Theses:

Aaron D. Ames
A Categorical Theory of Hybrid Systems
PhD dissertation, Electrical Engineering and Computer Sciences, University of California, Berkeley 2006

Aaron D. Ames
Hyrid Model Structures
Master Thesis, Mathematics, University of California, Berkeley 2006











 
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  2022 (25)
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. Ahmadi, M.; Xiong, X.; and Ames, A. D IEEE Control Systems Letters, 6: 878–883. 2022.
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion [pdf]Paper   link   bibtex   95 downloads  
Interactive multi-modal motion planning with Branch Model Predictive Control. Chen, Y.; Rosolia, U.; Ubellacker, W.; Csomay-Shanklin, N.; and Ames, A. D IEEE Robotics and Automation Letters, 7(2): 5365–5372. 2022.
Interactive multi-modal motion planning with Branch Model Predictive Control [pdf]Paper   Interactive multi-modal motion planning with Branch Model Predictive Control [link] video   link   bibtex  
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. Li, K.; Tucker, M.; Gehlhar, R.; Yue, Y.; and Ames, A. D IEEE Robotics and Automation Letters, 7(2): 4283–4290. 2022.
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics [pdf]Paper   Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics [link] video   link   bibtex  
Model-free safety-critical control for robotic systems. Molnar, T. G; Cosner, R. K; Singletary, A. W; Ubellacker, W.; and Ames, A. D IEEE Robotics and Automation Letters, 7(2): 944–951. 2022.
Model-free safety-critical control for robotic systems [pdf]Paper   Model-free safety-critical control for robotic systems [link] video   link   bibtex  
Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions. Singletary, A.; Swann, A.; Chen, Y.; and Ames, A. IEEE Robotics and Automation Letters. 2022.
Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions [pdf]Paper   Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions [link] video   link   bibtex  
Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective. Akella, P.; and Ames, A. D IEEE Control Systems Letters, 6: 2018–2023. 2022.
Disturbance bounds for signal temporal logic task satisfaction: A dynamics perspective [pdf]Paper   link   bibtex  
Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers. Fawcett, R. T; Pandala, A.; Ames, A. D; and Hamed, K. A. IEEE Control Systems Letters, 6: 1736–1741. 2022.
Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers [pdf]Paper   Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers [link] video   link   bibtex  
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. Agrawal, D. R; Parwana, H.; Cosner, R. K; Rosolia, U.; Ames, A. D; and Panagou, D. IEEE Control Systems Letters, 6: 2138–2143. 2022.
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems [pdf]Paper   A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems [link] video   link   bibtex  
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. Gehlhar, R.; Yang, J.; and Ames, A. D IEEE Robotics and Automation Letters, 7(2): 5151–5158. 2022.
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing [pdf]Paper   Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing [link] video   link   bibtex  
Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots. Kamidi, V. R; Kim, J.; Fawcett, R. T; Ames, A. D; and Hamed, K. A. IEEE Control Systems Letters. 2022.
Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots [pdf]Paper   Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots [link] video   link   bibtex   9 downloads  
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. Xiong, X.; and Ames, A. IEEE Transactions on Robotics. 2022.
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization [pdf]Paper   3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization [link] video   link   bibtex  
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. Akella, P.; Ubellacker, W.; and Ames, A. D 2022.
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification [pdf]Paper   Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification [link] video   link   bibtex  
LyaNet: A Lyapunov Framework for Training Neural ODEs. Rodriguez, I. D. J.; Ames, A. D; and Yue, Y. 2022.
LyaNet: A Lyapunov Framework for Training Neural ODEs [pdf]Paper   link   bibtex  
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. Akella, P.; and Ames, A. D 2022.
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems [pdf]Paper   link   bibtex  
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. Cosner, R. K; Rodriguez, I. D J.; Molnar, T. G; Ubellacker, W.; Yue, Y.; Ames, A. D; and Bouman, K. L 2022.
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision [pdf]Paper   Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision [link] video   link   bibtex  
A Scenario Approach to Risk-Aware Safety-Critical System Verification. Akella, P.; Ahmadi, M.; and Ames, A. D 2022.
A Scenario Approach to Risk-Aware Safety-Critical System Verification [pdf]Paper   link   bibtex  
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Galliker, M. Y; Csomay-Shanklin, N.; Grandia, R.; Taylor, A. J; Farshidian, F.; Hutter, M.; and Ames, A. D 2022.
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics [pdf]Paper   Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics [link] video   link   bibtex  
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. Taylor, A. J; Dorobantu, V. D; Cosner, R. K; Yue, Y.; and Ames, A. D 2022.
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models [pdf]Paper   link   bibtex  
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions. Singletary, A.; Ahmadi, M.; and Ames, A. D 2022.
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions [pdf]Paper   link   bibtex  
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. Csomay-Shanklin, N.; Taylor, A. J; Rosolia, U.; and Ames, A. D 2022.
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions [pdf]Paper   link   bibtex  
Safe Backstepping with Control Barrier Functions. Taylor, A. J; Ong, P.; Molnar, T. G; and Ames, A. D 2022.
Safe Backstepping with Control Barrier Functions [pdf]Paper   link   bibtex  
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. Ong, P.; Bahati, G.; and Ames, A. D 2022.
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization [pdf]Paper   link   bibtex  
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. Rodriguez, I. D. J.; Csomay-Shanklin, N.; Yue, Y.; and Ames, A. D 2022.
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies [pdf]Paper   Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies [link] video   link   bibtex  
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification. Akella, P.; Dixit, A.; Ahmadi, M.; Burdick, J. W; and Ames, A. D 2022.
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification [pdf]Paper   link   bibtex  
Safety-Critical Manipulation for Collision-Free Food Preparation. Singletary, A.; Guffey, W.; Molnar, T. G; Sinnet, R.; and Ames, A. D 2022.
Safety-Critical Manipulation for Collision-Free Food Preparation [pdf]Paper   Safety-Critical Manipulation for Collision-Free Food Preparation [link] video   link   bibtex  
  2021 (53)
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. Rodriguez, I. D J.; Rosolia, U.; Ames, A. D; and Yue, Y. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3896–3903, 2021. IEEE
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control [link]Paper   link   bibtex  
Measurement-robust control barrier functions: Certainty in safety with uncertainty in state. Cosner, R. K; Singletary, A. W; Taylor, A. J; Molnar, T. G; Bouman, K. L; and Ames, A. D In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6286–6291, 2021. IEEE
Measurement-robust control barrier functions: Certainty in safety with uncertainty in state [pdf]Paper   Measurement-robust control barrier functions: Certainty in safety with uncertainty in state [link] video   link   bibtex   9 downloads  
Verifying safe transitions between dynamic motion primitives on legged robots. Ubellacker, W.; Csomay-Shanklin, N.; Molnar, T. G; and Ames, A. D In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 8477–8484, 2021. IEEE
Verifying safe transitions between dynamic motion primitives on legged robots [pdf]Paper   Verifying safe transitions between dynamic motion primitives on legged robots [link] video   link   bibtex   20 downloads  
Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation. Xiong, X.; Chen, Y.; and Ames, A. D In 2021 60th IEEE Conference on Decision and Control (CDC), pages 697–704, 2021. IEEE
Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation [pdf]Paper   link   bibtex  
Estimate-to-state stability for hybrid human-prosthesis systems. Gehlhar, R.; and Ames, A. D In 2021 60th IEEE Conference on Decision and Control (CDC), pages 705–712, 2021. IEEE
Estimate-to-state stability for hybrid human-prosthesis systems [pdf]Paper   link   bibtex  
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. Ambrose, E.; Ma, W.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 7073–7078, 2021. IEEE
link   bibtex   9 downloads  
Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty. Taylor, A. J; Dorobantu, V. D; Dean, S.; Recht, B.; Yue, Y.; and Ames, A. D In 2021 60th IEEE Conference on Decision and Control (CDC), pages 6469–6476, 2021. IEEE
Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty [pdf]Paper   link   bibtex  
Preference-based learning for user-guided HZD gait generation on bipedal walking robots. Tucker, M.; Csomay-Shanklin, N.; Ma, W.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2804–2810, 2021. IEEE
Preference-based learning for user-guided HZD gait generation on bipedal walking robots [pdf]Paper   Preference-based learning for user-guided HZD gait generation on bipedal walking robots [link] video   link   bibtex   17 downloads  
Model-dependent prosthesis control with interaction force estimation. Gehlhar, R.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 3226–3232, 2021. IEEE
Model-dependent prosthesis control with interaction force estimation [pdf]Paper   Model-dependent prosthesis control with interaction force estimation [link] video   link   bibtex   17 downloads  
Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes. Li, K.; Tucker, M.; Bıyık, E.; Novoseller, E.; Burdick, J. W; Sui, Y.; Sadigh, D.; Yue, Y.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 3212–3218, 2021. IEEE
Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes [pdf]Paper   Roial: Region of interest active learning for characterizing exoskeleton gait preference landscapes [link] video   link   bibtex   5 downloads  
Multi-layered safety for legged robots via control barrier functions and model predictive control. Grandia, R.; Taylor, A. J; Ames, A. D; and Hutter, M. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 8352–8358, 2021. IEEE
Multi-layered safety for legged robots via control barrier functions and model predictive control [pdf]Paper   Multi-layered safety for legged robots via control barrier functions and model predictive control [link] video   Multi-layered safety for legged robots via control barrier functions and model predictive control [link] video youtube   link   bibtex   21 downloads  
Inverse dynamics control of compliant hybrid zero dynamic walking. Reher, J.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2040–2047, 2021. IEEE
Inverse dynamics control of compliant hybrid zero dynamic walking [pdf]Paper   Inverse dynamics control of compliant hybrid zero dynamic walking [link] video   link   bibtex   19 downloads  
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. Ambrose, E.; Ma, W.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 7073–7078, 2021. IEEE
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots [pdf]Paper   Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots [link] video   link   bibtex   9 downloads  
Online learning of unknown dynamics for model-based controllers in legged locomotion. Sun, Y.; Ubellacker, W. L; Ma, W.; Zhang, X.; Wang, C.; Csomay-Shanklin, N. V; Tomizuka, M.; Sreenath, K.; and Ames, A. D IEEE Robotics and Automation Letters, 6(4): 8442–8449. 2021.
Online learning of unknown dynamics for model-based controllers in legged locomotion [pdf]Paper   Online learning of unknown dynamics for model-based controllers in legged locomotion [link] video   link   bibtex   14 downloads  
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning. Xiong, X.; Reher, J.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2825–2831, 2021. IEEE
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [pdf]Paper   Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [link] video   link   bibtex   18 downloads  
Online learning of unknown dynamics for model-based controllers in legged locomotion. Sun, Y.; Ubellacker, W. L; Ma, W.; Zhang, X.; Wang, C.; Csomay-Shanklin, N. V; Tomizuka, M.; Sreenath, K.; and Ames, A. D IEEE Robotics and Automation Letters, 6(4): 8442–8449. 2021.
Online learning of unknown dynamics for model-based controllers in legged locomotion [pdf]Paper   Online learning of unknown dynamics for model-based controllers in legged locomotion [link] video   link   bibtex   14 downloads  
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning. Xiong, X.; Reher, J.; and Ames, A. D In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 2825–2831, 2021. IEEE
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [pdf]Paper   Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning [link] video   link   bibtex   18 downloads  
Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. Huynh, V.; Burger, G.; Dang, Q. V.; Pelgé, R.; Boéris, G.; Grizzle, J. W; Ames, A. D; and Masselin, M. Frontiers in Robotics and AI,299. 2021.
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]Paper   link   bibtex   3 downloads  
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. Csomay-Shanklin, N.; Cosner, R. K; Dai, M.; Taylor, A. J; and Ames, A. D In Learning for Dynamics and Control, pages 1041–1053, 2021. PMLR
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety [pdf]Paper   Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety [link] video   link   bibtex   10 downloads  
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. Dai, M.; Xiong, X.; and Ames, A. 2021.
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control [pdf]Paper   Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control [link] video   link   bibtex   8 downloads  
Backup Control Barrier Functions: Formulation and Comparative Study. Chen, Y.; Jankovic, M.; Santillo, M.; and Ames, A. D 2021.
Backup Control Barrier Functions: Formulation and Comparative Study [pdf]Paper   link   bibtex   5 downloads  
Iterative Model Predictive Control for Piecewise Systems. Rosolia, U.; and Ames, A. D IEEE Control Systems Letters. 2021.
Iterative Model Predictive Control for Piecewise Systems [pdf]Paper   link   bibtex   7 downloads  
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. Ma, W.; Csomay-Shanklin, N.; Kolathaya, S.; Hamed, K. A.; and Ames, A. D IEEE Robotics and Automation Letters, 6(2): 3761–3768. 2021.
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion [pdf]Paper   Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion [link] video   link   bibtex   10 downloads  
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions. Alan, A.; Taylor, A. J; He, C. R; Orosz, G.; and Ames, A. D IEEE Control Systems Letters. 2021.
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions [pdf]Paper   link   bibtex   2 downloads  
Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. Taylor, A. J; Dorobantu, V. D; Yue, Y.; Tabuada, P.; and Ames, A. D IEEE Control Systems Letters. 2021.
Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs [pdf]Paper   link   bibtex   4 downloads  
Smooth approximations for hybrid optimal control problems with application to robotic walking. Westenbroek, T.; Xiong, X.; Sastry, S S.; and Ames, A. D IFAC-PapersOnLine, 54(5): 181–186. 2021.
Smooth approximations for hybrid optimal control problems with application to robotic walking [pdf]Paper   link   bibtex   4 downloads  
Multi-rate control design under input constraints via fixed-time barrier functions. Garg, K.; Cosner, R. K; Rosolia, U.; Ames, A. D; and Panagou, D. IEEE Control Systems Letters. 2021.
Multi-rate control design under input constraints via fixed-time barrier functions [pdf]Paper   link   bibtex   3 downloads  
Learning Controller Gains on Bipedal Walking Robots via User Preferences. Csomay-Shanklin, N.; Tucker, M.; Dai, M.; Reher, J.; and Ames, A. D 2021.
Learning Controller Gains on Bipedal Walking Robots via User Preferences [pdf]Paper   Learning Controller Gains on Bipedal Walking Robots via User Preferences [link] video   link   bibtex   3 downloads  
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. Xiong, X.; and Ames, A. IEEE Robotics and Automation Letters, 6(2): 2122–2129. 2021.
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program [pdf]Paper   SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program [link] video   link   bibtex   5 downloads  
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. Rosolia, U.; Ahmadi, M.; Murray, R. M; and Ames, A. D 2021.
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications [pdf]Paper   link   bibtex   2 downloads  
Real-time feedback module for assistive gait training, improved proprioception, and fall prevention. Tucker, M.; and Ames, A. D January 28 2021. US Patent App. 16/938,654
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Constrained risk-averse Markov decision processes. Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M; and Ames, A. D In The 35th AAAI Conference on Artificial Intelligence (AAAI-21), 2021.
Constrained risk-averse Markov decision processes [pdf]Paper   link   bibtex   3 downloads  
Dynamic Walking: Toward Agile and Efficient Bipedal Robots. Reher, J.; and Ames, A. D Annual Review of Control, Robotics, and Autonomous Systems, 4: 535–572. 2021.
link   bibtex  
Decentralized Task and Path Planning for Multi-Robot Systems. Chen, Y.; Rosolia, U.; and Ames, A. D IEEE Robotics and Automation Letters, 6(3): 4337–4344. 2021.
Decentralized Task and Path Planning for Multi-Robot Systems [pdf]Paper   Decentralized Task and Path Planning for Multi-Robot Systems [link] video   link   bibtex   4 downloads  
Safety-Critical Kinematic Control of Robotic Systems. Singletary, A.; Kolathaya, S.; and Ames, A. D IEEE Control Systems Letters. 2021.
Safety-Critical Kinematic Control of Robotic Systems [pdf]Paper   Safety-Critical Kinematic Control of Robotic Systems [link] video   link   bibtex   8 downloads  
Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach. Kiss, A. K; Molnar, T. G; Bachrathy, D.; Ames, A. D; and Orosz, G. In 2021 American Control Conference (ACC), pages 1058–1063, 2021. IEEE
Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach [pdf]Paper   link   bibtex  
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. Maghenem, M.; Taylor, A. J; Ames, A. D; and Sanfelice, R. G In 2021 American Control Conference (ACC), pages 2418–2423, 2021. IEEE
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation [pdf]Paper   link   bibtex   2 downloads  
Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury. Kerdraon, J.; Previnaire, J. G.; Tucker, M.; Coignard, P.; Allegre, W.; Knappen, E.; and Ames, A. Spinal cord series and cases, 7(1): 1–8. 2021.
Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury [pdf]Paper   link   bibtex  
Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions. Thananjeyan, B.; Balakrishna, A.; Rosolia, U.; Gonzalez, J. E; Ames, A.; and Goldberg, K. In Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics 14, pages 1–17, 2021. Springer International Publishing
Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions [pdf]Paper   link   bibtex   1 download  
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. Taylor, A. J; Ong, P.; Cortés, J.; and Ames, A. D IEEE Control Systems Letters, 5(3): 749-754. 2021.
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions [pdf]Paper   link   bibtex   39 downloads  
Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. Ma, W.; Csomay-Shanklin, N.; and Ames, A. D IEEE Control Systems Letters, 5(3): 935-940. 2021.
Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion [pdf]Paper   Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion [link] video   link   bibtex   39 downloads  
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. Rosolia, U.; and Ames, A. D IEEE Control Systems Letters, 5(3): 1007-1012. 2021.
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies [pdf]Paper   link   bibtex   22 downloads  
A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. Taylor, A. J; Singletary, A.; Yue, Y.; and Ames, A. D IEEE Control Systems Letters, 5(3): 1019-1024. 2021.
A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety [pdf]Paper   link   bibtex   9 downloads  
Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems. Konda, R.; Ames, A. D; and Coogan, S. IEEE Control Systems Letters, 5(2): 523-528. 2021.
Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems [pdf]Paper   link   bibtex   8 downloads  
Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach. Chen, Y.; Singletary, A.; and Ames, A. D IEEE Control Systems Letters, 5(1): 127–132. 2021.
Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach [pdf]Paper   link   bibtex   25 downloads  
Separable Control Lyapunov Functions with Application to Prostheses. Gehlhar, R.; and Ames, A. D IEEE Control Systems Letters, 5(2): 559–564. 2021.
Separable Control Lyapunov Functions with Application to Prostheses [pdf]Paper   link   bibtex   14 downloads  
Risk-Averse Stochastic Shortest Path Planning. Ahmadi, M.; Dixit, A.; Burdick, J. W; and Ames, A. D 2021.
Risk-Averse Stochastic Shortest Path Planning [pdf]Paper   link   bibtex   6 downloads  
Control lyapunov functions for compliant hybrid zero dynamic walking. Reher, J.; and Ames, A. D 2021.
Control lyapunov functions for compliant hybrid zero dynamic walking [pdf]Paper   Control lyapunov functions for compliant hybrid zero dynamic walking [link] video   link   bibtex   1 download  
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms. Rosolia, U.; Chen, Y.; Daftry, S.; Ono, M.; Yue, Y.; and Ames, A. D 2021.
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms [pdf]Paper   link   bibtex  
Learning Performance Bounds for Safety-Critical Systems. Akella, P.; Rosolia, U.; and Ames, A. D 2021.
Learning Performance Bounds for Safety-Critical Systems [pdf]Paper   link   bibtex  
Risk-Averse Decision Making Under Uncertainty. Ahmadi, M.; Rosolia, U.; Ingham, M. D; Murray, R. M; and Ames, A. D 2021.
Risk-Averse Decision Making Under Uncertainty [pdf]Paper   link   bibtex  
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. Johansson, K.; Rosolia, U.; Ubellacker, W.; Singletary, A.; and Ames, A. D 2021.
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments [pdf]Paper   Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments [link] video   link   bibtex   2 downloads  
Safety-Aware Preference-Based Learning for Safety-Critical Control. Cosner, R. K; Tucker, M.; Taylor, A. J; Li, K.; Molnár, T. G; Ubellacker, W.; Alan, A.; Orosz, G.; Yue, Y.; and Ames, A. D 2021.
Safety-Aware Preference-Based Learning for Safety-Critical Control [pdf]Paper   Safety-Aware Preference-Based Learning for Safety-Critical Control [link] video   link   bibtex  
  2020 (50)
Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots. Ma, W.; Csomay-Shanklin, N.; and Ames, A. D In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4006–4011, 2020. IEEE
Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots [pdf]Paper   Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots [link] video   link   bibtex   6 downloads  
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators. Folkestad, C.; Chen, Y.; Ames, A. D; and Burdick, J. W IEEE Control Systems Letters, 5(6): 2012–2017. 2020.
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators [pdf]Paper   link   bibtex   1 download  
Unified multi-rate control: from low level actuation to high level planning. Rosolia, U.; Singletary, A.; and Ames, A. D 2020.
Unified multi-rate control: from low level actuation to high level planning [pdf]Paper   link   bibtex   2 downloads  
Online decentralized decision making with inequality constraints: an ADMM approach. Chen, Y.; Santillo, M.; Jankovic, M.; and Ames, A. D IEEE Control Systems Letters, 5(6): 2156–2161. 2020.
Online decentralized decision making with inequality constraints: an ADMM approach [pdf]Paper   link   bibtex  
Partially Observable Games for Secure Autonomy. Ahmadi, M.; Viswanathan, A. A; Ingham, M. D; Tan, K.; and Ames, A. D In 2020 IEEE Security and Privacy Workshops (SPW), pages 185–188, 2020. IEEE
Partially Observable Games for Secure Autonomy [pdf]Paper   link   bibtex  
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. Tucker, M.; Cheng, M.; Novoseller, E.; Cheng, R.; Yue, Y.; Burdick, J. W; and Ames, A. D In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3423–3430, 2020. IEEE
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits [pdf]Paper   Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits [link] video   link   bibtex   7 downloads  
Data-driven characterization of human interaction for model-based control of powered prostheses. Gehlhar, R.; Chen, Y.; and Ames, A. D In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4126–4133, 2020. IEEE
Data-driven characterization of human interaction for model-based control of powered prostheses [pdf]Paper   Data-driven characterization of human interaction for model-based control of powered prostheses [link] video   link   bibtex   2 downloads  
Barrier functions for multiagent-pomdps with dtl specifications. Ahmadi, M.; Singletary, A.; Burdick, J. W; and Ames, A. D In 2020 59th IEEE Conference on Decision and Control (CDC), pages 1380–1385, 2020. IEEE
Barrier functions for multiagent-pomdps with dtl specifications [pdf]Paper   Barrier functions for multiagent-pomdps with dtl specifications [link] video   link   bibtex   1 download  
Safe multi-agent interaction through robust control barrier functions with learned uncertainties. Cheng, R.; Khojasteh, M. J.; Ames, A. D; and Burdick, J. W In 2020 59th IEEE Conference on Decision and Control (CDC), pages 777–783, 2020. IEEE
Safe multi-agent interaction through robust control barrier functions with learned uncertainties [pdf]Paper   link   bibtex   3 downloads  
Formal test synthesis for safety-critical autonomous systems based on control barrier functions. Akella, P.; Ahmadi, M.; Murray, R. M; and Ames, A. D In 2020 59th IEEE Conference on Decision and Control (CDC), pages 790–795, 2020. IEEE
Formal test synthesis for safety-critical autonomous systems based on control barrier functions [pdf]Paper   link   bibtex   5 downloads  
Control barrier functions for sampled-data systems with input delays. Singletary, A.; Chen, Y.; and Ames, A. D In 2020 59th IEEE Conference on Decision and Control (CDC), pages 804–809, 2020. IEEE
Control barrier functions for sampled-data systems with input delays [pdf]Paper   link   bibtex   1 download  
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS. Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D In Algorithmic Foundations of Robotics XII, pages 400–415. Springer, Cham, 2020.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [pdf]Paper   Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [link] video   link   bibtex   26 downloads  
Safety-critical control of active interventions for COVID-19 mitigation. Ames, A. D; Molnár, T. G; Singletary, A. W; and Orosz, G. IEEE Access, 8: 188454–188474. 2020.
Safety-critical control of active interventions for COVID-19 mitigation [pdf]Paper   link   bibtex   1 download  
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. Molnár, T. G; Singletary, A. W; Orosz, G.; and Ames, A. D IEEE Control Systems Letters. 2020.
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays [pdf]Paper   link   bibtex  
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach. Hamed, K. A.; Kamidi, V. R; Pandala, A.; Ma, W.; and Ames, A. D In 2020 American Control Conference (ACC), pages 5314–5321, 2020. IEEE
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach [pdf]Paper   link   bibtex   14 downloads  
Towards Variable Assistance for Lower Body Exoskeletons. Gurriet, T.; Tucker, M.; Duburcq, A.; Boeris, G.; and Ames, A. D IEEE Robotics and Automation Letters, 5(1): 266–273. 2020.
Towards Variable Assistance for Lower Body Exoskeletons [pdf]Paper   Towards Variable Assistance for Lower Body Exoskeletons [link] video   link   bibtex   14 downloads  
A Scalable Safety Critical Control Framework for Nonlinear Systems. Gurriet, T.; Mote, M.; Singletary, A.; Nilsson, P.; Feron, E.; and Ames, A. D IEEE Access, 8: 187249–187275. 2020.
A Scalable Safety Critical Control Framework for Nonlinear Systems [pdf]Paper   link   bibtex   1 download  
Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts. Chen, Y.; Anderson, J.; Kalsi, K.; Ames, A. D; and Low, S. H IEEE Transactions on Control of Network Systems, 8(1): 487–499. 2020.
Safety-critical control synthesis for network systems with control barrier functions and assume-guarantee contracts [pdf]Paper   link   bibtex  
Optimal safe controller synthesis: A density function approach. Chen, Y.; Ahmadi, M.; and Ames, A. D In 2020 American Control Conference (ACC), pages 5407–5412, 2020. IEEE
Optimal safe controller synthesis: A density function approach [pdf]Paper   link   bibtex   2 downloads  
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. Ambrose, E.; and Ames, A. D In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 2457–2463, 2020. IEEE
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity [pdf]Paper   Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity [link] video   link   bibtex   8 downloads  
Adaptive safety with control barrier functions. Taylor, A. J; and Ames, A. D In 2020 American Control Conference (ACC), pages 1399–1405, 2020. IEEE
Adaptive safety with control barrier functions [pdf]Paper   link   bibtex   7 downloads  
An inverse dynamics approach to control Lyapunov functions. Reher, J.; Kann, C.; and Ames, A. D In 2020 American Control Conference (ACC), pages 2444–2451, 2020. IEEE
An inverse dynamics approach to control Lyapunov functions [pdf]Paper   An inverse dynamics approach to control Lyapunov functions [link] video   link   bibtex   16 downloads  
Density Functions for Guaranteed Safety on Robotic Systems. Chen, Y.; Singletary, A. W; and Ames, A. D In 2020 American Control Conference (ACC), pages 3199–3204, 2020. IEEE
Density Functions for Guaranteed Safety on Robotic Systems [pdf]Paper   link   bibtex  
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. Klaesson, F.; Nilsson, P.; Ames, A. D; and Murray, R. M In 2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems (ICCPS), pages 196–205, 2020. IEEE
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems [pdf]Paper   link   bibtex   3 downloads  
Learning for safety-critical control with control barrier functions. Taylor, A.; Singletary, A.; Yue, Y.; and Ames, A. In Learning for Dynamics and Control, pages 708–717, 2020. PMLR
Learning for safety-critical control with control barrier functions [pdf]Paper   Learning for safety-critical control with control barrier functions [link] video   link   bibtex   11 downloads  
Risk-Averse Planning Under Uncertainty. Ahmadi, M.; Ono, M.; Ingham, M. D; Murray, R. M; and Ames, A. D In 2020 American Control Conference (ACC), pages 3305–3312, 2020. IEEE
Risk-Averse Planning Under Uncertainty [pdf]Paper   link   bibtex   3 downloads  
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. Gao, C.; Gehlhar, R.; Ames, A. D; Liu, S.; and Delbruck, T. In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 5460-5466, 2020. IEEE
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator [pdf]Paper   Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator [link] video   link   bibtex   4 downloads  
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. Yu, Y.; Nassar, J.; Xu, C.; Min, J.; Yang, Y.; Dai, A.; Doshi, R.; Huang, A.; Song, Y.; Gehlhar, R.; and others Science Robotics, 5(41). 2020.
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces [pdf]Paper   Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces [link] video   link   bibtex   2 downloads  
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. Ma, W.; and Ames, A. D In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 4491-4497, 2020.
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [pdf]Paper   From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation [link] video   link   bibtex   8 downloads  
Passive Dynamic Balancing and Walking in Actuated Environments. Reher, J.; Csomay-Shanklin, N.; Christensen, D. L.; Bristow, B.; Ames, A. D.; and Smoot, L. In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 9775-9781, 2020.
Passive Dynamic Balancing and Walking in Actuated Environments [pdf]Paper   Passive Dynamic Balancing and Walking in Actuated Environments [link] video   link   bibtex   8 downloads  
Preference-Based Learning for Exoskeleton Gait Optimization. Tucker, M.; Novoseller, E.; Kann, C.; Sui, Y.; Yue, Y.; Burdick, J.; and Ames, A. D In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 2351-2357, 2020. ICRA Best Conference Paper Award, and Best Paper Award on Human-Robot Interaction (HRI)
Preference-Based Learning for Exoskeleton Gait Optimization [pdf]Paper   Preference-Based Learning for Exoskeleton Gait Optimization [link] video   link   bibtex   2 downloads  
Safety-Critical Rapid Aerial Exploration of Unknown Environments. Singletary, A.; Gurriet, T.; Nilsson, P.; and Ames, A. D. In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 10270-10276, 2020.
Safety-Critical Rapid Aerial Exploration of Unknown Environments [pdf]Paper   Safety-Critical Rapid Aerial Exploration of Unknown Environments [link] video   link   bibtex   3 downloads  
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. Ibuki, T.; Wilson, S.; Ames, A. D; and Egerstedt, M. IEEE Control Systems Letters, 4(4): 976-981. 2020.
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach [pdf]Paper   link   bibtex   4 downloads  
Integral Control Barrier Functions for Dynamically Defined Control Laws. Ames, A. D; Notomista, G.; Wardi, Y.; and Egerstedt, M. IEEE Control Systems Letters, 5(3): 887–892. 2020.
Integral Control Barrier Functions for Dynamically Defined Control Laws [pdf]Paper   link   bibtex   2 downloads  
Invariant Sets for Integrators and Quadrotor Obstacle Avoidance. Doeser, L.; Nilsson, P.; Ames, A. D; and Murray, R. M In 2020 American Control Conference (ACC), pages 3814–3821, 2020. IEEE
Invariant Sets for Integrators and Quadrotor Obstacle Avoidance [pdf]Paper   link   bibtex   7 downloads  
Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs. Nilsson, P.; and Ames, A. D In 2020 American Control Conference (ACC), pages 5175–5181, 2020. IEEE
Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs [pdf]Paper   link   bibtex   3 downloads  
On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction. Pandey, A.; and Ames, A. D In 2020 American Control Conference (ACC), pages 3763–3769, 2020. IEEE
On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction [pdf]Paper   link   bibtex   2 downloads  
Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping. Xiong, X.; and Ames, A. D IEEE Robotics and Automation Letters, 5(4): 6286–6293. 2020.
Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping [pdf]Paper   Dynamic and versatile humanoid walking via embedding 3D actuated SLIP model with hybrid lip based stepping [link] video   link   bibtex   7 downloads  
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. Xiong, X.; and Ames, A. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. IEEE
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control [pdf]Paper   link   bibtex   9 downloads  
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. Suh, H.; Xiong, X.; Singletary, A.; Ames, A. D; and Burdick, J. W In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. IEEE
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion [pdf]Paper   Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion [link] video   link   bibtex   3 downloads  
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; Ames, A. D; and Vela, P. A IEEE Transactions on Control Systems Technology. 2020.
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping [pdf]Paper   link   bibtex   2 downloads  
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. Hamed, K. A.; Kamidi, V. R; Ma, W.; Leonessa, A.; and Ames, A. D IEEE Robotics and Automation Letters, 5(1): 56–63. 2020.
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach [pdf]Paper   link   bibtex  
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS. Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D Proc. 12th Adv. Robot. Algorithmic Found. Robot, 13: 400–415. 2020.
link   bibtex   26 downloads  
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. Grandia, R.; Taylor, A. J; Singletary, A.; Hutter, M.; and Ames, A. D arXiv preprint arXiv:2006.01229, 2020.
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions [pdf]Paper   link   bibtex   15 downloads  
Dynamic Walking: Toward Agile and Efficient Bipedal Robots. Reher, J.; and Ames, A. D 2020.
Dynamic Walking: Toward Agile and Efficient Bipedal Robots [pdf]Paper   link   bibtex   2 downloads  
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. Singletary, A.; Klingebiel, K.; Bourne, J.; Browning, A.; Tokumaru, P.; and Ames, A. 2020.
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance [pdf]Paper   Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance [link] video   link   bibtex   6 downloads  
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. Ahmadi, M.; Xiong, X.; and Ames, A. D 2020.
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion [pdf]Paper   link   bibtex   3 downloads  
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. Dean, S.; Taylor, A. J; Cosner, R. K; Recht, B.; and Ames, A. D 2020.
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions [pdf]Paper   link   bibtex   1 download  
Reactive motion planning with probabilistics safety guarantees. Chen, Y.; Rosolia, U.; Fan, C.; Ames, A. D; and Murray, R. 2020.
Reactive motion planning with probabilistics safety guarantees [pdf]Paper   link   bibtex   1 download  
Lidar-based exploration and discretization for mobile robot planning. Chen, Y.; Singletary, A.; and Ames, A. D 2020.
Lidar-based exploration and discretization for mobile robot planning [pdf]Paper   link   bibtex   1 download  
  2019 (26)
Control barrier functions: Theory and applications. Ames, A. D; Coogan, S.; Egerstedt, M.; Notomista, G.; Sreenath, K.; and Tabuada, P. In 2019 18th European Control Conference (ECC), pages 3420–3431, 2019. IEEE
Control barrier functions: Theory and applications [pdf]Paper   link   bibtex   25 downloads  
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. Azimi, V.; Shu, T.; Zhao, H.; Gehlhar, R.; Simon, D.; and Ames, A. D IEEE Transactions on Systems, Man, and Cybernetics: Systems. 2019.
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments [pdf]Paper   Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments [link] video   link   bibtex   9 downloads  
Dynamic walking with compliance on a cassie bipedal robot. Reher, J.; Ma, W.; and Ames, A. D In 2019 18th European Control Conference (ECC), pages 2589–2595, 2019. IEEE
Dynamic walking with compliance on a cassie bipedal robot [pdf]Paper   Dynamic walking with compliance on a cassie bipedal robot [link] video   link   bibtex   13 downloads  
Optimal control of piecewise-smooth control systems via singular perturbations. Westenbroek, T.; Xiong, X.; Ames, A. D; and Sastry, S S. In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 3046–3053, 2019. IEEE
Optimal control of piecewise-smooth control systems via singular perturbations [pdf]Paper   link   bibtex   2 downloads  
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. Ahmadi, M.; Singletary, A.; Burdick, J. W; and Ames, A. D In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 4797-4803, 2019. IEEE
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions [pdf]Paper   link   bibtex   3 downloads  
A control lyapunov perspective on episodic learning via projection to state stability. Taylor, A. J; Dorobantu, V. D; Krishnamoorthy, M.; Le, H. M; Yue, Y.; and Ames, A. D In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 4797-4803, 2019. IEEE
A control lyapunov perspective on episodic learning via projection to state stability [pdf]Paper   link   bibtex   6 downloads  
A scalable controlled set invariance framework with practical safety guarantees. Gurriet, T.; Mote, M.; Singletary, A.; Feron, E.; and Ames, A. D In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 2046–2053, 2019. IEEE
A scalable controlled set invariance framework with practical safety guarantees [pdf]Paper   link   bibtex  
Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots. Murali, V.; Ames, A. D; and Verriest, E. I In 2019 IEEE 58th Conference on Decision and Control (CDC), pages 6295–6300, 2019. IEEE
Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots [pdf]Paper   link   bibtex   3 downloads  
Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. Chang, A. H; Hubicki, C.; Ames, A. D; and Vela, P. A In 2019 International Conference on Robotics and Automation (ICRA), pages 3188–3194, 2019. IEEE
Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping [pdf]Paper   Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping [link] video   link   bibtex   1 download  
Safety Functionals for Time Delay Systems. Orosz, G.; and Ames, A. D In 2019 American Control Conference (ACC), pages 4374–4379, 2019. IEEE
Safety Functionals for Time Delay Systems [pdf]Paper   link   bibtex   4 downloads  
Realizable Set Invariance Conditions for Cyber-Physical Systems. Gurriet, T.; Nilsson, P.; Singletary, A.; and Ames, A. D In 2019 American Control Conference (ACC), pages 3642–3649, 2019. IEEE
Realizable Set Invariance Conditions for Cyber-Physical Systems [pdf]Paper   link   bibtex   4 downloads  
Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking. Hamed, K. A.; and Ames, A. D IEEE Transactions on Control Systems Technology. 2019.
Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking [pdf]Paper   link   bibtex   3 downloads  
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. Xiong, X.; and Ames, A. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1018-1024, 2019. IEEE IROS RoboCup Best Paper Award
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [pdf]Paper   Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control [link] video   link   bibtex   3 downloads  
First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach. Ma, W.; Hamed, K. A.; and Ames, A. D In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5498-5503, 2019. IEEE
First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach [pdf]Paper   First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach [link] video   link   bibtex   3 downloads  
Episodic learning with control lyapunov functions for uncertain robotic systems. Taylor, A. J; Dorobantu, V. D; Le, H. M; Yue, Y.; and Ames, A. D In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6878-6884, 2019. IEEE
Episodic learning with control lyapunov functions for uncertain robotic systems [pdf]Paper   Episodic learning with control lyapunov functions for uncertain robotic systems [link] video   link   bibtex   3 downloads  
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. Xiong, X.; and Ames, A. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4644-4651, 2019. IEEE
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model [pdf]Paper   Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model [link] video   link   bibtex   6 downloads  
Design and Comparative Analysis of 1D Hopping Robots. Ambrose, E.; Csomay-Shanklin, N.; Or, Y.; and Ames, A. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5717-5724, 2019. IEEE
Design and Comparative Analysis of 1D Hopping Robots [pdf]Paper   Design and Comparative Analysis of 1D Hopping Robots [link] video   link   bibtex   2 downloads  
Online Active Safety for Robotic Manipulators. Singletary, A.; Nilsson, P.; Gurriet, T.; and Ames, A. D In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 173-178, 2019. IEEE
Online Active Safety for Robotic Manipulators [pdf]Paper   Online Active Safety for Robotic Manipulators [link] video   link   bibtex   4 downloads  
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. Hamed, K. A.; Ma, W.; and Ames, A. D In 2019 American Control Conference (ACC), pages 4588–4595, 2019. IEEE
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers [pdf]Paper   link   bibtex  
Compositional set invariance in network systems with assume-guarantee contracts. Chen, Y.; Anderson, J.; Kalsi, K.; Low, S. H; and Ames, A. D In 2019 American Control Conference (ACC), pages 1027–1034, 2019. IEEE
Compositional set invariance in network systems with assume-guarantee contracts [pdf]Paper   link   bibtex  
Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage. Ma, W.; Or, Y.; and Ames, A. D In 2019 International Conference on Robotics and Automation (ICRA), pages 3705–3711, 2019. IEEE
Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage [pdf]Paper   Dynamic walking on slippery surfaces: Demonstrating stable bipedal gaits with planned ground slippage [link] video   link   bibtex   3 downloads  
Input-to-State Safety with Control Barrier Functions. Kolathaya, S.; and Ames, A. D IEEE Control Systems Letters, 3(1): 108–113. 2019.
Input-to-State Safety with Control Barrier Functions [pdf]Paper   link   bibtex   9 downloads  
Control of Separable Subsystems with Application to Prostheses. Gehlhar, R.; Reher, J.; and Ames, A. D arXiv preprint arXiv:1909.03102, 2019.
Control of Separable Subsystems with Application to Prostheses [pdf]Paper   link   bibtex   2 downloads  
Stabilization of Exoskeletons through Active Ankle Compensation. Gurriet, T.; Tucker, M.; Kann, C.; Boeris, G.; and Ames, A. D arXiv preprint arXiv:1909.11848, 2019.
Stabilization of Exoskeletons through Active Ankle Compensation [pdf]Paper   link   bibtex  
Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems. Akbari Hamed, K.; Ma, W.; Kamidi, V. R; and Ames, A. D arXiv preprint arXiv:1902.03690, 2019.
Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems [pdf]Paper   link   bibtex   2 downloads  
Duality between density function and value function with applications in constrained optimal control and Markov Decision Process. Chen, Y.; and Ames, A. D arXiv preprint arXiv:1902.09583, 2019.
link   bibtex  
  2018 (18)
An online approach to active set invariance. Gurriet, T.; Mote, M.; Ames, A. D; and Feron, E. In 2018 IEEE Conference on Decision and Control (CDC), pages 3592–3599, 2018. IEEE
An online approach to active set invariance [pdf]Paper   link   bibtex   1 download  
Barrier functions: Bridging the gap between planning from specifications and safety-critical control. Nilsson, P.; and Ames, A. D In 2018 IEEE Conference on Decision and Control (CDC), pages 765–772, 2018. IEEE
Barrier functions: Bridging the gap between planning from specifications and safety-critical control [pdf]Paper   link   bibtex   2 downloads  
Robotic bouncing ball. Smoot, L. S; Niemeyer, G. D; Ames, A. D; and Christensen, D. L. October 2018. US Patent 10,092,850
Robotic bouncing ball [pdf]Paper   link   bibtex   1 download  
Bipedal hopping: Reduced-order model embedding via optimization-based control. Xiong, X.; and Ames, A. D In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3821–3828, 2018. IEEE
Bipedal hopping: Reduced-order model embedding via optimization-based control [pdf]Paper   link   bibtex   5 downloads  
Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking. Xiong, X.; and Ames, A. D In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pages 1–9, 2018. IEEE
Coupling reduced order models via feedback control for 3d underactuated bipedal robotic walking [pdf]Paper   link   bibtex   1 download  
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Gosyne, J. R; Hubicki, C. M; Xiong, X.; Ames, A. D; and Goldman, D. I In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pages 994–1001, 2018. IEEE
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods [pdf]Paper   link   bibtex   2 downloads  
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. Kolathaya, S.; Guffey, W.; Sinnet, R. W; and Ames, A. D IEEE Robotics and Automation Letters, 3(4): 3677–3684. 2018.
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers [pdf]Paper   Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers [link] video   link   bibtex  
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons. Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Hereid, A.; Harib, O.; Masselin, M.; Grizzle, J.; and Ames, A. D In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 2804–2811, 2018. IEEE
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons [pdf]Paper   Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons [link] video   link   bibtex   1 download  
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. Nilsson, P.; Haesaert, S.; Thakker, R.; Otsu, K.; Vasile, C. I.; Agha-Mohammadi, A.; Murray, R. M; and Ames, A. D In Robotics: Science and systems, 2018.
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. [pdf]Paper   Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. [link] video   link   bibtex  
Temporal logic control of POMDPs via label-based stochastic simulation relations. Haesaert, S.; Nilsson, P.; Vasile, C. I.; Thakker, R.; Agha-mohammadi, A.; Ames, A. D; and Murray, R. M In IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), volume 51, pages 271–276, 2018. Elsevier
Temporal logic control of POMDPs via label-based stochastic simulation relations [pdf]Paper   link   bibtex  
Towards a framework for realizable safety critical control through active set invariance. Gurriet, T.; Singletary, A.; Reher, J.; Ciarletta, L.; Feron, E.; and Ames, A. In 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS), pages 98–106, 2018. IEEE Best Theory Paper Award Finalist of ICCPS
Towards a framework for realizable safety critical control through active set invariance [pdf]Paper   Towards a framework for realizable safety critical control through active set invariance [link] video   link   bibtex   3 downloads  
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization. Hereid, A.; Hubicki, C. M; Cousineau, E. A; and Ames, A. D IEEE Transactions on Robotics, 34(2): 370–387. 2018.
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization [pdf]Paper   Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization [link] video   link   bibtex   4 downloads  
Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking. Harib, O.; Hereid, A.; Agrawal, A.; Gurriet, T.; Finet, S.; Boeris, G.; Duburcq, A.; Mungai, M E.; Masselin, M.; Ames, A. D; and others IEEE Control Systems Magazine, 38(6): 61–87. 2018.
Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking [pdf]Paper   link   bibtex   1 download  
Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion. Kolathaya, S.; Reher, J.; Hereid, A.; and Ames, A. D In 2018 Annual American Control Conference (ACC), pages 2224–2230, 2018. IEEE
Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion [pdf]Paper   Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion [link] video   link   bibtex   5 downloads  
Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion. Hamed, K. A.; Gregg, R. D; and Ames, A. D In 2018 Annual American Control Conference (ACC), pages 2210–2217, 2018. IEEE
Exponentially stabilizing controllers for multi-contact 3d bipedal locomotion [pdf]Paper   link   bibtex   2 downloads  
Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking. Hamed, K. A.; Ames, A. D; and Gregg, R. D In 2018 Annual American Control Conference (ACC), pages 1438–1445, 2018. IEEE
Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking [pdf]Paper   link   bibtex  
Correctness guarantees for the composition of lane keeping and adaptive cruise control. Xu, X.; Grizzle, J. W; Tabuada, P.; and Ames, A. D IEEE Transactions on Automation Science and Engineering, 15(3): 1216–1229. 2018. Best New Application Paper Award
Correctness guarantees for the composition of lane keeping and adaptive cruise control [pdf]Paper   link   bibtex   2 downloads  
Input to State Stability of Bipedal Walking Robots: Application to DURUS. Kolathaya, S.; Reher, J.; and Ames, A. D arXiv preprint arXiv:1801.00618, 2018.
Input to State Stability of Bipedal Walking Robots: Application to DURUS [pdf]Paper   link   bibtex   2 downloads  
  2017 (25)
Control barrier function based quadratic programs for safety critical systems. Ames, A. D; Xu, X.; Grizzle, J. W; and Tabuada, P. IEEE Transactions on Automatic Control, 62(8): 3861–3876. 2017.
Control barrier function based quadratic programs for safety critical systems [pdf]Paper   link   bibtex   11 downloads  
First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D Autonomous Robots, 41(3): 725–742. 2017.
First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach [pdf]Paper   link   bibtex   10 downloads  
Multi-contact bipedal robotic locomotion. Zhao, H.; Hereid, A.; Ma, W.; and Ames, A. D Robotica, 35(5): 1072–1106. 2017.
Multi-contact bipedal robotic locomotion [pdf]Paper   link   bibtex   12 downloads  
The Robotarium: A remotely accessible swarm robotics research testbed. Pickem, D.; Glotfelter, P.; Wang, L.; Mote, M.; Ames, A. D; Feron, E.; and Egerstedt, M. In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 1699–1706, 2017. IEEE Best Multi-Robot Systems Paper Award & Best Conference Paper Award Finalist of ICRA 2017.
The Robotarium: A remotely accessible swarm robotics research testbed [pdf]Paper   The Robotarium: A remotely accessible swarm robotics research testbed [link] video   link   bibtex   2 downloads  
Robust control of a powered transfemoral prosthesis device with experimental verification. Azimi, V.; Shu, T.; Zhao, H.; Ambrose, E.; Ames, A. D; and Simon, D. In American Control Conference (ACC), 2017, pages 517–522, 2017. IEEE Best Student Paper Award Finalist, ACC 2017.
Robust control of a powered transfemoral prosthesis device with experimental verification [pdf]Paper   Robust control of a powered transfemoral prosthesis device with experimental verification [link] video   link   bibtex  
Parameter to state stability of control Lyapunov functions for hybrid system models of robots. Kolathaya, S.; and Ames, A. D Nonlinear Analysis: Hybrid Systems, 25: 174–191. 2017.
Parameter to state stability of control Lyapunov functions for hybrid system models of robots [pdf]Paper   link   bibtex   3 downloads  
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. Grey, M. X.; Ames, A. D; and Liu, K. C In Proceedings of Robotics: Science and Systems, 2017.
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments [pdf]Paper   link   bibtex  
Safe certificate-based maneuvers for teams of quadrotors using differential flatness. Wang, L.; Ames, A. D; and Egerstedt, M. In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 3293–3298, 2017. IEEE
Safe certificate-based maneuvers for teams of quadrotors using differential flatness [pdf]Paper   Safe certificate-based maneuvers for teams of quadrotors using differential flatness [link] video   link   bibtex   3 downloads  
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons. Agrawal, A.; Harib, O.; Hereid, A.; Finet, S.; Masselin, M.; Praly, L.; Ames, A. D; Sreenath, K.; and Grizzle, J. W IEEE Access, 5: 9919–9934. 2017.
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons [pdf]Paper   link   bibtex  
First steps toward formal controller synthesis for bipedal robots with experimental implementation. Ames, A. D; Tabuada, P.; Jones, A.; Ma, W.; Rungger, M.; Schürmann, B.; Kolathaya, S.; and Grizzle, J. W Nonlinear Analysis: Hybrid Systems, 25: 155–173. 2017.
First steps toward formal controller synthesis for bipedal robots with experimental implementation [pdf]Paper   First steps toward formal controller synthesis for bipedal robots with experimental implementation [link] video   link   bibtex   1 download  
Safety Barrier certificates for collisions-free multirobot systems. Wang, L.; Ames, A. D; and Egerstedt, M. IEEE Transactions on Robotics, 33(3): 661–674. 2017.
Safety Barrier certificates for collisions-free multirobot systems [pdf]Paper   Safety Barrier certificates for collisions-free multirobot systems [link] video   link   bibtex   5 downloads  
Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. Grey, M. X; Ames, A. D; and Liu, C K. In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 4747–4753, 2017. IEEE
Footstep and motion planning in semi-unstructured environments using randomized possibility graphs [pdf]Paper   link   bibtex  
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. Ma, W.; Kolathaya, S.; Ambrose, E. R; Hubicki, C. M; and Ames, A. D In Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, pages 265–274, 2017. ACM
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment [pdf]Paper   Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment [link] video   link   bibtex   3 downloads  
Paused intrusions improve robot jumping performance in granular media. Hubicki, C.; Aguilar, J.; Kim, A.; Rieser, J.; Ames, A. D; and Goldman, D. In APS Meeting Abstracts, 2017.
Paused intrusions improve robot jumping performance in granular media [pdf]Paper   link   bibtex  
Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media. Xiong, X.; Aguilar, J.; Rieser, J.; Kim, A.; Ames, A. D; and Goldman, D. In APS Meeting Abstracts, 2017.
Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media [pdf]Paper   link   bibtex   1 download  
Abstracting Partially Feedback Linearizable Systems Compositionally. Hussien, O.; Ames, A. D; and Tabuada, P. IEEE Control Systems Letters, 1(2): 227–232. 2017.
Abstracting Partially Feedback Linearizable Systems Compositionally [pdf]Paper   link   bibtex  
Closed-form controlled invariant sets for pedestrian avoidance. Shoukry, Y.; Tabuada, P.; Tsuei, S.; Milam, M. B; Grizzle, J. W; and Ames, A. D In American Control Conference (ACC), 2017, pages 1622–1628, 2017. IEEE
Closed-form controlled invariant sets for pedestrian avoidance [pdf]Paper   link   bibtex  
Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. Zhao, H.; Ambrose, E.; and Ames, A. D In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 1140–1147, 2017. IEEE BestMedical Robotics Paper Award Finalist of ICRA 2017.
Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis [pdf]Paper   Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis [link] video   link   bibtex   14 downloads  
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. Chang, A. H; Hubicki, C. M; Aguilar, J. J; Goldman, D. I; Ames, A. D; and Vela, P. A In Robotics and Automation (ICRA), 2017 IEEE International Conference on, pages 2154–2160, 2017. IEEE
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression [pdf]Paper   link   bibtex   1 download  
Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. Ambrose, E.; Ma, W.; Hubicki, C.; and Ames, A. D In Control Technology and Applications (CCTA), 2017 IEEE Conference on, pages 1270–1276, 2017. IEEE
Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M [pdf]Paper   Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M [link] video   link   bibtex   5 downloads  
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. Xu, X.; Waters, T.; Pickem, D.; Glotfelter, P.; Egerstedt, M.; Tabuada, P.; Grizzle, J. W; and Ames, A. D In Control Technology and Applications (CCTA), 2017 IEEE Conference on, pages 1769–1775, 2017. IEEE
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds [pdf]Paper   Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds [link] video   link   bibtex   2 downloads  
A stability region criterion for flat-footed bipedal walking on deformable granular terrain. Xiong, X.; Ames, A. D; and Goldman, D. I In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pages 4552–4559, 2017. IEEE
A stability region criterion for flat-footed bipedal walking on deformable granular terrain [pdf]Paper   A stability region criterion for flat-footed bipedal walking on deformable granular terrain [link] video   link   bibtex   1 download  
FROST: Fast Robot Optimization and Simulation Toolkit. Hereid, A.; and Ames, A. D In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pages 4552–4559, 2017. IEEE
FROST: Fast Robot Optimization and Simulation Toolkit [pdf]Paper   FROST: Fast Robot Optimization and Simulation Toolkit [link] code   link   bibtex   1 download  
Hybrid Zero Dynamics Control of Legged Robots. Ames, A. D; and Poulakakis, I. In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, pages 292–331. Elsevier, 2017.
Hybrid Zero Dynamics Control of Legged Robots [pdf]Paper   link   bibtex   2 downloads  
Data-driven control for feedback linearizable single-input systems. Tabuada, P.; Ma, W.; Grizzle, J.; and Ames, A. D In Decision and Control (CDC), 2017 IEEE 56th Annual Conference on, pages 6265–6270, 2017. IEEE
Data-driven control for feedback linearizable single-input systems [pdf]Paper   Data-driven control for feedback linearizable single-input systems [link] video   link   bibtex  
  2016 (26)
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS. Reher, J. P; Hereid, A.; Kolathaya, S.; Hubicki, C. M; and Ames, A. D In The International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016.
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [pdf]Paper   Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS [link] video   link   bibtex   5 downloads  
Safety barrier certificates for heterogeneous multi-robot systems. Wang, L.; Ames, A. D; and Egerstedt, M. In American Control Conference (ACC), 2016, pages 5213–5218, 2016. IEEE
Safety barrier certificates for heterogeneous multi-robot systems [pdf]Paper   Safety barrier certificates for heterogeneous multi-robot systems [link] video   link   bibtex   2 downloads  
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. Powell, M. J; and Ames, A. D In American Control Conference (ACC), 2016, pages 3922–3927, 2016. IEEE
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion [pdf]Paper   link   bibtex  
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. Hubicki, C. M; Hereid, A.; Grey, M. X; Thomaz, A. L; and Ames, A. D In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1552–1559, 2016. IEEE
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion [pdf]Paper   link   bibtex  
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. Kolathaya, S.; Hereid, A.; and Ames, A. D In American Control Conference (ACC), 2016, pages 3916–3921, 2016. IEEE
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion [pdf]Paper   Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion [link] video   link   bibtex   2 downloads  
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. Hereid, A.; Cousineau, E. A; Hubicki, C. M; and Ames, A. D In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1447–1454, 2016. IEEE Best Paper Award Finalist of ICRA 2016.
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics [pdf]Paper   3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics [link] video   link   bibtex   5 downloads  
Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs. Chao, K. Y; Powell, M. J; Ames, A. D; and Hur, P. In American Control Conference (ACC), 2016, pages 3910–3915, 2016. IEEE
Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs [pdf]Paper   Unification of locomotion pattern generation and control Lyapunov function-based quadratic programs [link] video   link   bibtex   1 download  
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. Reher, J.; Cousineau, E. A; Hereid, A.; Hubicki, C. M; and Ames, A. D In Robotics and Automation (ICRA), 2016 IEEE International Conference on, pages 1794–1801, 2016. IEEE
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS [pdf]Paper   Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS [link] video   link   bibtex   8 downloads  
Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control. Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D IEEE Transactions on Automation Science and Engineering, 13(2): 502–513. 2016.
Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control [pdf]Paper   Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control [link] video   link   bibtex   6 downloads  
Correct-by-construction adaptive cruise control: Two approaches. Nilsson, P.; Hussien, O.; Balkan, A.; Chen, Y.; Ames, A. D; Grizzle, J. W; Ozay, N.; Peng, H.; and Tabuada, P. IEEE Transactions on Control Systems Technology, 24(4): 1294–1307. 2016.
Correct-by-construction adaptive cruise control: Two approaches [pdf]Paper   link   bibtex  
Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming. Hubicki, C.; Goldman, D.; and Ames, A. D In APS March Meeting Abstracts, 2016.
Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming [pdf]Paper   link   bibtex   2 downloads  
Humanoid manipulation planning using backward-forward search. Grey, M. X; Garrett, C. R; Liu, C K.; Ames, A. D; and Thomaz, A. L In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 5467–5473, 2016. IEEE
Humanoid manipulation planning using backward-forward search [pdf]Paper   link   bibtex  
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. Wang, L.; Ames, A. D; and Egerstedt, M. In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 2659–2664, 2016. IEEE
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots [pdf]Paper   Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots [link] video   link   bibtex   1 download  
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. Zhao, H.; Hereid, A.; Ambrose, E.; and Ames, A. D In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 3668–3674, 2016. IEEE
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation [pdf]Paper   3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation [link] video   link   bibtex   7 downloads  
Tractable terrain-aware motion planning on granular media: an impulsive jumping study. Hubicki, C. M; Aguilar, J. J; Goldman, D. I; and Ames, A. D In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 3887–3892, 2016. IEEE
Tractable terrain-aware motion planning on granular media: an impulsive jumping study [pdf]Paper   link   bibtex  
3D dynamic walking on stepping stones with control barrier functions. Nguyen, Q.; Hereid, A.; Grizzle, J. W; Ames, A. D; and Sreenath, K. In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 827–834, 2016. IEEE
3D dynamic walking on stepping stones with control barrier functions [pdf]Paper   3D dynamic walking on stepping stones with control barrier functions [link] video   link   bibtex   2 downloads  
Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. Powell, M. J; and Ames, A. D In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 555–560, 2016. IEEE
Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints [pdf]Paper   Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints [link] video   link   bibtex   3 downloads  
Efficient HZD gait generation for three-dimensional underactuated humanoid running. Ma, W.; Hereid, A.; Hubicki, C. M; and Ames, A. D In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 5819–5825, 2016. IEEE
Efficient HZD gait generation for three-dimensional underactuated humanoid running [pdf]Paper   Efficient HZD gait generation for three-dimensional underactuated humanoid running [link] video   link   bibtex   1 download  
Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization. Hereid, A.; Kolathaya, S.; and Ames, A. D In Decision and Control (CDC), 2016 IEEE 55th Conference on, pages 6173–6179, 2016. IEEE
Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization [pdf]Paper   Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization [link] video   link   bibtex   1 download  
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. Powell, M. J; Ma, W.; Ambrose, E. R; and Ames, A. D In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on, pages 981–986, 2016. IEEE
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization [pdf]Paper   Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization [link] video   link   bibtex  
Establishing trust in remotely reprogrammable systems. Gurriet, T.; Mote, M. L; Ames, A. D; and Feron, E. In Proceedings of the International Conference on Human-Computer Interaction in Aerospace, pages 19, 2016. ACM
Establishing trust in remotely reprogrammable systems [pdf]Paper   link   bibtex  
Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point. Konecny, M.; Taha, W.; Bartha, F. A; Duracz, J.; Duracz, A.; and Ames, A. D Nonlinear Analysis: Hybrid Systems, 20: 1–20. 2016.
Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point [pdf]Paper   link   bibtex   1 download  
Safe, remote-access swarm robotics research on the Robotarium. Pickem, D.; Wang, L.; Glotfelter, P.; Diaz-Mercado, Y.; Mote, M.; Ames, A. D; Feron, E.; and Egerstedt, M. arXiv preprint arXiv:1604.00640, 2016.
Safe, remote-access swarm robotics research on the Robotarium [pdf]Paper   link   bibtex   1 download  
System Identification and Control of Valkyrie through SVA–Based Regressor Computation. Kolathaya, S.; Morris, B. J; Sinnet, R. W; and Ames, A. D arXiv preprint arXiv:1608.02683, 2016.
System Identification and Control of Valkyrie through SVA–Based Regressor Computation [pdf]Paper   link   bibtex  
Traversing Environments Using Possibility Graphs for Humanoid Robots. Grey, M. X; Ames, A. D; and Liu, C K. arXiv preprint arXiv:1608.03845, 2016.
Traversing Environments Using Possibility Graphs for Humanoid Robots [pdf]Paper   link   bibtex  
Traversing Environments Using Possibility Graphs with Multiple Action Types. Grey, M. X; Liu, C K.; and Ames, A. D arXiv preprint arXiv:1610.00701, 2016.
Traversing Environments Using Possibility Graphs with Multiple Action Types [pdf]Paper   link   bibtex  
  2015 (21)
Composing Dynamical Systems to Realize Dynamic Robotic Dancing. Kolathaya, S.; Ma, W.; and Ames, A. D In Algorithmic Foundations of Robotics XI, pages 425–442. Springer, Cham, 2015.
Composing Dynamical Systems to Realize Dynamic Robotic Dancing [pdf]Paper   Composing Dynamical Systems to Realize Dynamic Robotic Dancing [link] video   link   bibtex  
Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D In Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems, pages 130–138, 2015. ACM
Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis [pdf]Paper   Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis [link] video   link   bibtex   3 downloads  
First steps toward formal controller synthesis for bipedal robots. Ames, A. D; Tabuada, P.; Schürmann, B.; Ma, W.; Kolathaya, S.; Rungger, M.; and Grizzle, J. W In Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 209–218, 2015. ACM
First steps toward formal controller synthesis for bipedal robots [pdf]Paper   link   bibtex  
Energy shaping of hybrid systems via control Lyapunov functions. Sinnet, R. W; and Ames, A. D In American Control Conference (ACC), 2015, pages 5992–5997, 2015. IEEE
Energy shaping of hybrid systems via control Lyapunov functions [pdf]Paper   link   bibtex  
The Ach library: a new framework for real-time communication. Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; Ames, A. D; and Stilman, M. IEEE Robotics & Automation Magazine, 22(1): 76–85. 2015.
The Ach library: a new framework for real-time communication [pdf]Paper   link   bibtex  
Control barrier function based quadratic programs with application to bipedal robotic walking. Hsu, S.; Xu, X.; and Ames, A. D In American Control Conference (ACC), 2015, pages 4542–4548, 2015. IEEE
Control barrier function based quadratic programs with application to bipedal robotic walking [pdf]Paper   link   bibtex   2 downloads  
Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D In Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 305–306, 2015. ACM
Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control [pdf]Paper   link   bibtex  
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. Hereid, A.; Hubicki, C. M; Cousineau, E. A; Hurst, J. W; and Ames, A. D In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5734–5740, 2015. IEEE
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking [pdf]Paper   link   bibtex  
Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. Cousineau, E.; and Ames, A. D In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5747–5753, 2015. IEEE
Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method [pdf]Paper   Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method [link] video   link   bibtex   1 download  
Model predictive control of underactuated bipedal robotic walking. Powell, M. J; Cousineau, E. A; and Ames, A. D In Robotics and Automation (ICRA), 2015 IEEE International Conference on, pages 5121–5126, 2015. IEEE
Model predictive control of underactuated bipedal robotic walking [pdf]Paper   Model predictive control of underactuated bipedal robotic walking [link] video   link   bibtex   2 downloads  
Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. Mehra, A.; Ma, W.; Berg, F.; Tabuada, P.; Grizzle, J. W; and Ames, A. D In American Control Conference (ACC), 2015, pages 1411–1418, 2015. IEEE
Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars [pdf]Paper   Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars [link] video   link   bibtex   1 download  
Robustness of Control Barrier Functions for Safety Critical Control. Xu, X.; Tabuada, P.; Grizzle, J. W; and Ames, A. D IFAC-PapersOnLine, 48(27): 54–61. 2015.
Robustness of Control Barrier Functions for Safety Critical Control [pdf]Paper   link   bibtex   2 downloads  
Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition. Zhao, H.; Reher, J.; Horn, J.; Paredes, V.; and Ames, A. D In Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on, pages 265–270, 2015. IEEE
Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition [pdf]Paper   Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition [link] video   link   bibtex   2 downloads  
Parameter sensitivity and boundedness of robotic hybrid periodic orbits. Kolathaya, S.; and Ames, A. D IFAC-PapersOnLine, 48(27): 377–382. 2015.
Parameter sensitivity and boundedness of robotic hybrid periodic orbits [pdf]Paper   link   bibtex  
Control barrier certificates for safe swarm behavior. Borrmann, U.; Wang, L.; Ames, A. D; and Egerstedt, M. IFAC-PapersOnLine, 48(27): 68–73. 2015.
link   bibtex  
Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs. Galloway, K.; Sreenath, K.; Ames, A. D; and Grizzle, J. W IEEE Access, 3: 323–332. 2015.
Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs [pdf]Paper   Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs [link] video   link   bibtex  
Continuity and smoothness properties of nonlinear optimization-based feedback controllers. Morris, B. J; Powell, M. J; and Ames, A. D In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, pages 151–158, 2015. IEEE
Continuity and smoothness properties of nonlinear optimization-based feedback controllers [pdf]Paper   link   bibtex   2 downloads  
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. Zhao, H.; Horn, J.; Reher, J.; Paredes, V.; and Ames, A. D In Decision and Control (CDC), 2015 IEEE 54th Annual Conference on, pages 1607–1612, 2015. IEEE
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses [pdf]Paper   A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses [link] video   link   bibtex   3 downloads  
Valkyrie: NASA's first bipedal humanoid robot. Radford, N. A; Strawser, P.; Hambuchen, K.; Mehling, J. S; Verdeyen, W. K; Donnan, A S.; Holley, J.; Sanchez, J.; Nguyen, V.; Bridgwater, L.; Berka, R.; Ambrose, R.; Markee, M. M.; Fraser-Chanpong, N. J.; McQuin, C.; Yamokoski, J. D.; Hart, S.; Guo, R.; Parsons, A.; Wightman, B.; Dinh, P.; Ames, B.; Blakely, C.; Edmondson, C.; Sommers, B.; Rea, R.; Tabler, C.; Bibby, H.; Howard, B.; Niu, L.; Lee, A.; Conover, M.; Truong, L.; Reed, R.; Chesney, D.; Platt Jr, R.; Johnson, G.; Fok, C.; Paine, N.; Sentis, L.; Cousineau, E.; Sinnet, R.; Lack, J.; Powell, M.; Morris, B.; Ames, A. D; and Akinyode, J. Journal of Field Robotics, 32(3): 397–419. 2015.
Valkyrie: NASA's first bipedal humanoid robot [pdf]Paper   link   bibtex  
Acumen: An open-source testbed for cyber-physical systems research. Taha, W.; Duracz, A.; Zeng, Y.; Atkinson, K.; Bartha, F. A.; Brauner, P.; Duracz, J.; Xu, F.; Cartwright, R.; Konečný, M.; Moggi, E.; Masood, J.; Andreasson, P.; Inoue, J.; Sant'Anna, A.; Philippsen, R.; Chapoutot, A.; O'Malley, M.; Ames, A. D; Gaspes, V.; Hvatum, L.; Mehta, S.; Eriksson, H.; and Grante, C. In International Internet of Things Summit, pages 118–130, 2015. Springer, Cham
Acumen: An open-source testbed for cyber-physical systems research [pdf]Paper   link   bibtex  
Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking. Sinnet, R. W; and Ames, A. D Book of Abstracts-Extract, 2015.
Optimal Energy-Based Control of Hybrid Systems with Applications to Robotic Walking [pdf]Paper   link   bibtex   1 download  
  2014 (18)
Control barrier function based quadratic programs with application to adaptive cruise control. Ames, A. D; Grizzle, J. W; and Tabuada, P. In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 6271–6278, 2014. IEEE
Control barrier function based quadratic programs with application to adaptive cruise control [pdf]Paper   link   bibtex   8 downloads  
Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics. Ames, A. D; Galloway, K.; Sreenath, K.; and Grizzle, J. W IEEE Transactions on Automatic Control, 59(4): 876–891. 2014.
Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics [pdf]Paper   Rapidly exponentially stabilizing control Lyapunov functions and hybrid zero dynamics [link] video   link   bibtex   21 downloads  
Human-inspired control of bipedal walking robots. Ames, A. D IEEE Transactions on Automatic Control, 59(5): 1115–1130. 2014.
Human-inspired control of bipedal walking robots [pdf]Paper   Human-inspired control of bipedal walking robots [link] video   Human-inspired control of bipedal walking robots [link] video2   link   bibtex   12 downloads  
Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain. Zhao, H.; Powell, M. J; and Ames, A. D Optimal Control Applications and Methods, 35(6): 730–755. 2014.
Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain [pdf]Paper   link   bibtex   3 downloads  
Quadratic programming and impedance control for transfemoral prosthesis. Zhao, H.; Kolathaya, S.; and Ames, A. D In Robotics and automation (ICRA), 2014 IEEE international conference on, pages 1341–1347, 2014. IEEE
Quadratic programming and impedance control for transfemoral prosthesis [pdf]Paper   Quadratic programming and impedance control for transfemoral prosthesis [link] video   link   bibtex   2 downloads  
Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control. Hereid, A.; Kolathaya, S.; Jones, M. S; Van Why, J.; Hurst, J. W; and Ames, A. D In Proceedings of the 17th international conference on Hybrid systems: computation and control, pages 263–272, 2014. ACM DENSO Best Student Paper Award of HSCC 2014.
Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control [pdf]Paper   Dynamic multi-domain bipedal walking with ATRIAS through SLIP based human-inspired control [link] video   link   bibtex   1 download  
Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. Zhao, H.; and Ames, A. D In American Control Conference (ACC), 2014, pages 4101–4107, 2014. IEEE
Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion [pdf]Paper   Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion [link] video   link   bibtex   3 downloads  
Human-inspired multi-contact locomotion with AMBER2. Zhao, H.; Ma, W.; Zeagler, M. B; and Ames, A. D In Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on, pages 199–210, 2014. IEEE Best Paper Award Finalist of ICCPS 2014.
Human-inspired multi-contact locomotion with AMBER2 [pdf]Paper   Human-inspired multi-contact locomotion with AMBER2 [link] video   link   bibtex  
Human-inspired walking via unified PD and impedance control. Ma, W.; Zhao, H.; Kolathaya, S.; and Ames, A. D In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pages 5088–5094, 2014. IEEE
Human-inspired walking via unified PD and impedance control [pdf]Paper   Human-inspired walking via unified PD and impedance control [link] video   link   bibtex  
Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. Nilsson, P.; Hussien, O.; Chen, Y.; Balkan, A.; Rungger, M.; Ames, A.; Grizzle, J.; Ozay, N.; Peng, H.; and Tabuada, P. In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 816–823, 2014. IEEE
Preliminary results on correct-by-construction control software synthesis for adaptive cruise control [pdf]Paper   link   bibtex  
Multiprocess Communication and Control Software for Humanoid Robots. Dantam, N. T; Lofaro, D. M; Hereid, A.; Oh, P. Y; Ames, A. D; and Stilman, M. IEEE Robotics and Automation Magazine. 2014.
Multiprocess Communication and Control Software for Humanoid Robots [pdf]Paper   link   bibtex  
Models, feedback control, and open problems of 3D bipedal robotic walking. Grizzle, J. W; Chevallereau, C.; Sinnet, R. W; and Ames, A. D Automatica, 50(8): 1955–1988. 2014.
Models, feedback control, and open problems of 3D bipedal robotic walking [pdf]Paper   link   bibtex   1 download  
Planar multi-contact bipedal walking using hybrid zero dynamics. Lack, J.; Powell, M. J; and Ames, A. D In Robotics and Automation (ICRA), 2014 IEEE International Conference on, pages 2582–2588, 2014. IEEE
Planar multi-contact bipedal walking using hybrid zero dynamics [pdf]Paper   link   bibtex  
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. Kolathaya, S.; and Ames, A. D In American Control Conference (ACC), 2014, pages 3710–3715, 2014. IEEE
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty [pdf]Paper   link   bibtex   2 downloads  
Hierarchical control of series elastic actuators through control Lyapunov functions. Powell, M. J; and Ames, A. D In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 2986–2992, 2014. IEEE
Hierarchical control of series elastic actuators through control Lyapunov functions [pdf]Paper   link   bibtex  
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. Hereid, A.; Powell, M. J; and Ames, A. D In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 2950–2957, 2014. IEEE
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control [pdf]Paper   Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control [link] video   link   bibtex  
Quadratic program based nonlinear embedded control of series elastic actuators. Ames, A. D; and Holley, J. In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 6291–6298, 2014. IEEE
Quadratic program based nonlinear embedded control of series elastic actuators [pdf]Paper   Quadratic program based nonlinear embedded control of series elastic actuators [link] video   link   bibtex  
A human-inspired framework for bipedal robotic walking design. Sinnet, R. W; Jiang, S.; and Ames, A. D International Journal of Biomechatronics and Biomedical Robotics, 3(1): 20–41. 2014.
A human-inspired framework for bipedal robotic walking design [pdf]Paper   link   bibtex   1 download  
  2013 (12)
Lyapunov theory for Zeno stability. Lamperski, A.; and Ames, A. D IEEE Transactions on Automatic Control, 58(1): 100–112. 2013.
Lyapunov theory for Zeno stability [pdf]Paper   link   bibtex   2 downloads  
Persistent homology for automatic determination of human-data based cost of bipedal walking. Vasudevan, R.; Ames, A. D; and Bajcsy, R. Nonlinear Analysis: Hybrid Systems, 7(1): 101–115. 2013.
Persistent homology for automatic determination of human-data based cost of bipedal walking [pdf]Paper   link   bibtex  
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics. Powell, M. J; Hereid, A.; and Ames, A. D In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 4803–4810, 2013. IEEE
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics [pdf]Paper   Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics [link] video   link   bibtex  
From formal methods to algorithmic implementation of human inspired control on bipedal robots. Yadukumar, S. N.; Pasupuleti, M.; and Ames, A. D In Algorithmic Foundations of Robotics X, pages 511–526. Springer, Berlin, Heidelberg, 2013.
From formal methods to algorithmic implementation of human inspired control on bipedal robots [pdf]Paper   From formal methods to algorithmic implementation of human inspired control on bipedal robots [link] video1   From formal methods to algorithmic implementation of human inspired control on bipedal robots [link] video2   link   bibtex   2 downloads  
Human-inspired control of bipedal robots via control Lyapunov functions and quadratic programs. Ames, A. D In Proceedings of the 16th international conference on Hybrid systems: computation and control, pages 31–32, 2013. ACM
Human-inspired control of bipedal robots via control Lyapunov functions and quadratic programs [pdf]Paper   link   bibtex   3 downloads  
Correct software synthesis for stable speed-controlled robotic walking. Dantam, N.; Hereid, A.; Ames, A. D; and Stilman, M. In Robotics: Science and Systems (RSS), 2013.
Correct software synthesis for stable speed-controlled robotic walking [pdf]Paper   Correct software synthesis for stable speed-controlled robotic walking [link] video   link   bibtex  
Enclosing the behavior of a hybrid system up to and beyond a Zeno point. Konecny, M.; Taha, W.; Duracz, J.; Duracz, A.; and Ames, A. D In Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013 IEEE 1st International Conference on, pages 120–125, 2013. IEEE Best Paper Award of CPSNA 2013.
Enclosing the behavior of a hybrid system up to and beyond a Zeno point [pdf]Paper   link   bibtex  
Learning impedance controller parameters for lower-limb prostheses. Aghasadeghi, N.; Zhao, H.; Hargrove, L. J; Ames, A. D; Perreault, E. J; and Bretl, T. In Intelligent robots and systems (IROS), 2013 IEEE/RSJ international conference on, pages 4268–4274, 2013. IEEE
Learning impedance controller parameters for lower-limb prostheses [pdf]Paper   link   bibtex   4 downloads  
A stabilization result with application to bipedal locomotion. Teel, A. R; Goebel, R.; Morris, B.; Ames, A. D; and Grizzle, J. W In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 2030–2035, 2013. IEEE
A stabilization result with application to bipedal locomotion [pdf]Paper   link   bibtex  
Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. Morris, B.; Powell, M. J; and Ames, A. D In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, pages 2920–2926, 2013. IEEE
Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots [pdf]Paper   link   bibtex  
Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs. Ames, A. D; and Powell, M. In Control of Cyber-Physical Systems, pages 219–240. Springer, Heidelberg, 2013.
Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs [pdf]Paper   link   bibtex   3 downloads  
Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking. Galloway, K.; Sreenath, K.; Ames, A. D; and Grizzle, J. arXiv preprint arXiv:1302.7314, 2013.
Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking [pdf]Paper   link   bibtex   1 download  
  2012 (13)
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. Ames, A. D; Cousineau, E. A; and Powell, M. J In Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control, pages 135–144, 2012. ACM
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics [pdf]Paper   Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics [link] video   link   bibtex   1 download  
Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction. Sinnet, R. W; and Ames, A. D In American Control Conference (ACC), 2012, pages 4831–4836, 2012. IEEE
Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction [pdf]Paper   link   bibtex  
First steps toward underactuated human-inspired bipedal robotic walking. Ames, A. D In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 1011–1017, 2012. IEEE
First steps toward underactuated human-inspired bipedal robotic walking [pdf]Paper   First steps toward underactuated human-inspired bipedal robotic walking [link] video   link   bibtex   1 download  
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. Powell, M. J; Zhao, H.; and Ames, A. D In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages 543–549, 2012. IEEE
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing [pdf]Paper   link   bibtex  
Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. Yadukumar, S. N.; Kothapalli, B.; and Ames, A. D In American Control Conference (ACC), 2012, pages 2437–2442, 2012. IEEE
Zeno behavior in electromechanical hybrid systems: From theory to experimental validation [pdf]Paper   Zeno behavior in electromechanical hybrid systems: From theory to experimental validation [link] video   link   bibtex   1 download  
Rank deficiency and superstability of hybrid systems. Wendel, E.; and Ames, A. D Nonlinear Analysis: Hybrid Systems, 6(2): 787–805. 2012.
Rank deficiency and superstability of hybrid systems [pdf]Paper   link   bibtex  
Outputs of human walking for bipedal robotic controller design. Jiang, S.; Partrick, S.; Zhao, H.; and Ames, A. D In American Control Conference (ACC), 2012, pages 4843–4848, 2012. IEEE
Outputs of human walking for bipedal robotic controller design [pdf]Paper   link   bibtex   1 download  
Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. Huihua, Z.; Yadukumar, S. N.; and Ames, A. D In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 1821–1827, 2012. IEEE
Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization [pdf]Paper   Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization [link] video   link   bibtex  
Bio-inspired feedback control of three-dimensional humanlike bipedal robots. Sinnet, R. W; and Ames, A. D Journal of Robotics and Mechatronics, 24(4): 595. 2012.
Bio-inspired feedback control of three-dimensional humanlike bipedal robots [pdf]Paper   Bio-inspired feedback control of three-dimensional humanlike bipedal robots [link] video   link   bibtex  
Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain. Yadukumar, S. N.; Pasupuleti, M.; and Ames, A. D In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 2478–2483, 2012. IEEE
Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain [pdf]Paper   Human-inspired underactuated bipedal robotic walking with amber on flat-ground, up-slope and uneven terrain [link] video   link   bibtex   3 downloads  
Control Lyapunov functions and hybrid zero dynamics. Ames, A. D; Galloway, K.; and Grizzle, J. W In Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, pages 6837–6842, 2012. IEEE
Control Lyapunov functions and hybrid zero dynamics [pdf]Paper   link   bibtex   3 downloads  
Achieving bipedal locomotion on rough terrain through human-inspired control. Kolathaya, S.; and Ames, A. D In Safety, Security, and Rescue Robotics (SSRR), 2012 IEEE International Symposium on, pages 1–6, 2012. IEEE
Achieving bipedal locomotion on rough terrain through human-inspired control [pdf]Paper   Achieving bipedal locomotion on rough terrain through human-inspired control [link] video   link   bibtex  
First steps toward automatically generating bipedal robotic walking from human data. Ames, A. D In Robot Motion and Control 2011, pages 89–116. Springer, London, 2012.
First steps toward automatically generating bipedal robotic walking from human data [pdf]Paper   link   bibtex   1 download  
  2011 (9)
A human-inspired hybrid control approach to bipedal robotic walking. Sinnet, R. W; Powell, M. J; Shah, R. P; and Ames, A. D In Proceedings of the 18th IFAC World Congress, volume 44, pages 6904–6911, 2011. Elsevier
A human-inspired hybrid control approach to bipedal robotic walking [pdf]Paper   link   bibtex  
Human-data based cost of bipedal robotic walking. Ames, A. D; Vasudevan, R.; and Bajcsy, R. In Proceedings of the 14th international conference on Hybrid systems: computation and control, pages 153–162, 2011. ACM
Human-data based cost of bipedal robotic walking [pdf]Paper   link   bibtex   2 downloads  
Stability and completion of Zeno equilibria in Lagrangian hybrid systems. Or, Y.; and Ames, A. D IEEE Transactions on Automatic Control, 56(6): 1322–1336. 2011.
Stability and completion of Zeno equilibria in Lagrangian hybrid systems [pdf]Paper   link   bibtex   1 download  
Compass gait revisited: A human data perspective with extensions to three dimensions. Sinnet, R. W; Powell, M. J; Jiang, S.; and Ames, A. D In Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pages 682–689, 2011. IEEE
Compass gait revisited: A human data perspective with extensions to three dimensions [pdf]Paper   link   bibtex  
Human Based Cost from Persistent Homology for Bipedal Walking. Vasudevan, R.; Ames, A. D; and Bajcsy, R. IFAC Proceedings Volumes, 44(1): 3292–3297. 2011.
Human Based Cost from Persistent Homology for Bipedal Walking [pdf]Paper   link   bibtex  
Characterizing knee-bounce in bipedal robotic walking: A Zeno behavior approach. Ames, A. D In Proceedings of the 14th international conference on Hybrid systems: computation and control, pages 163–172, 2011. ACM
Characterizing knee-bounce in bipedal robotic walking: A Zeno behavior approach [pdf]Paper   link   bibtex  
A core language for executable models of cyber physical systems: work in progress report. Taha, W.; Brauner, P.; Cartwright, R.; Gaspes, V.; Ames, A. D; and Chapoutot, A. ACM SIGBED Review, 8(2): 39–43. 2011.
A core language for executable models of cyber physical systems: work in progress report [pdf]Paper   link   bibtex  
Simulating prosthetic devices with human-inspired hybrid control. Sinnet, R. W; Zhao, H.; and Ames, A. D In Intelligent robots and systems (IROS), 2011 IEEE/RSJ international conference on, pages 1723–1730, 2011. IEEE
Simulating prosthetic devices with human-inspired hybrid control [pdf]Paper   link   bibtex   1 download  
Rank deficiency and superstability of hybrid systems with application to bipedal robots. Wendel, E.; and Ames, A. D In Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, pages 7422–7427, 2011. IEEE
Rank deficiency and superstability of hybrid systems with application to bipedal robots [pdf]Paper   link   bibtex   1 download  
  2010 (3)
3D bipedal robotic walking: models, feedback control, and open problems. Grizzle, J. W; Chevallereau, C.; Ames, A. D; and Sinnet, R. W In Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), volume 43, pages 505–532, 2010. Elsevier
3D bipedal robotic walking: models, feedback control, and open problems [pdf]Paper   link   bibtex  
Mathematical equations as executable models of mechanical systems. Zhu, Y.; Westbrook, E.; Inoue, J.; Chapoutot, A.; Salama, C.; Peralta, M.; Martin, T.; Taha, W.; O'Malley, M.; Cartwright, R.; and others In Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems, pages 1–11, 2010. ACM
Mathematical equations as executable models of mechanical systems [pdf]Paper   link   bibtex  
Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking. Wendel, E. D.; and Ames, A. D In Proceedings of the 13th ACM international conference on Hybrid systems: computation and control, pages 151–160, 2010. ACM
Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking [pdf]Paper   link   bibtex  
  2009 (5)
Three-dimensional kneed bipedal walking: A hybrid geometric approach. Ames, A. D; Sinnet, R. W; and Wendel, E. D. In International Workshop on Hybrid Systems: Computation and Control, pages 16–30. 2009.
Three-dimensional kneed bipedal walking: A hybrid geometric approach [pdf]Paper   link   bibtex  
2D bipedal walking with knees and feet: A hybrid control approach. Sinnet, R. W; and Ames, A. D In Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on, pages 3200–3207, 2009. IEEE
2D bipedal walking with knees and feet: A hybrid control approach [pdf]Paper   link   bibtex   1 download  
Formal and practical completion of Lagrangian hybrid systems. Or, Y.; and Ames, A. D In American Control Conference, 2009. ACC'09., pages 3624–3631, 2009. IEEE
Formal and practical completion of Lagrangian hybrid systems [pdf]Paper   link   bibtex  
Existence of periodic orbits with Zeno behavior in completed Lagrangian hybrid systems. Or, Y.; and Ames, A. D In International Workshop on Hybrid Systems: Computation and Control, pages 291–305. 2009.
Existence of periodic orbits with Zeno behavior in completed Lagrangian hybrid systems [pdf]Paper   link   bibtex  
3D bipedal walking with knees and feet: A hybrid geometric approach. Sinnet, R. W; and Ames, A. D In Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on, pages 3208–3213, 2009. IEEE
3D bipedal walking with knees and feet: A hybrid geometric approach [pdf]Paper   link   bibtex  
  2008 (5)
On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria. Lamperski, A.; and Ames, A. D In Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, pages 2776–2781, 2008. IEEE
On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria [pdf]Paper   link   bibtex  
Stability of Zeno equilibria in Lagrangian hybrid systems. Or, Y.; and Ames, A. D In Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, pages 2770–2775, 2008. IEEE
Stability of Zeno equilibria in Lagrangian hybrid systems [pdf]Paper   link   bibtex  
Approximate reduction of dynamic systems. Tabuada, P.; Ames, A. D; Julius, A.; and Pappas, G. J Systems & Control Letters, 57(7): 538–545. 2008.
Approximate reduction of dynamic systems [pdf]Paper   link   bibtex   3 downloads  
Sufficient conditions for Zeno behavior in Lagrangian hybrid systems. Lamperski, A.; and Ames, A. D In International Workshop on Hybrid Systems: Computation and Control, pages 622–625. 2008.
Sufficient conditions for Zeno behavior in Lagrangian hybrid systems [pdf]Paper   link   bibtex  
Complexity and fragility in stability for linear systems. Ames, A. D; and Doyle, J. C In American Control Conference, 2008, pages 1630–1637, 2008. IEEE
Complexity and fragility in stability for linear systems [pdf]Paper   link   bibtex  
  2007 (8)
Stably extending two-dimensional bipedal walking to three dimensions. Ames, A. D; and Gregg, R. D In American Control Conference, 2007. ACC'07, pages 2848–2854, 2007. IEEE
Stably extending two-dimensional bipedal walking to three dimensions [pdf]Paper   link   bibtex  
Lyapunov-like conditions for the existence of Zeno behavior in hybrid and Lagrangian hybrid systems. Lamperski, A.; and Ames, A. D In Decision and Control, 2007 46th IEEE Conference on, pages 115–120, 2007. IEEE
Lyapunov-like conditions for the existence of Zeno behavior in hybrid and Lagrangian hybrid systems [pdf]Paper   link   bibtex  
A geometric approach to three-dimensional hipped bipedal robotic walking. Ames, A. D; Gregg, R. D; and Spong, M. W In Decision and Control, 2007 46th IEEE Conference on, pages 5123–5130, 2007. IEEE
A geometric approach to three-dimensional hipped bipedal robotic walking [pdf]Paper   link   bibtex  
On the geometric reduction of controlled three-dimensional bipedal robotic walkers. Ames, A. D; Gregg, R.; Wendel, E.; and Sastry, S. In pages 183–196. Springer Berlin/Heidelberg, 2007.
On the geometric reduction of controlled three-dimensional bipedal robotic walkers [pdf]Paper   link   bibtex  
Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations. Ames, A. D; Abate, A.; and Sastry, S. In Decision and Control, 2007 46th IEEE Conference on, pages 4033–4038, 2007. IEEE
Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations [pdf]Paper   link   bibtex  
Discrete mechanics and optimal control applied to the compass gait biped. Pekarek, D.; Ames, A. D; and Marsden, J. E In Decision and Control, 2007 46th IEEE Conference on, pages 5376–5382, 2007. IEEE
Discrete mechanics and optimal control applied to the compass gait biped [pdf]Paper   link   bibtex  
Composition of dynamical systems for estimation of human body dynamics. Ganesh, S.; Ames, A. D; and Bajcsy, R. In International Workshop on Hybrid Systems: Computation and Control, pages 702–705. 2007.
Composition of dynamical systems for estimation of human body dynamics [pdf]Paper   link   bibtex  
Homotopy Meaningful Hybrid Model Structures. Ames, A. D Contemporary Mathematics, 438: 121. 2007.
Homotopy Meaningful Hybrid Model Structures [pdf]Paper   link   bibtex   1 download  
  2006 (13)
Hybrid geometric reduction of hybrid systems. Ames, A. D; and Sastry, S. In Decision and Control, IEEE Conference on, 2006. IEEE
Hybrid geometric reduction of hybrid systems [pdf]Paper   link   bibtex  
Approximate Reduction of Dynamical Systems. Tabuada, P.; Ames, A. D; Julius, A.; and Pappas, G. In Decision and Control, IEEE Conference on, 2006. IEEE
Approximate Reduction of Dynamical Systems [pdf]Paper   link   bibtex   1 download  
On the stability of Zeno equilibria. Ames, A. D; Tabuada, P.; and Sastry, S. In International Workshop on Hybrid Systems: Computation and Control, pages 34–48. 2006.
On the stability of Zeno equilibria [pdf]Paper   link   bibtex   1 download  
A categorical theory of hybrid systems. Ames, A. D Ph.D. Thesis, University of California, Berkeley, 2006.
A categorical theory of hybrid systems [pdf]Paper   link   bibtex   2 downloads  
Hybrid model structures. Ames, A. D Master's thesis, University of California, Berkeley, 2006.
Hybrid model structures [pdf]Paper   link   bibtex  
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers. Ames, A. D; Gregg, R. D.; Wendel, E. D. B.; and Sastry, S. In 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2006.
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers [pdf]Paper   link   bibtex  
Beyond Zeno: Get on with it!. Zheng, H.; Lee, E. A; and Ames, A. D In International Workshop on Hybrid Systems: Computation and Control, pages 568–582. 2006.
Beyond Zeno: Get on with it! [pdf]Paper   link   bibtex  
Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems. Ames, A. D; Sangiovanni-Vincentelli, A.; and Sastry, S. In Networked Embedded Sensing and Control, pages 127–154. Springer, Berlin, Heidelberg, 2006.
Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems [pdf]Paper   link   bibtex  
Is there life after Zeno? Taking executions past the breaking (Zeno) point. Ames, A. D; Zheng, H.; Gregg, R. D; and Sastry, S. In American Control Conference, pages 6–pp, 2006. IEEE
Is there life after Zeno? Taking executions past the breaking (Zeno) point [pdf]Paper   link   bibtex  
Hybrid Routhian reduction of Lagrangian hybrid systems. Ames, A. D; and Sastry, S. In American Control Conference, pages 6–pp, 2006. IEEE
Hybrid Routhian reduction of Lagrangian hybrid systems [pdf]Paper   link   bibtex  
Error bounds based stochastic approximations and simulations of hybrid dynamical systems. Abate, A.; Ames, A. D; and Sastry, S. In American Control Conference, pages 6–pp, 2006. IEEE
Error bounds based stochastic approximations and simulations of hybrid dynamical systems [pdf]Paper   link   bibtex  
Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. Ames, A. D; and Sastry, S. In American Control Conference, pages 6–pp, 2006. IEEE
Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry [pdf]Paper   link   bibtex   1 download  
A Priori detection of Zeno behavior in communication networks modeled as hybrid systems. Abate, A.; Ames, A. D; and Sastry, S. In American Control Conference, pages 6–pp, 2006. IEEE
A Priori detection of Zeno behavior in communication networks modeled as hybrid systems [pdf]Paper   link   bibtex  
  2005 (7)
Sufficient conditions for the existence of Zeno behavior. Ames, A. D; Abate, A.; and Sastry, S. In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on, pages 696–701, 2005. IEEE
Sufficient conditions for the existence of Zeno behavior [pdf]Paper   link   bibtex  
A homology theory for hybrid systems: Hybrid homology. Ames, A. D; and Sastry, S. In International Workshop on Hybrid Systems: Computation and Control, pages 86–102. 2005.
A homology theory for hybrid systems: Hybrid homology [pdf]Paper   link   bibtex  
Characterization of Zeno behavior in hybrid systems using homological methods. Ames, A. D; and Sastry, S. In American Control Conference, 2005. Proceedings of the 2005, pages 1160–1165, 2005. IEEE
Characterization of Zeno behavior in hybrid systems using homological methods [pdf]Paper   link   bibtex  
Online safety calculations for glide-slope recapture. Sprinkle, J.; Ames, A. D; Eklund, J M.; Mitchell, I. M; and Sastry, S S. Innovations in Systems and Software Engineering, 1(2): 157–175. 2005.
Online safety calculations for glide-slope recapture [pdf]Paper   link   bibtex  
On the partitioning of syntax and semantics for hybrid systems tools. Sprinkle, J.; Ames, A. D; Pinto, A.; Zheng, H.; and Sastry, S S. In Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on, pages 4694–4699, 2005. IEEE
On the partitioning of syntax and semantics for hybrid systems tools [pdf]Paper   link   bibtex  
Stochastic approximations of hybrid systems. Abate, A.; Ames, A. D; and Sastry, S S. In American Control Conference. Proceedings of the, pages 1557–1562, 2005. IEEE
Stochastic approximations of hybrid systems [pdf]Paper   link   bibtex   1 download  
H-categories and graphs. Ames, A. D; and Tabuada, P. 2005. Technical Note
H-categories and graphs [pdf]Paper   link   bibtex   1 download  
  2004 (2)
Blowing up affine hybrid systems. Ames, A. D; and Sastry, S. In Decision and Control, 2004. CDC. 43rd IEEE Conference on, volume 1, pages 473–478, 2004. IEEE
Blowing up affine hybrid systems [pdf]Paper   link   bibtex  
Affine hybrid systems. Ames, A. D; and Sastry, S. In International Workshop on Hybrid Systems: Computation and Control, pages 16–31. 2004.
Affine hybrid systems [pdf]Paper   link   bibtex   3 downloads  
  2002 (1)
Three-dimensional object recognition using invariant Euclidean signature curves. Ames, A. D; Jalkio, J. A; and Shakiban, C. In Analysis, combinatorics and computing, pages 13–23. 2002.
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