_2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planar multi-contact bipedal walking using hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lack-powell-ames-planarmulticontactbipedalwalkingusinghybridzerodynamics-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lack-powell-ames-planarmulticontactbipedalwalkingusinghybridzerodynamics-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-ames-exponentialconvergenceofaunifiedclfcontrollerforroboticsystemsunderparameteruncertainty-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/sysid_ACC2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ames-exponentialconvergenceofaunifiedclfcontrollerforroboticsystemsunderparameteruncertainty-2014', 'http://ames.caltech.edu/sysid_ACC2014.pdf', event);\">\n    Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2014</i>, pages 3710–3715,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/sysid_ACC2014.pdf\"\n     onclick=\"log_download('kolathaya-ames-exponentialconvergenceofaunifiedclfcontrollerforroboticsystemsunderparameteruncertainty-2014', 'http://ames.caltech.edu/sysid_ACC2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ames-exponentialconvergenceofaunifiedclfcontrollerforroboticsystemsunderparameteruncertainty-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ames-exponentialconvergenceofaunifiedclfcontrollerforroboticsystemsunderparameteruncertainty-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-ames-hierarchicalcontrolofserieselasticactuatorsthroughcontrollyapunovfunctions-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc2014_sea_stability.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-ames-hierarchicalcontrolofserieselasticactuatorsthroughcontrollyapunovfunctions-2014', 'http://ames.caltech.edu/cdc2014_sea_stability.pdf', event);\">\n    Hierarchical control of series elastic actuators through control Lyapunov functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on</i>, pages 2986–2992,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc2014_sea_stability.pdf\"\n     onclick=\"log_download('powell-ames-hierarchicalcontrolofserieselasticactuatorsthroughcontrollyapunovfunctions-2014', 'http://ames.caltech.edu/cdc2014_sea_stability.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hierarchical control of series elastic actuators through control Lyapunov functions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-ames-hierarchicalcontrolofserieselasticactuatorsthroughcontrollyapunovfunctions-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-ames-hierarchicalcontrolofserieselasticactuatorsthroughcontrollyapunovfunctions-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC_2014_dynamics_shaping.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014', 'http://ames.caltech.edu/CDC_2014_dynamics_shaping.pdf', event);\">\n    Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hereid, A.; Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on</i>, pages 2950–2957,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC_2014_dynamics_shaping.pdf\"\n     onclick=\"log_download('hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014', 'http://ames.caltech.edu/CDC_2014_dynamics_shaping.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/yiEbWwC-sR0\"\n     onclick=\"log_download('hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014', 'https://youtu.be/yiEbWwC-sR0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hereid-powell-ames-embeddingofslipdynamicsonunderactuatedbipedalrobotsthroughmultiobjectivequadraticprogrambasedcontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014', 'http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf', event);\">\n    Quadratic program based nonlinear embedded control of series elastic actuators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Holley, J.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on</i>, pages 6291–6298,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf\"\n     onclick=\"log_download('ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014', 'http://ames.caltech.edu/CDC_CLF_motor_control_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Quadratic program based nonlinear embedded control of series elastic actuators [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/rCyyjuDs1BQ\"\n     onclick=\"log_download('ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014', 'https://youtu.be/rCyyjuDs1BQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quadratic program based nonlinear embedded control of series elastic actuators [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-holley-quadraticprogrambasednonlinearembeddedcontrolofserieselasticactuators-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-jiang-ames-ahumaninspiredframeworkforbipedalroboticwalkingdesign-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ijbbr_2014.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-jiang-ames-ahumaninspiredframeworkforbipedalroboticwalkingdesign-2014', 'http://ames.caltech.edu/ijbbr_2014.pdf', event);\">\n    A human-inspired framework for bipedal robotic walking design.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W; Jiang, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Biomechatronics and Biomedical Robotics</i>, 3(1): 20–41.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ijbbr_2014.pdf\"\n     onclick=\"log_download('sinnet-jiang-ames-ahumaninspiredframeworkforbipedalroboticwalkingdesign-2014', 'http://ames.caltech.edu/ijbbr_2014.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A human-inspired framework for bipedal robotic walking design [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-jiang-ames-ahumaninspiredframeworkforbipedalroboticwalkingdesign-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-jiang-ames-ahumaninspiredframeworkforbipedalroboticwalkingdesign-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (12)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"lamperski-ames-lyapunovtheoryforzenostability-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Lyapunov_Zeno.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lamperski-ames-lyapunovtheoryforzenostability-2013', 'http://ames.caltech.edu/Lyapunov_Zeno.pdf', event);\">\n    Lyapunov theory for Zeno stability.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lamperski, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automatic Control</i>, 58(1): 100–112.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Lyapunov_Zeno.pdf\"\n     onclick=\"log_download('lamperski-ames-lyapunovtheoryforzenostability-2013', 'http://ames.caltech.edu/Lyapunov_Zeno.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Lyapunov theory for Zeno stability [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lamperski-ames-lyapunovtheoryforzenostability-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lamperski-ames-lyapunovtheoryforzenostability-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vasudevan-ames-bajcsy-persistenthomologyforautomaticdeterminationofhumandatabasedcostofbipedalwalking-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/NAHS2012.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vasudevan-ames-bajcsy-persistenthomologyforautomaticdeterminationofhumandatabasedcostofbipedalwalking-2013', 'http://ames.caltech.edu/NAHS2012.pdf', event);\">\n    Persistent homology for automatic determination of human-data based cost of bipedal walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vasudevan, R.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Bajcsy, R.\n</span>\n\n  \n\n</span>\n\n  <i>Nonlinear Analysis: Hybrid Systems</i>, 7(1): 101–115.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/NAHS2012.pdf\"\n     onclick=\"log_download('vasudevan-ames-bajcsy-persistenthomologyforautomaticdeterminationofhumandatabasedcostofbipedalwalking-2013', 'http://ames.caltech.edu/NAHS2012.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Persistent homology for automatic determination of human-data based cost of bipedal walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vasudevan-ames-bajcsy-persistenthomologyforautomaticdeterminationofhumandatabasedcostofbipedalwalking-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vasudevan-ames-bajcsy-persistenthomologyforautomaticdeterminationofhumandatabasedcostofbipedalwalking-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/icra_2013_pha.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013', 'http://ames.caltech.edu/icra_2013_pha.pdf', event);\">\n    Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J; Hereid, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2013 IEEE International Conference on</i>, pages 4803–4810,  2013. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/icra_2013_pha.pdf\"\n     onclick=\"log_download('powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013', 'http://ames.caltech.edu/icra_2013_pha.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/kLakY9rWh6Y\"\n     onclick=\"log_download('powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013', 'https://youtu.be/kLakY9rWh6Y', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-hereid-ames-speedregulationin3droboticwalkingthroughmotiontransitionsbetweenhumaninspiredpartialhybridzerodynamics-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/wafr_amber_springer_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013', 'http://ames.caltech.edu/wafr_amber_springer_final.pdf', event);\">\n    From formal methods to algorithmic implementation of human inspired control on bipedal robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yadukumar, S. N.; Pasupuleti, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Algorithmic Foundations of Robotics X</i>, pages 511–526. Springer, Berlin, Heidelberg,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/wafr_amber_springer_final.pdf\"\n     onclick=\"log_download('yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013', 'http://ames.caltech.edu/wafr_amber_springer_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"From formal methods to algorithmic implementation of human inspired control on bipedal robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/SYXWoNU8QUE\"\n     onclick=\"log_download('yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013', 'https://youtu.be/SYXWoNU8QUE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"From formal methods to algorithmic implementation of human inspired control on bipedal robots [link]\"\n       title=\" video1\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video1</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/RgQ8atV1NW0\"\n     onclick=\"log_download('yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013', 'https://youtu.be/RgQ8atV1NW0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"From formal methods to algorithmic implementation of human inspired control on bipedal robots [link]\"\n       title=\" video2\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video2</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yadukumar-pasupuleti-ames-fromformalmethodstoalgorithmicimplementationofhumaninspiredcontrolonbipedalrobots-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-humaninspiredcontrolofbipedalrobotsviacontrollyapunovfunctionsandquadraticprograms-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hscc42kn.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-humaninspiredcontrolofbipedalrobotsviacontrollyapunovfunctionsandquadraticprograms-2013', 'http://ames.caltech.edu/hscc42kn.pdf', event);\">\n    Human-inspired control of bipedal robots via control Lyapunov functions and quadratic programs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 16th international conference on Hybrid systems: computation and control</i>, pages 31–32,  2013. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hscc42kn.pdf\"\n     onclick=\"log_download('ames-humaninspiredcontrolofbipedalrobotsviacontrollyapunovfunctionsandquadraticprograms-2013', 'http://ames.caltech.edu/hscc42kn.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired control of bipedal robots via control Lyapunov functions and quadratic programs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-humaninspiredcontrolofbipedalrobotsviacontrollyapunovfunctionsandquadraticprograms-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-humaninspiredcontrolofbipedalrobotsviacontrollyapunovfunctionsandquadraticprograms-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/naoparser_2013.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013', 'http://ames.caltech.edu/naoparser_2013.pdf', event);\">\n    Correct software synthesis for stable speed-controlled robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Dantam, N.; Hereid, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Stilman, M.\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics: Science and Systems (RSS)</i>,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/naoparser_2013.pdf\"\n     onclick=\"log_download('dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013', 'http://ames.caltech.edu/naoparser_2013.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Correct software synthesis for stable speed-controlled robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/P0UERYbDEJc\"\n     onclick=\"log_download('dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013', 'https://youtu.be/P0UERYbDEJc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Correct software synthesis for stable speed-controlled robotic walking [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('dantam-hereid-ames-stilman-correctsoftwaresynthesisforstablespeedcontrolledroboticwalking-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"konecny-taha-duracz-duracz-ames-enclosingthebehaviorofahybridsystemuptoandbeyondazenopoint-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CPSNA_2013.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'konecny-taha-duracz-duracz-ames-enclosingthebehaviorofahybridsystemuptoandbeyondazenopoint-2013', 'http://ames.caltech.edu/CPSNA_2013.pdf', event);\">\n    Enclosing the behavior of a hybrid system up to and beyond a Zeno point.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Konecny, M.; Taha, W.; Duracz, J.; Duracz, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013 IEEE 1st International Conference on</i>, pages 120–125,  2013. IEEE\n  <span class=\"note\">Best Paper Award of CPSNA 2013.</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CPSNA_2013.pdf\"\n     onclick=\"log_download('konecny-taha-duracz-duracz-ames-enclosingthebehaviorofahybridsystemuptoandbeyondazenopoint-2013', 'http://ames.caltech.edu/CPSNA_2013.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Enclosing the behavior of a hybrid system up to and beyond a Zeno point [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/konecny-taha-duracz-duracz-ames-enclosingthebehaviorofahybridsystemuptoandbeyondazenopoint-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('konecny-taha-duracz-duracz-ames-enclosingthebehaviorofahybridsystemuptoandbeyondazenopoint-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"aghasadeghi-zhao-hargrove-ames-perreault-bretl-learningimpedancecontrollerparametersforlowerlimbprostheses-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/iros13_2483_fi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'aghasadeghi-zhao-hargrove-ames-perreault-bretl-learningimpedancecontrollerparametersforlowerlimbprostheses-2013', 'http://ames.caltech.edu/iros13_2483_fi.pdf', event);\">\n    Learning impedance controller parameters for lower-limb prostheses.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Aghasadeghi, N.; Zhao, H.; Hargrove, L. J; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Perreault, E. J;  and Bretl, T.\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent robots and systems (IROS), 2013 IEEE/RSJ international conference on</i>, pages 4268–4274,  2013. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/iros13_2483_fi.pdf\"\n     onclick=\"log_download('aghasadeghi-zhao-hargrove-ames-perreault-bretl-learningimpedancecontrollerparametersforlowerlimbprostheses-2013', 'http://ames.caltech.edu/iros13_2483_fi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning impedance controller parameters for lower-limb prostheses [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/aghasadeghi-zhao-hargrove-ames-perreault-bretl-learningimpedancecontrollerparametersforlowerlimbprostheses-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('aghasadeghi-zhao-hargrove-ames-perreault-bretl-learningimpedancecontrollerparametersforlowerlimbprostheses-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"teel-goebel-morris-ames-grizzle-astabilizationresultwithapplicationtobipedallocomotion-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc13_1617_fi.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'teel-goebel-morris-ames-grizzle-astabilizationresultwithapplicationtobipedallocomotion-2013', 'http://ames.caltech.edu/cdc13_1617_fi.pdf', event);\">\n    A stabilization result with application to bipedal locomotion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Teel, A. R; Goebel, R.; Morris, B.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on</i>, pages 2030–2035,  2013. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc13_1617_fi.pdf\"\n     onclick=\"log_download('teel-goebel-morris-ames-grizzle-astabilizationresultwithapplicationtobipedallocomotion-2013', 'http://ames.caltech.edu/cdc13_1617_fi.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A stabilization result with application to bipedal locomotion [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/teel-goebel-morris-ames-grizzle-astabilizationresultwithapplicationtobipedallocomotion-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('teel-goebel-morris-ames-grizzle-astabilizationresultwithapplicationtobipedallocomotion-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"morris-powell-ames-sufficientconditionsforthelipschitzcontinuityofqpbasedmultiobjectivecontrolofhumanoidrobots-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/morris_powell_ames_2013cdc.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'morris-powell-ames-sufficientconditionsforthelipschitzcontinuityofqpbasedmultiobjectivecontrolofhumanoidrobots-2013', 'http://ames.caltech.edu/morris_powell_ames_2013cdc.pdf', event);\">\n    Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Morris, B.; Powell, M. J;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on</i>, pages 2920–2926,  2013. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/morris_powell_ames_2013cdc.pdf\"\n     onclick=\"log_download('morris-powell-ames-sufficientconditionsforthelipschitzcontinuityofqpbasedmultiobjectivecontrolofhumanoidrobots-2013', 'http://ames.caltech.edu/morris_powell_ames_2013cdc.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/morris-powell-ames-sufficientconditionsforthelipschitzcontinuityofqpbasedmultiobjectivecontrolofhumanoidrobots-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('morris-powell-ames-sufficientconditionsforthelipschitzcontinuityofqpbasedmultiobjectivecontrolofhumanoidrobots-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-powell-towardstheunificationoflocomotionandmanipulationthroughcontrollyapunovfunctionsandquadraticprograms-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/unify_ames_powell.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-powell-towardstheunificationoflocomotionandmanipulationthroughcontrollyapunovfunctionsandquadraticprograms-2013', 'http://ames.caltech.edu/unify_ames_powell.pdf', event);\">\n    Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Powell, M.\n</span>\n\n  \n\n</span>\n\n  In <i>Control of Cyber-Physical Systems</i>, pages 219–240. Springer, Heidelberg,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/unify_ames_powell.pdf\"\n     onclick=\"log_download('ames-powell-towardstheunificationoflocomotionandmanipulationthroughcontrollyapunovfunctionsandquadraticprograms-2013', 'http://ames.caltech.edu/unify_ames_powell.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-powell-towardstheunificationoflocomotionandmanipulationthroughcontrollyapunovfunctionsandquadraticprograms-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-powell-towardstheunificationoflocomotionandmanipulationthroughcontrollyapunovfunctionsandquadraticprograms-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"galloway-sreenath-ames-grizzle-controllyapunovfunctionbasedquadraticprogramsfortorquesaturatedbipedalwalking-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/1302.7314.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'galloway-sreenath-ames-grizzle-controllyapunovfunctionbasedquadraticprogramsfortorquesaturatedbipedalwalking-2013', 'http://ames.caltech.edu/1302.7314.pdf', event);\">\n    Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Galloway, K.; Sreenath, K.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Grizzle, J.\n</span>\n\n  \n\n</span>\n\n  arXiv preprint arXiv:1302.7314,  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/1302.7314.pdf\"\n     onclick=\"log_download('galloway-sreenath-ames-grizzle-controllyapunovfunctionbasedquadraticprogramsfortorquesaturatedbipedalwalking-2013', 'http://ames.caltech.edu/1302.7314.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/galloway-sreenath-ames-grizzle-controllyapunovfunctionbasedquadraticprogramsfortorquesaturatedbipedalwalking-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('galloway-sreenath-ames-grizzle-controllyapunovfunctionbasedquadraticprogramsfortorquesaturatedbipedalwalking-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2012\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2012')\"\n      onkeypress=\"toggleGroup('group_2012')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2012</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/NAO_HSCC12_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012', 'http://ames.caltech.edu/NAO_HSCC12_final.pdf', event);\">\n    Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Cousineau, E. A;  and Powell, M. J\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control</i>, pages 135–144,  2012. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/NAO_HSCC12_final.pdf\"\n     onclick=\"log_download('ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012', 'http://ames.caltech.edu/NAO_HSCC12_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/OBGHU-e1kc0\"\n     onclick=\"log_download('ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012', 'https://youtu.be/OBGHU-e1kc0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-cousineau-powell-dynamicallystablebipedalroboticwalkingwithnaoviahumaninspiredhybridzerodynamics-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-extendingtwodimensionalhumaninspiredbipedalroboticwalkingtothreedimensionsthroughgeometricreduction-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Reduction_ACC12_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-extendingtwodimensionalhumaninspiredbipedalroboticwalkingtothreedimensionsthroughgeometricreduction-2012', 'http://ames.caltech.edu/Reduction_ACC12_final.pdf', event);\">\n    Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2012</i>, pages 4831–4836,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Reduction_ACC12_final.pdf\"\n     onclick=\"log_download('sinnet-ames-extendingtwodimensionalhumaninspiredbipedalroboticwalkingtothreedimensionsthroughgeometricreduction-2012', 'http://ames.caltech.edu/Reduction_ACC12_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-extendingtwodimensionalhumaninspiredbipedalroboticwalkingtothreedimensionsthroughgeometricreduction-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-extendingtwodimensionalhumaninspiredbipedalroboticwalkingtothreedimensionsthroughgeometricreduction-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ICRA_Ames_2012.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012', 'http://ames.caltech.edu/ICRA_Ames_2012.pdf', event);\">\n    First steps toward underactuated human-inspired bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2012 IEEE International Conference on</i>, pages 1011–1017,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ICRA_Ames_2012.pdf\"\n     onclick=\"log_download('ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012', 'http://ames.caltech.edu/ICRA_Ames_2012.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps toward underactuated human-inspired bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/LGulnhbiFB8\"\n     onclick=\"log_download('ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012', 'https://youtu.be/LGulnhbiFB8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"First steps toward underactuated human-inspired bipedal robotic walking [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-firststepstowardunderactuatedhumaninspiredbipedalroboticwalking-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"powell-zhao-ames-motionprimitivesforhumaninspiredbipedalroboticlocomotionwalkingandstairclimbing-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/MT_ICRA12_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'powell-zhao-ames-motionprimitivesforhumaninspiredbipedalroboticlocomotionwalkingandstairclimbing-2012', 'http://ames.caltech.edu/MT_ICRA12_final.pdf', event);\">\n    Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Powell, M. J; Zhao, H.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robotics and Automation (ICRA), 2012 IEEE International Conference on</i>, pages 543–549,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/MT_ICRA12_final.pdf\"\n     onclick=\"log_download('powell-zhao-ames-motionprimitivesforhumaninspiredbipedalroboticlocomotionwalkingandstairclimbing-2012', 'http://ames.caltech.edu/MT_ICRA12_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/powell-zhao-ames-motionprimitivesforhumaninspiredbipedalroboticlocomotionwalkingandstairclimbing-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('powell-zhao-ames-motionprimitivesforhumaninspiredbipedalroboticlocomotionwalkingandstairclimbing-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Zeno_ACC12_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012', 'http://ames.caltech.edu/Zeno_ACC12_final.pdf', event);\">\n    Zeno behavior in electromechanical hybrid systems: From theory to experimental validation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yadukumar, S. N.; Kothapalli, B.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2012</i>, pages 2437–2442,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Zeno_ACC12_final.pdf\"\n     onclick=\"log_download('yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012', 'http://ames.caltech.edu/Zeno_ACC12_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Zeno behavior in electromechanical hybrid systems: From theory to experimental validation [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/Lbqaonv7MpM\"\n     onclick=\"log_download('yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012', 'https://youtu.be/Lbqaonv7MpM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Zeno behavior in electromechanical hybrid systems: From theory to experimental validation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yadukumar-kothapalli-ames-zenobehaviorinelectromechanicalhybridsystemsfromtheorytoexperimentalvalidation-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wendel-ames-rankdeficiencyandsuperstabilityofhybridsystems-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/rnk-drp-nahs-rev.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wendel-ames-rankdeficiencyandsuperstabilityofhybridsystems-2012', 'http://ames.caltech.edu/rnk-drp-nahs-rev.pdf', event);\">\n    Rank deficiency and superstability of hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wendel, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Nonlinear Analysis: Hybrid Systems</i>, 6(2): 787–805.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/rnk-drp-nahs-rev.pdf\"\n     onclick=\"log_download('wendel-ames-rankdeficiencyandsuperstabilityofhybridsystems-2012', 'http://ames.caltech.edu/rnk-drp-nahs-rev.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rank deficiency and superstability of hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wendel-ames-rankdeficiencyandsuperstabilityofhybridsystems-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wendel-ames-rankdeficiencyandsuperstabilityofhybridsystems-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jiang-partrick-zhao-ames-outputsofhumanwalkingforbipedalroboticcontrollerdesign-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Outputs_ACC12_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jiang-partrick-zhao-ames-outputsofhumanwalkingforbipedalroboticcontrollerdesign-2012', 'http://ames.caltech.edu/Outputs_ACC12_final.pdf', event);\">\n    Outputs of human walking for bipedal robotic controller design.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jiang, S.; Partrick, S.; Zhao, H.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference (ACC), 2012</i>, pages 4843–4848,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Outputs_ACC12_final.pdf\"\n     onclick=\"log_download('jiang-partrick-zhao-ames-outputsofhumanwalkingforbipedalroboticcontrollerdesign-2012', 'http://ames.caltech.edu/Outputs_ACC12_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Outputs of human walking for bipedal robotic controller design [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jiang-partrick-zhao-ames-outputsofhumanwalkingforbipedalroboticcontrollerdesign-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jiang-partrick-zhao-ames-outputsofhumanwalkingforbipedalroboticcontrollerdesign-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/iros_2012_running.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012', 'http://ames.caltech.edu/iros_2012_running.pdf', event);\">\n    Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Huihua, Z.; Yadukumar, S. N.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on</i>, pages 1821–1827,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/iros_2012_running.pdf\"\n     onclick=\"log_download('huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012', 'http://ames.caltech.edu/iros_2012_running.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/3X3wGOSLywg\"\n     onclick=\"log_download('huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012', 'https://youtu.be/3X3wGOSLywg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('huihua-yadukumar-ames-bipedalroboticrunningwithpartialhybridzerodynamicsandhumaninspiredoptimization-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/jrm_2012_sa_01.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012', 'http://ames.caltech.edu/jrm_2012_sa_01.pdf', event);\">\n    Bio-inspired feedback control of three-dimensional humanlike bipedal robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Robotics and Mechatronics</i>, 24(4): 595.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/jrm_2012_sa_01.pdf\"\n     onclick=\"log_download('sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012', 'http://ames.caltech.edu/jrm_2012_sa_01.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Bio-inspired feedback control of three-dimensional humanlike bipedal robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/hlnK5L9k1GU\"\n     onclick=\"log_download('sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012', 'https://youtu.be/hlnK5L9k1GU', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bio-inspired feedback control of three-dimensional humanlike bipedal robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-bioinspiredfeedbackcontrolofthreedimensionalhumanlikebipedalrobots-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/amber_iros_final_ames.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012', 'http://ames.caltech.edu/amber_iros_final_ames.pdf', event);\">\n    Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yadukumar, S. N.; Pasupuleti, M.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on</i>, pages 2478–2483,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/amber_iros_final_ames.pdf\"\n     onclick=\"log_download('yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012', 'http://ames.caltech.edu/amber_iros_final_ames.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"http://youtu.be/RgQ8atV1NW0\"\n     onclick=\"log_download('yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012', 'http://youtu.be/RgQ8atV1NW0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yadukumar-pasupuleti-ames-humaninspiredunderactuatedbipedalroboticwalkingwithamberonflatgroundupslopeanduneventerrain-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-galloway-grizzle-controllyapunovfunctionsandhybridzerodynamics-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc_2012_agg_v_10_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-galloway-grizzle-controllyapunovfunctionsandhybridzerodynamics-2012', 'http://ames.caltech.edu/cdc_2012_agg_v_10_final.pdf', event);\">\n    Control Lyapunov functions and hybrid zero dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Galloway, K.;  and Grizzle, J. W\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control (CDC), 2012 IEEE 51st Annual Conference on</i>, pages 6837–6842,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc_2012_agg_v_10_final.pdf\"\n     onclick=\"log_download('ames-galloway-grizzle-controllyapunovfunctionsandhybridzerodynamics-2012', 'http://ames.caltech.edu/cdc_2012_agg_v_10_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Control Lyapunov functions and hybrid zero dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-galloway-grizzle-controllyapunovfunctionsandhybridzerodynamics-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-galloway-grizzle-controllyapunovfunctionsandhybridzerodynamics-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/amber_ssrr.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012', 'http://ames.caltech.edu/amber_ssrr.pdf', event);\">\n    Achieving bipedal locomotion on rough terrain through human-inspired control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kolathaya, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on</i>, pages 1–6,  2012. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/amber_ssrr.pdf\"\n     onclick=\"log_download('kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012', 'http://ames.caltech.edu/amber_ssrr.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Achieving bipedal locomotion on rough terrain through human-inspired control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/aUiEXt8otrY\"\n     onclick=\"log_download('kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012', 'https://youtu.be/aUiEXt8otrY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Achieving bipedal locomotion on rough terrain through human-inspired control [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kolathaya-ames-achievingbipedallocomotiononroughterrainthroughhumaninspiredcontrol-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-firststepstowardautomaticallygeneratingbipedalroboticwalkingfromhumandata-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/romoco_final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-firststepstowardautomaticallygeneratingbipedalroboticwalkingfromhumandata-2012', 'http://ames.caltech.edu/romoco_final.pdf', event);\">\n    First steps toward automatically generating bipedal robotic walking from human data.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Robot Motion and Control 2011</i>, pages 89–116. Springer, London,  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/romoco_final.pdf\"\n     onclick=\"log_download('ames-firststepstowardautomaticallygeneratingbipedalroboticwalkingfromhumandata-2012', 'http://ames.caltech.edu/romoco_final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"First steps toward automatically generating bipedal robotic walking from human data [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-firststepstowardautomaticallygeneratingbipedalroboticwalkingfromhumandata-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-firststepstowardautomaticallygeneratingbipedalroboticwalkingfromhumandata-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (9)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"sinnet-powell-shah-ames-ahumaninspiredhybridcontrolapproachtobipedalroboticwalking-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/IFAC2011_SPSA.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-powell-shah-ames-ahumaninspiredhybridcontrolapproachtobipedalroboticwalking-2011', 'http://ames.caltech.edu/IFAC2011_SPSA.pdf', event);\">\n    A human-inspired hybrid control approach to bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W; Powell, M. J; Shah, R. P;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 18th IFAC World Congress</i>, volume 44, pages 6904–6911,  2011. Elsevier\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/IFAC2011_SPSA.pdf\"\n     onclick=\"log_download('sinnet-powell-shah-ames-ahumaninspiredhybridcontrolapproachtobipedalroboticwalking-2011', 'http://ames.caltech.edu/IFAC2011_SPSA.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A human-inspired hybrid control approach to bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-powell-shah-ames-ahumaninspiredhybridcontrolapproachtobipedalroboticwalking-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-powell-shah-ames-ahumaninspiredhybridcontrolapproachtobipedalroboticwalking-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-vasudevan-bajcsy-humandatabasedcostofbipedalroboticwalking-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hscc51s-ames.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-vasudevan-bajcsy-humandatabasedcostofbipedalroboticwalking-2011', 'http://ames.caltech.edu/hscc51s-ames.pdf', event);\">\n    Human-data based cost of bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Vasudevan, R.;  and Bajcsy, R.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 14th international conference on Hybrid systems: computation and control</i>, pages 153–162,  2011. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hscc51s-ames.pdf\"\n     onclick=\"log_download('ames-vasudevan-bajcsy-humandatabasedcostofbipedalroboticwalking-2011', 'http://ames.caltech.edu/hscc51s-ames.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human-data based cost of bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-vasudevan-bajcsy-humandatabasedcostofbipedalroboticwalking-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-vasudevan-bajcsy-humandatabasedcostofbipedalroboticwalking-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"or-ames-stabilityandcompletionofzenoequilibriainlagrangianhybridsystems-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/tac2011-oa.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'or-ames-stabilityandcompletionofzenoequilibriainlagrangianhybridsystems-2011', 'http://ames.caltech.edu/tac2011-oa.pdf', event);\">\n    Stability and completion of Zeno equilibria in Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automatic Control</i>, 56(6): 1322–1336.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/tac2011-oa.pdf\"\n     onclick=\"log_download('or-ames-stabilityandcompletionofzenoequilibriainlagrangianhybridsystems-2011', 'http://ames.caltech.edu/tac2011-oa.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stability and completion of Zeno equilibria in Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/or-ames-stabilityandcompletionofzenoequilibriainlagrangianhybridsystems-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('or-ames-stabilityandcompletionofzenoequilibriainlagrangianhybridsystems-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-powell-jiang-ames-compassgaitrevisitedahumandataperspectivewithextensionstothreedimensions-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc_compass.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-powell-jiang-ames-compassgaitrevisitedahumandataperspectivewithextensionstothreedimensions-2011', 'http://ames.caltech.edu/cdc_compass.pdf', event);\">\n    Compass gait revisited: A human data perspective with extensions to three dimensions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W; Powell, M. J; Jiang, S.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on</i>, pages 682–689,  2011. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc_compass.pdf\"\n     onclick=\"log_download('sinnet-powell-jiang-ames-compassgaitrevisitedahumandataperspectivewithextensionstothreedimensions-2011', 'http://ames.caltech.edu/cdc_compass.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Compass gait revisited: A human data perspective with extensions to three dimensions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-powell-jiang-ames-compassgaitrevisitedahumandataperspectivewithextensionstothreedimensions-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-powell-jiang-ames-compassgaitrevisitedahumandataperspectivewithextensionstothreedimensions-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/IFAC2011_VAB.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011', 'http://ames.caltech.edu/IFAC2011_VAB.pdf', event);\">\n    Human Based Cost from Persistent Homology for Bipedal Walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vasudevan, R.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Bajcsy, R.\n</span>\n\n  \n\n</span>\n\n  <i>IFAC Proceedings Volumes</i>, 44(1): 3292–3297.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/IFAC2011_VAB.pdf\"\n     onclick=\"log_download('vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011', 'http://ames.caltech.edu/IFAC2011_VAB.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Human Based Cost from Persistent Homology for Bipedal Walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-characterizingkneebounceinbipedalroboticwalkingazenobehaviorapproach-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hscc52c-ames.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-characterizingkneebounceinbipedalroboticwalkingazenobehaviorapproach-2011', 'http://ames.caltech.edu/hscc52c-ames.pdf', event);\">\n    Characterizing knee-bounce in bipedal robotic walking: A Zeno behavior approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 14th international conference on Hybrid systems: computation and control</i>, pages 163–172,  2011. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hscc52c-ames.pdf\"\n     onclick=\"log_download('ames-characterizingkneebounceinbipedalroboticwalkingazenobehaviorapproach-2011', 'http://ames.caltech.edu/hscc52c-ames.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Characterizing knee-bounce in bipedal robotic walking: A Zeno behavior approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-characterizingkneebounceinbipedalroboticwalkingazenobehaviorapproach-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-characterizingkneebounceinbipedalroboticwalkingazenobehaviorapproach-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"taha-brauner-cartwright-gaspes-ames-chapoutot-acorelanguageforexecutablemodelsofcyberphysicalsystemsworkinprogressreport-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AcumenPaper.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'taha-brauner-cartwright-gaspes-ames-chapoutot-acorelanguageforexecutablemodelsofcyberphysicalsystemsworkinprogressreport-2011', 'http://ames.caltech.edu/AcumenPaper.pdf', event);\">\n    A core language for executable models of cyber physical systems: work in progress report.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Taha, W.; Brauner, P.; Cartwright, R.; Gaspes, V.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Chapoutot, A.\n</span>\n\n  \n\n</span>\n\n  <i>ACM SIGBED Review</i>, 8(2): 39–43.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AcumenPaper.pdf\"\n     onclick=\"log_download('taha-brauner-cartwright-gaspes-ames-chapoutot-acorelanguageforexecutablemodelsofcyberphysicalsystemsworkinprogressreport-2011', 'http://ames.caltech.edu/AcumenPaper.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A core language for executable models of cyber physical systems: work in progress report [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/taha-brauner-cartwright-gaspes-ames-chapoutot-acorelanguageforexecutablemodelsofcyberphysicalsystemsworkinprogressreport-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('taha-brauner-cartwright-gaspes-ames-chapoutot-acorelanguageforexecutablemodelsofcyberphysicalsystemsworkinprogressreport-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-zhao-ames-simulatingprostheticdeviceswithhumaninspiredhybridcontrol-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/iros_2011_sza_01.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-zhao-ames-simulatingprostheticdeviceswithhumaninspiredhybridcontrol-2011', 'http://ames.caltech.edu/iros_2011_sza_01.pdf', event);\">\n    Simulating prosthetic devices with human-inspired hybrid control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W; Zhao, H.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Intelligent robots and systems (IROS), 2011 IEEE/RSJ international conference on</i>, pages 1723–1730,  2011. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/iros_2011_sza_01.pdf\"\n     onclick=\"log_download('sinnet-zhao-ames-simulatingprostheticdeviceswithhumaninspiredhybridcontrol-2011', 'http://ames.caltech.edu/iros_2011_sza_01.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Simulating prosthetic devices with human-inspired hybrid control [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-zhao-ames-simulatingprostheticdeviceswithhumaninspiredhybridcontrol-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-zhao-ames-simulatingprostheticdeviceswithhumaninspiredhybridcontrol-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wendel-ames-rankdeficiencyandsuperstabilityofhybridsystemswithapplicationtobipedalrobots-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/cdc_rank_drop.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wendel-ames-rankdeficiencyandsuperstabilityofhybridsystemswithapplicationtobipedalrobots-2011', 'http://ames.caltech.edu/cdc_rank_drop.pdf', event);\">\n    Rank deficiency and superstability of hybrid systems with application to bipedal robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wendel, E.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on</i>, pages 7422–7427,  2011. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/cdc_rank_drop.pdf\"\n     onclick=\"log_download('wendel-ames-rankdeficiencyandsuperstabilityofhybridsystemswithapplicationtobipedalrobots-2011', 'http://ames.caltech.edu/cdc_rank_drop.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rank deficiency and superstability of hybrid systems with application to bipedal robots [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wendel-ames-rankdeficiencyandsuperstabilityofhybridsystemswithapplicationtobipedalrobots-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wendel-ames-rankdeficiencyandsuperstabilityofhybridsystemswithapplicationtobipedalrobots-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"grizzle-chevallereau-ames-sinnet-3dbipedalroboticwalkingmodelsfeedbackcontrolandopenproblems-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'grizzle-chevallereau-ames-sinnet-3dbipedalroboticwalkingmodelsfeedbackcontrolandopenproblems-2010', 'http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf', event);\">\n    3D bipedal robotic walking: models, feedback control, and open problems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Grizzle, J. W; Chevallereau, C.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sinnet, R. W\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)</i>, volume 43, pages 505–532,  2010. Elsevier\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf\"\n     onclick=\"log_download('grizzle-chevallereau-ames-sinnet-3dbipedalroboticwalkingmodelsfeedbackcontrolandopenproblems-2010', 'http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D bipedal robotic walking: models, feedback control, and open problems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/grizzle-chevallereau-ames-sinnet-3dbipedalroboticwalkingmodelsfeedbackcontrolandopenproblems-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('grizzle-chevallereau-ames-sinnet-3dbipedalroboticwalkingmodelsfeedbackcontrolandopenproblems-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zhu-westbrook-inoue-chapoutot-salama-peralta-martin-taha-etal-mathematicalequationsasexecutablemodelsofmechanicalsystems-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Walid_paper.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zhu-westbrook-inoue-chapoutot-salama-peralta-martin-taha-etal-mathematicalequationsasexecutablemodelsofmechanicalsystems-2010', 'http://ames.caltech.edu/Walid_paper.pdf', event);\">\n    Mathematical equations as executable models of mechanical systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\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</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems</i>, pages 1–11,  2010. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Walid_paper.pdf\"\n     onclick=\"log_download('zhu-westbrook-inoue-chapoutot-salama-peralta-martin-taha-etal-mathematicalequationsasexecutablemodelsofmechanicalsystems-2010', 'http://ames.caltech.edu/Walid_paper.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Mathematical equations as executable models of mechanical systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zhu-westbrook-inoue-chapoutot-salama-peralta-martin-taha-etal-mathematicalequationsasexecutablemodelsofmechanicalsystems-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zhu-westbrook-inoue-chapoutot-salama-peralta-martin-taha-etal-mathematicalequationsasexecutablemodelsofmechanicalsystems-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wendel-ames-rankpropertiesofpoincarmapsforhybridsystemswithapplicationstobipedalwalking-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/p151-wendel.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wendel-ames-rankpropertiesofpoincarmapsforhybridsystemswithapplicationstobipedalwalking-2010', 'http://ames.caltech.edu/p151-wendel.pdf', event);\">\n    Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wendel, E. D.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 13th ACM international conference on Hybrid systems: computation and control</i>, pages 151–160,  2010. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/p151-wendel.pdf\"\n     onclick=\"log_download('wendel-ames-rankpropertiesofpoincarmapsforhybridsystemswithapplicationstobipedalwalking-2010', 'http://ames.caltech.edu/p151-wendel.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wendel-ames-rankpropertiesofpoincarmapsforhybridsystemswithapplicationstobipedalwalking-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wendel-ames-rankpropertiesofpoincarmapsforhybridsystemswithapplicationstobipedalwalking-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wendel2010rank,\n  title={Rank properties of {P}oincar{\\&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2009\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2009')\"\n      onkeypress=\"toggleGroup('group_2009')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2009</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-sinnet-wendel-threedimensionalkneedbipedalwalkingahybridgeometricapproach-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HSCC-2009.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sinnet-wendel-threedimensionalkneedbipedalwalkingahybridgeometricapproach-2009', 'http://ames.caltech.edu/HSCC-2009.pdf', event);\">\n    Three-dimensional kneed bipedal walking: A hybrid geometric approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Sinnet, R. W;  and Wendel, E. D.\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 16–30.  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HSCC-2009.pdf\"\n     onclick=\"log_download('ames-sinnet-wendel-threedimensionalkneedbipedalwalkingahybridgeometricapproach-2009', 'http://ames.caltech.edu/HSCC-2009.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Three-dimensional kneed bipedal walking: A hybrid geometric approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sinnet-wendel-threedimensionalkneedbipedalwalkingahybridgeometricapproach-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sinnet-wendel-threedimensionalkneedbipedalwalkingahybridgeometricapproach-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-2dbipedalwalkingwithkneesandfeetahybridcontrolapproach-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDCryan2d.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-2dbipedalwalkingwithkneesandfeetahybridcontrolapproach-2009', 'http://ames.caltech.edu/CDCryan2d.pdf', event);\">\n    2D bipedal walking with knees and feet: A hybrid control approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on</i>, pages 3200–3207,  2009. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDCryan2d.pdf\"\n     onclick=\"log_download('sinnet-ames-2dbipedalwalkingwithkneesandfeetahybridcontrolapproach-2009', 'http://ames.caltech.edu/CDCryan2d.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"2D bipedal walking with knees and feet: A hybrid control approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-2dbipedalwalkingwithkneesandfeetahybridcontrolapproach-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-2dbipedalwalkingwithkneesandfeetahybridcontrolapproach-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"or-ames-formalandpracticalcompletionoflagrangianhybridsystems-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/FormalCompletion.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'or-ames-formalandpracticalcompletionoflagrangianhybridsystems-2009', 'http://ames.caltech.edu/FormalCompletion.pdf', event);\">\n    Formal and practical completion of Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference, 2009. ACC'09.</i>, pages 3624–3631,  2009. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/FormalCompletion.pdf\"\n     onclick=\"log_download('or-ames-formalandpracticalcompletionoflagrangianhybridsystems-2009', 'http://ames.caltech.edu/FormalCompletion.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Formal and practical completion of Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/or-ames-formalandpracticalcompletionoflagrangianhybridsystems-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('or-ames-formalandpracticalcompletionoflagrangianhybridsystems-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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&#x27;09.},\n  pages={3624--3631},\n  year={2009},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/FormalCompletion.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"or-ames-existenceofperiodicorbitswithzenobehaviorincompletedlagrangianhybridsystems-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/or_ames_hscc09.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'or-ames-existenceofperiodicorbitswithzenobehaviorincompletedlagrangianhybridsystems-2009', 'http://ames.caltech.edu/or_ames_hscc09.pdf', event);\">\n    Existence of periodic orbits with Zeno behavior in completed Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 291–305.  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/or_ames_hscc09.pdf\"\n     onclick=\"log_download('or-ames-existenceofperiodicorbitswithzenobehaviorincompletedlagrangianhybridsystems-2009', 'http://ames.caltech.edu/or_ames_hscc09.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Existence of periodic orbits with Zeno behavior in completed Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/or-ames-existenceofperiodicorbitswithzenobehaviorincompletedlagrangianhybridsystems-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('or-ames-existenceofperiodicorbitswithzenobehaviorincompletedlagrangianhybridsystems-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sinnet-ames-3dbipedalwalkingwithkneesandfeetahybridgeometricapproach-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDCryan3d.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sinnet-ames-3dbipedalwalkingwithkneesandfeetahybridgeometricapproach-2009', 'http://ames.caltech.edu/CDCryan3d.pdf', event);\">\n    3D bipedal walking with knees and feet: A hybrid geometric approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sinnet, R. W;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on</i>, pages 3208–3213,  2009. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDCryan3d.pdf\"\n     onclick=\"log_download('sinnet-ames-3dbipedalwalkingwithkneesandfeetahybridgeometricapproach-2009', 'http://ames.caltech.edu/CDCryan3d.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"3D bipedal walking with knees and feet: A hybrid geometric approach [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sinnet-ames-3dbipedalwalkingwithkneesandfeetahybridgeometricapproach-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sinnet-ames-3dbipedalwalkingwithkneesandfeetahybridgeometricapproach-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2008\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2008')\"\n      onkeypress=\"toggleGroup('group_2008')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2008</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"lamperski-ames-ontheexistenceofzenobehaviorinhybridsystemswithnonisolatedzenoequilibria-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/lamperskiexistence2008.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lamperski-ames-ontheexistenceofzenobehaviorinhybridsystemswithnonisolatedzenoequilibria-2008', 'http://ames.caltech.edu/lamperskiexistence2008.pdf', event);\">\n    On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lamperski, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2008. CDC 2008. 47th IEEE Conference on</i>, pages 2776–2781,  2008. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/lamperskiexistence2008.pdf\"\n     onclick=\"log_download('lamperski-ames-ontheexistenceofzenobehaviorinhybridsystemswithnonisolatedzenoequilibria-2008', 'http://ames.caltech.edu/lamperskiexistence2008.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lamperski-ames-ontheexistenceofzenobehaviorinhybridsystemswithnonisolatedzenoequilibria-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lamperski-ames-ontheexistenceofzenobehaviorinhybridsystemswithnonisolatedzenoequilibria-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"or-ames-stabilityofzenoequilibriainlagrangianhybridsystems-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/StabilityofZenoCDClong.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'or-ames-stabilityofzenoequilibriainlagrangianhybridsystems-2008', 'http://ames.caltech.edu/StabilityofZenoCDClong.pdf', event);\">\n    Stability of Zeno equilibria in Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Or, Y.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2008. CDC 2008. 47th IEEE Conference on</i>, pages 2770–2775,  2008. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/StabilityofZenoCDClong.pdf\"\n     onclick=\"log_download('or-ames-stabilityofzenoequilibriainlagrangianhybridsystems-2008', 'http://ames.caltech.edu/StabilityofZenoCDClong.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stability of Zeno equilibria in Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/or-ames-stabilityofzenoequilibriainlagrangianhybridsystems-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('or-ames-stabilityofzenoequilibriainlagrangianhybridsystems-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tabuada-ames-julius-pappas-approximatereductionofdynamicsystems-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/approximatered.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tabuada-ames-julius-pappas-approximatereductionofdynamicsystems-2008', 'http://ames.caltech.edu/approximatered.pdf', event);\">\n    Approximate reduction of dynamic systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tabuada, P.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Julius, A.;  and Pappas, G. J\n</span>\n\n  \n\n</span>\n\n  <i>Systems & Control Letters</i>, 57(7): 538–545.  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/approximatered.pdf\"\n     onclick=\"log_download('tabuada-ames-julius-pappas-approximatereductionofdynamicsystems-2008', 'http://ames.caltech.edu/approximatered.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Approximate reduction of dynamic systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tabuada-ames-julius-pappas-approximatereductionofdynamicsystems-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tabuada-ames-julius-pappas-approximatereductionofdynamicsystems-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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 \\&amp; 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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lamperski-ames-sufficientconditionsforzenobehaviorinlagrangianhybridsystems-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/092_hscc2008.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lamperski-ames-sufficientconditionsforzenobehaviorinlagrangianhybridsystems-2008', 'http://ames.caltech.edu/092_hscc2008.pdf', event);\">\n    Sufficient conditions for Zeno behavior in Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lamperski, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 622–625.  2008.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/092_hscc2008.pdf\"\n     onclick=\"log_download('lamperski-ames-sufficientconditionsforzenobehaviorinlagrangianhybridsystems-2008', 'http://ames.caltech.edu/092_hscc2008.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sufficient conditions for Zeno behavior in Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lamperski-ames-sufficientconditionsforzenobehaviorinlagrangianhybridsystems-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lamperski-ames-sufficientconditionsforzenobehaviorinlagrangianhybridsystems-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-doyle-complexityandfragilityinstabilityforlinearsystems-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ACC_CompFrag.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-doyle-complexityandfragilityinstabilityforlinearsystems-2008', 'http://ames.caltech.edu/ACC_CompFrag.pdf', event);\">\n    Complexity and fragility in stability for linear systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Doyle, J. C\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference, 2008</i>, pages 1630–1637,  2008. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ACC_CompFrag.pdf\"\n     onclick=\"log_download('ames-doyle-complexityandfragilityinstabilityforlinearsystems-2008', 'http://ames.caltech.edu/ACC_CompFrag.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Complexity and fragility in stability for linear systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-doyle-complexityandfragilityinstabilityforlinearsystems-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-doyle-complexityandfragilityinstabilityforlinearsystems-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2007\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2007')\"\n      onkeypress=\"toggleGroup('group_2007')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2007</span>\n      <span class=\"bibbase_group_count\">\n        \n        (8)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-gregg-stablyextendingtwodimensionalbipedalwalkingtothreedimensions-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ACC2007.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-gregg-stablyextendingtwodimensionalbipedalwalkingtothreedimensions-2007', 'http://ames.caltech.edu/ACC2007.pdf', event);\">\n    Stably extending two-dimensional bipedal walking to three dimensions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Gregg, R. D\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference, 2007. ACC'07</i>, pages 2848–2854,  2007. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ACC2007.pdf\"\n     onclick=\"log_download('ames-gregg-stablyextendingtwodimensionalbipedalwalkingtothreedimensions-2007', 'http://ames.caltech.edu/ACC2007.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stably extending two-dimensional bipedal walking to three dimensions [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-gregg-stablyextendingtwodimensionalbipedalwalkingtothreedimensions-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-gregg-stablyextendingtwodimensionalbipedalwalkingtothreedimensions-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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&#x27;07},\n  pages={2848--2854},\n  year={2007},\n  organization={IEEE},\n  url = {http://ames.caltech.edu/ACC2007.pdf}\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lamperski-ames-lyapunovlikeconditionsfortheexistenceofzenobehaviorinhybridandlagrangianhybridsystems-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/lamperskilyapunovlike2007.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lamperski-ames-lyapunovlikeconditionsfortheexistenceofzenobehaviorinhybridandlagrangianhybridsystems-2007', 'http://ames.caltech.edu/lamperskilyapunovlike2007.pdf', event);\">\n    Lyapunov-like conditions for the existence of Zeno behavior in hybrid and Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lamperski, A.;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2007 46th IEEE Conference on</i>, pages 115–120,  2007. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/lamperskilyapunovlike2007.pdf\"\n     onclick=\"log_download('lamperski-ames-lyapunovlikeconditionsfortheexistenceofzenobehaviorinhybridandlagrangianhybridsystems-2007', 'http://ames.caltech.edu/lamperskilyapunovlike2007.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Lyapunov-like conditions for the existence of Zeno behavior in hybrid and Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lamperski-ames-lyapunovlikeconditionsfortheexistenceofzenobehaviorinhybridandlagrangianhybridsystems-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lamperski-ames-lyapunovlikeconditionsfortheexistenceofzenobehaviorinhybridandlagrangianhybridsystems-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-gregg-spong-ageometricapproachtothreedimensionalhippedbipedalroboticwalking-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC07GeometricReduction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-gregg-spong-ageometricapproachtothreedimensionalhippedbipedalroboticwalking-2007', 'http://ames.caltech.edu/CDC07GeometricReduction.pdf', event);\">\n    A geometric approach to three-dimensional hipped bipedal robotic walking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Gregg, R. D;  and Spong, M. W\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2007 46th IEEE Conference on</i>, pages 5123–5130,  2007. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC07GeometricReduction.pdf\"\n     onclick=\"log_download('ames-gregg-spong-ageometricapproachtothreedimensionalhippedbipedalroboticwalking-2007', 'http://ames.caltech.edu/CDC07GeometricReduction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A geometric approach to three-dimensional hipped bipedal robotic walking [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-gregg-spong-ageometricapproachtothreedimensionalhippedbipedalroboticwalking-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-gregg-spong-ageometricapproachtothreedimensionalhippedbipedalroboticwalking-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/BipedReduction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2007', 'http://ames.caltech.edu/BipedReduction.pdf', event);\">\n    On the geometric reduction of controlled three-dimensional bipedal robotic walkers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Gregg, R.; Wendel, E.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In pages 183–196. Springer Berlin/Heidelberg,  2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/BipedReduction.pdf\"\n     onclick=\"log_download('ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2007', 'http://ames.caltech.edu/BipedReduction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the geometric reduction of controlled three-dimensional bipedal robotic walkers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehaviorinaclassofnonlinearhybridsystemsviaconstantapproximations-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC07NonlinearZeno.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehaviorinaclassofnonlinearhybridsystemsviaconstantapproximations-2007', 'http://ames.caltech.edu/CDC07NonlinearZeno.pdf', event);\">\n    Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Abate, A.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2007 46th IEEE Conference on</i>, pages 4033–4038,  2007. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC07NonlinearZeno.pdf\"\n     onclick=\"log_download('ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehaviorinaclassofnonlinearhybridsystemsviaconstantapproximations-2007', 'http://ames.caltech.edu/CDC07NonlinearZeno.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehaviorinaclassofnonlinearhybridsystemsviaconstantapproximations-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehaviorinaclassofnonlinearhybridsystemsviaconstantapproximations-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pekarek-ames-marsden-discretemechanicsandoptimalcontrolappliedtothecompassgaitbiped-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/PeAmMa2007.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pekarek-ames-marsden-discretemechanicsandoptimalcontrolappliedtothecompassgaitbiped-2007', 'http://ames.caltech.edu/PeAmMa2007.pdf', event);\">\n    Discrete mechanics and optimal control applied to the compass gait biped.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Pekarek, D.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Marsden, J. E\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2007 46th IEEE Conference on</i>, pages 5376–5382,  2007. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/PeAmMa2007.pdf\"\n     onclick=\"log_download('pekarek-ames-marsden-discretemechanicsandoptimalcontrolappliedtothecompassgaitbiped-2007', 'http://ames.caltech.edu/PeAmMa2007.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Discrete mechanics and optimal control applied to the compass gait biped [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pekarek-ames-marsden-discretemechanicsandoptimalcontrolappliedtothecompassgaitbiped-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pekarek-ames-marsden-discretemechanicsandoptimalcontrolappliedtothecompassgaitbiped-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ganesh-ames-bajcsy-compositionofdynamicalsystemsforestimationofhumanbodydynamics-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2007.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ganesh-ames-bajcsy-compositionofdynamicalsystemsforestimationofhumanbodydynamics-2007', 'http://ames.caltech.edu/AmesHSCC2007.pdf', event);\">\n    Composition of dynamical systems for estimation of human body dynamics.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ganesh, S.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Bajcsy, R.\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 702–705.  2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2007.pdf\"\n     onclick=\"log_download('ganesh-ames-bajcsy-compositionofdynamicalsystemsforestimationofhumanbodydynamics-2007', 'http://ames.caltech.edu/AmesHSCC2007.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Composition of dynamical systems for estimation of human body dynamics [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ganesh-ames-bajcsy-compositionofdynamicalsystemsforestimationofhumanbodydynamics-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ganesh-ames-bajcsy-compositionofdynamicalsystemsforestimationofhumanbodydynamics-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-homotopymeaningfulhybridmodelstructures-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AMSHybridModel.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-homotopymeaningfulhybridmodelstructures-2007', 'http://ames.caltech.edu/AMSHybridModel.pdf', event);\">\n    Homotopy Meaningful Hybrid Model Structures.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  <i>Contemporary Mathematics</i>, 438: 121.  2007.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AMSHybridModel.pdf\"\n     onclick=\"log_download('ames-homotopymeaningfulhybridmodelstructures-2007', 'http://ames.caltech.edu/AMSHybridModel.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Homotopy Meaningful Hybrid Model Structures [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-homotopymeaningfulhybridmodelstructures-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-homotopymeaningfulhybridmodelstructures-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2006\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2006')\"\n      onkeypress=\"toggleGroup('group_2006')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2006</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-sastry-hybridgeometricreductionofhybridsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/hybridreduction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-hybridgeometricreductionofhybridsystems-2006', 'http://ames.caltech.edu/hybridreduction.pdf', event);\">\n    Hybrid geometric reduction of hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, IEEE Conference on</i>,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/hybridreduction.pdf\"\n     onclick=\"log_download('ames-sastry-hybridgeometricreductionofhybridsystems-2006', 'http://ames.caltech.edu/hybridreduction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid geometric reduction of hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-hybridgeometricreductionofhybridsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-hybridgeometricreductionofhybridsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tabuada-ames-julius-pappas-approximatereductionofdynamicalsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ApproximateReduction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tabuada-ames-julius-pappas-approximatereductionofdynamicalsystems-2006', 'http://ames.caltech.edu/ApproximateReduction.pdf', event);\">\n    Approximate Reduction of Dynamical Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Tabuada, P.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Julius, A.;  and Pappas, G.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, IEEE Conference on</i>,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ApproximateReduction.pdf\"\n     onclick=\"log_download('tabuada-ames-julius-pappas-approximatereductionofdynamicalsystems-2006', 'http://ames.caltech.edu/ApproximateReduction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Approximate Reduction of Dynamical Systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tabuada-ames-julius-pappas-approximatereductionofdynamicalsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tabuada-ames-julius-pappas-approximatereductionofdynamicalsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-tabuada-sastry-onthestabilityofzenoequilibria-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2006a.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-tabuada-sastry-onthestabilityofzenoequilibria-2006', 'http://ames.caltech.edu/AmesHSCC2006a.pdf', event);\">\n    On the stability of Zeno equilibria.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Tabuada, P.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 34–48.  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2006a.pdf\"\n     onclick=\"log_download('ames-tabuada-sastry-onthestabilityofzenoequilibria-2006', 'http://ames.caltech.edu/AmesHSCC2006a.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the stability of Zeno equilibria [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-tabuada-sastry-onthestabilityofzenoequilibria-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-tabuada-sastry-onthestabilityofzenoequilibria-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-acategoricaltheoryofhybridsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/A%20categorical%20theory.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-acategoricaltheoryofhybridsystems-2006', 'http://ames.caltech.edu/A%20categorical%20theory.pdf', event);\">\n    A categorical theory of hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, University of California, Berkeley,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/A%20categorical%20theory.pdf\"\n     onclick=\"log_download('ames-acategoricaltheoryofhybridsystems-2006', 'http://ames.caltech.edu/A%20categorical%20theory.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A categorical theory of hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-acategoricaltheoryofhybridsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-acategoricaltheoryofhybridsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-hybridmodelstructures-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Hybrid%20model%20structures.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-hybridmodelstructures-2006', 'http://ames.caltech.edu/Hybrid%20model%20structures.pdf', event);\">\n    Hybrid model structures.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  Master's thesis, University of California, Berkeley,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Hybrid%20model%20structures.pdf\"\n     onclick=\"log_download('ames-hybridmodelstructures-2006', 'http://ames.caltech.edu/Hybrid%20model%20structures.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid model structures [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-hybridmodelstructures-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-hybridmodelstructures-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/BipedReduction.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2006', 'http://ames.caltech.edu/BipedReduction.pdf', event);\">\n    On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Gregg, R. D.; Wendel, E. D. B.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control</i>,  2006. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/BipedReduction.pdf\"\n     onclick=\"log_download('ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2006', 'http://ames.caltech.edu/BipedReduction.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-gregg-wendel-sastry-onthegeometricreductionofcontrolledthreedimensionalbipedalroboticwalkers-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zheng-lee-ames-beyondzenogetonwithit-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2006b.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zheng-lee-ames-beyondzenogetonwithit-2006', 'http://ames.caltech.edu/AmesHSCC2006b.pdf', event);\">\n    Beyond Zeno: Get on with it!.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Zheng, H.; Lee, E. A;  and <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 568–582.  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2006b.pdf\"\n     onclick=\"log_download('zheng-lee-ames-beyondzenogetonwithit-2006', 'http://ames.caltech.edu/AmesHSCC2006b.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Beyond Zeno: Get on with it! [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zheng-lee-ames-beyondzenogetonwithit-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zheng-lee-ames-beyondzenogetonwithit-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sangiovannivincentelli-sastry-homogeneoussemanticspreservingdeploymentsofheterogeneousnetworksofembeddedsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Ames_NESC05.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sangiovannivincentelli-sastry-homogeneoussemanticspreservingdeploymentsofheterogeneousnetworksofembeddedsystems-2006', 'http://ames.caltech.edu/Ames_NESC05.pdf', event);\">\n    Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Sangiovanni-Vincentelli, A.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Networked Embedded Sensing and Control</i>, pages 127–154. Springer, Berlin, Heidelberg,  2006.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Ames_NESC05.pdf\"\n     onclick=\"log_download('ames-sangiovannivincentelli-sastry-homogeneoussemanticspreservingdeploymentsofheterogeneousnetworksofembeddedsystems-2006', 'http://ames.caltech.edu/Ames_NESC05.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sangiovannivincentelli-sastry-homogeneoussemanticspreservingdeploymentsofheterogeneousnetworksofembeddedsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sangiovannivincentelli-sastry-homogeneoussemanticspreservingdeploymentsofheterogeneousnetworksofembeddedsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-zheng-gregg-sastry-istherelifeafterzenotakingexecutionspastthebreakingzenopoint-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Life%20after%20Zeno.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-zheng-gregg-sastry-istherelifeafterzenotakingexecutionspastthebreakingzenopoint-2006', 'http://ames.caltech.edu/Life%20after%20Zeno.pdf', event);\">\n    Is there life after Zeno? Taking executions past the breaking (Zeno) point.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Zheng, H.; Gregg, R. D;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference</i>, pages 6–pp,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Life%20after%20Zeno.pdf\"\n     onclick=\"log_download('ames-zheng-gregg-sastry-istherelifeafterzenotakingexecutionspastthebreakingzenopoint-2006', 'http://ames.caltech.edu/Life%20after%20Zeno.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Is there life after Zeno? Taking executions past the breaking (Zeno) point [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-zheng-gregg-sastry-istherelifeafterzenotakingexecutionspastthebreakingzenopoint-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-zheng-gregg-sastry-istherelifeafterzenotakingexecutionspastthebreakingzenopoint-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sastry-hybridrouthianreductionoflagrangianhybridsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HLR.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-hybridrouthianreductionoflagrangianhybridsystems-2006', 'http://ames.caltech.edu/HLR.pdf', event);\">\n    Hybrid Routhian reduction of Lagrangian hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference</i>, pages 6–pp,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HLR.pdf\"\n     onclick=\"log_download('ames-sastry-hybridrouthianreductionoflagrangianhybridsystems-2006', 'http://ames.caltech.edu/HLR.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid Routhian reduction of Lagrangian hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-hybridrouthianreductionoflagrangianhybridsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-hybridrouthianreductionoflagrangianhybridsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"abate-ames-sastry-errorboundsbasedstochasticapproximationsandsimulationsofhybriddynamicalsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/ErrorSim.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'abate-ames-sastry-errorboundsbasedstochasticapproximationsandsimulationsofhybriddynamicalsystems-2006', 'http://ames.caltech.edu/ErrorSim.pdf', event);\">\n    Error bounds based stochastic approximations and simulations of hybrid dynamical systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Abate, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference</i>, pages 6–pp,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/ErrorSim.pdf\"\n     onclick=\"log_download('abate-ames-sastry-errorboundsbasedstochasticapproximationsandsimulationsofhybriddynamicalsystems-2006', 'http://ames.caltech.edu/ErrorSim.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Error bounds based stochastic approximations and simulations of hybrid dynamical systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/abate-ames-sastry-errorboundsbasedstochasticapproximationsandsimulationsofhybriddynamicalsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('abate-ames-sastry-errorboundsbasedstochasticapproximationsandsimulationsofhybriddynamicalsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sastry-hybridcotangentbundlereductionofsimplehybridmechanicalsystemswithsymmetry-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HHR.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-hybridcotangentbundlereductionofsimplehybridmechanicalsystemswithsymmetry-2006', 'http://ames.caltech.edu/HHR.pdf', event);\">\n    Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference</i>, pages 6–pp,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HHR.pdf\"\n     onclick=\"log_download('ames-sastry-hybridcotangentbundlereductionofsimplehybridmechanicalsystemswithsymmetry-2006', 'http://ames.caltech.edu/HHR.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-hybridcotangentbundlereductionofsimplehybridmechanicalsystemswithsymmetry-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-hybridcotangentbundlereductionofsimplehybridmechanicalsystemswithsymmetry-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"abate-ames-sastry-aprioridetectionofzenobehaviorincommunicationnetworksmodeledashybridsystems-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/Zeno_TCP.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'abate-ames-sastry-aprioridetectionofzenobehaviorincommunicationnetworksmodeledashybridsystems-2006', 'http://ames.caltech.edu/Zeno_TCP.pdf', event);\">\n    A Priori detection of Zeno behavior in communication networks modeled as hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Abate, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference</i>, pages 6–pp,  2006. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/Zeno_TCP.pdf\"\n     onclick=\"log_download('abate-ames-sastry-aprioridetectionofzenobehaviorincommunicationnetworksmodeledashybridsystems-2006', 'http://ames.caltech.edu/Zeno_TCP.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Priori detection of Zeno behavior in communication networks modeled as hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/abate-ames-sastry-aprioridetectionofzenobehaviorincommunicationnetworksmodeledashybridsystems-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('abate-ames-sastry-aprioridetectionofzenobehaviorincommunicationnetworksmodeledashybridsystems-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2005\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2005')\"\n      onkeypress=\"toggleGroup('group_2005')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2005</span>\n      <span class=\"bibbase_group_count\">\n        \n        (7)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehavior-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesCDC2005.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehavior-2005', 'http://ames.caltech.edu/AmesCDC2005.pdf', event);\">\n    Sufficient conditions for the existence of Zeno behavior.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Abate, A.;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on</i>, pages 696–701,  2005. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesCDC2005.pdf\"\n     onclick=\"log_download('ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehavior-2005', 'http://ames.caltech.edu/AmesCDC2005.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Sufficient conditions for the existence of Zeno behavior [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehavior-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-abate-sastry-sufficientconditionsfortheexistenceofzenobehavior-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sastry-ahomologytheoryforhybridsystemshybridhomology-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2005.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-ahomologytheoryforhybridsystemshybridhomology-2005', 'http://ames.caltech.edu/AmesHSCC2005.pdf', event);\">\n    A homology theory for hybrid systems: Hybrid homology.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 86–102.  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesHSCC2005.pdf\"\n     onclick=\"log_download('ames-sastry-ahomologytheoryforhybridsystemshybridhomology-2005', 'http://ames.caltech.edu/AmesHSCC2005.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A homology theory for hybrid systems: Hybrid homology [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-ahomologytheoryforhybridsystemshybridhomology-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-ahomologytheoryforhybridsystemshybridhomology-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sastry-characterizationofzenobehaviorinhybridsystemsusinghomologicalmethods-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesACC2005.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-characterizationofzenobehaviorinhybridsystemsusinghomologicalmethods-2005', 'http://ames.caltech.edu/AmesACC2005.pdf', event);\">\n    Characterization of Zeno behavior in hybrid systems using homological methods.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference, 2005. Proceedings of the 2005</i>, pages 1160–1165,  2005. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesACC2005.pdf\"\n     onclick=\"log_download('ames-sastry-characterizationofzenobehaviorinhybridsystemsusinghomologicalmethods-2005', 'http://ames.caltech.edu/AmesACC2005.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Characterization of Zeno behavior in hybrid systems using homological methods [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-characterizationofzenobehaviorinhybridsystemsusinghomologicalmethods-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-characterizationofzenobehaviorinhybridsystemsusinghomologicalmethods-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sprinkle-ames-eklund-mitchell-sastry-onlinesafetycalculationsforglidesloperecapture-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/GlideSlope.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sprinkle-ames-eklund-mitchell-sastry-onlinesafetycalculationsforglidesloperecapture-2005', 'http://ames.caltech.edu/GlideSlope.pdf', event);\">\n    Online safety calculations for glide-slope recapture.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sprinkle, J.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Eklund, J M.; Mitchell, I. M;  and Sastry, S S.\n</span>\n\n  \n\n</span>\n\n  <i>Innovations in Systems and Software Engineering</i>, 1(2): 157–175.  2005.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/GlideSlope.pdf\"\n     onclick=\"log_download('sprinkle-ames-eklund-mitchell-sastry-onlinesafetycalculationsforglidesloperecapture-2005', 'http://ames.caltech.edu/GlideSlope.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Online safety calculations for glide-slope recapture [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sprinkle-ames-eklund-mitchell-sastry-onlinesafetycalculationsforglidesloperecapture-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sprinkle-ames-eklund-mitchell-sastry-onlinesafetycalculationsforglidesloperecapture-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sprinkle-ames-pinto-zheng-sastry-onthepartitioningofsyntaxandsemanticsforhybridsystemstools-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/sprinkleCDC2005.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sprinkle-ames-pinto-zheng-sastry-onthepartitioningofsyntaxandsemanticsforhybridsystemstools-2005', 'http://ames.caltech.edu/sprinkleCDC2005.pdf', event);\">\n    On the partitioning of syntax and semantics for hybrid systems tools.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Sprinkle, J.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Pinto, A.; Zheng, H.;  and Sastry, S S.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on</i>, pages 4694–4699,  2005. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/sprinkleCDC2005.pdf\"\n     onclick=\"log_download('sprinkle-ames-pinto-zheng-sastry-onthepartitioningofsyntaxandsemanticsforhybridsystemstools-2005', 'http://ames.caltech.edu/sprinkleCDC2005.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"On the partitioning of syntax and semantics for hybrid systems tools [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sprinkle-ames-pinto-zheng-sastry-onthepartitioningofsyntaxandsemanticsforhybridsystemstools-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sprinkle-ames-pinto-zheng-sastry-onthepartitioningofsyntaxandsemanticsforhybridsystemstools-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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&#x27;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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"abate-ames-sastry-stochasticapproximationsofhybridsystems-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/AmesACC2005stochastic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'abate-ames-sastry-stochasticapproximationsofhybridsystems-2005', 'http://ames.caltech.edu/AmesACC2005stochastic.pdf', event);\">\n    Stochastic approximations of hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Abate, A.; <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S S.\n</span>\n\n  \n\n</span>\n\n  In <i>American Control Conference. Proceedings of the</i>, pages 1557–1562,  2005. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/AmesACC2005stochastic.pdf\"\n     onclick=\"log_download('abate-ames-sastry-stochasticapproximationsofhybridsystems-2005', 'http://ames.caltech.edu/AmesACC2005stochastic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Stochastic approximations of hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/abate-ames-sastry-stochasticapproximationsofhybridsystems-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('abate-ames-sastry-stochasticapproximationsofhybridsystems-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-tabuada-hcategoriesandgraphs-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HCatGraph.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-tabuada-hcategoriesandgraphs-2005', 'http://ames.caltech.edu/HCatGraph.pdf', event);\">\n    H-categories and graphs.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Tabuada, P.\n</span>\n\n  \n\n</span>\n\n   2005.\n  <span class=\"note\">Technical Note</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HCatGraph.pdf\"\n     onclick=\"log_download('ames-tabuada-hcategoriesandgraphs-2005', 'http://ames.caltech.edu/HCatGraph.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"H-categories and graphs [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-tabuada-hcategoriesandgraphs-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-tabuada-hcategoriesandgraphs-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2004\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2004')\"\n      onkeypress=\"toggleGroup('group_2004')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2004</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-sastry-blowingupaffinehybridsystems-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/CDC_2004_Blowing_up.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-blowingupaffinehybridsystems-2004', 'http://ames.caltech.edu/CDC_2004_Blowing_up.pdf', event);\">\n    Blowing up affine hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>Decision and Control, 2004. CDC. 43rd IEEE Conference on</i>, volume 1, pages 473–478,  2004. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/CDC_2004_Blowing_up.pdf\"\n     onclick=\"log_download('ames-sastry-blowingupaffinehybridsystems-2004', 'http://ames.caltech.edu/CDC_2004_Blowing_up.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Blowing up affine hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-blowingupaffinehybridsystems-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-blowingupaffinehybridsystems-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ames-sastry-affinehybridsystems-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://ames.caltech.edu/HSCC2004.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ames-sastry-affinehybridsystems-2004', 'http://ames.caltech.edu/HSCC2004.pdf', event);\">\n    Affine hybrid systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>;  and Sastry, S.\n</span>\n\n  \n\n</span>\n\n  In <i>International Workshop on Hybrid Systems: Computation and Control</i>, pages 16–31.  2004.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ames.caltech.edu/HSCC2004.pdf\"\n     onclick=\"log_download('ames-sastry-affinehybridsystems-2004', 'http://ames.caltech.edu/HSCC2004.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Affine hybrid systems [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-sastry-affinehybridsystems-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-sastry-affinehybridsystems-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2002\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2002')\"\n      onkeypress=\"toggleGroup('group_2002')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2002</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"ames-jalkio-shakiban-threedimensionalobjectrecognitionusinginvarianteuclideansignaturecurves-2002\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Three-dimensional object recognition using invariant Euclidean signature curves.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.ames.caltech.edu/publications.html\">Ames, A. D</a>; Jalkio, J. A;  and Shakiban, C.\n</span>\n\n  \n\n</span>\n\n  In <i>Analysis, combinatorics and computing</i>, pages 13–23.  2002.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ames-jalkio-shakiban-threedimensionalobjectrecognitionusinginvarianteuclideansignaturecurves-2002\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ames-jalkio-shakiban-threedimensionalobjectrecognitionusinginvarianteuclideansignaturecurves-2002')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@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</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);