Main Areas of Interest: Bipdal robotics, hybrid systems, Zeno behavior, proshtetic devices.  Theoretical foundations with practical applications to human inspired bipedal walking,
  • Hybrid mechanical systems with a special emphasis on bipedal
    robots
  • Hybrid stability theory and its relationship to Zeno behavior
  • Hybrid geometric mechanics with a focus on hybrid geometric reduction and geometric control
  • Hybrid topology, geometry and homology
  • Novel Applications such as Prosthetics
For frequently updated research results, go to AMBER Lab



 


Videos Summarizing my Research

Note: More videos can be found on my youtube page:
 http://www.youtube.com/user/ProfAmes


Highlights of research at AMBER Lab:



Multi-contact locomotion on AMBER 2



Human-inspired locomotion on AMBER 1

 

SLIP based human-inspired control on ATRIAS (joint with Dr. Hurst at OSU):



CLF based QPs realized on MABEL (joint work with Dr. Grizzle at UMich):



Full-body coordination and mobility on Valkyrie (Joint work with NASA JSC):


Human-inspired 3D Robotic walking on NAO:



Translating robotic walking to prosthesis (Joint work with UIUC, RIC, Northwestern):