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title ="Safety-Critical Manipulation for Collision-Free Food Preparation", author = "Singletary, Andrew and Guffey, William and Molnár, Tamás G. and Sinnet, Ryan and Ames, Aaron D.", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "4", pages = "10954-10961", month = "July", year = "2022", doi = "https://doi.org/10.1109/LRA.2022.3192634", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194307878", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115637, title ="Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models", author = "Pandala, Abhishek and Fawcett, Randall T. and Rosolia, Ugo and Ames, Aaron D. and Hamed, Kaveh Akbari", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "3", pages = "6622-6629", month = "July", year = "2022", doi = "https://doi.org/10.1109/lra.2022.3176105", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220715-535824900", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115512, title ="Toward a Data-Driven Template Model for Quadrupedal Locomotion", author = "Fawcett, Randall T. and Afsari, Kereshmeh and Ames, Aaron D. and Hamed, Kaveh Akbari", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "3", pages = "7636-7643", month = "July", year = "2022", doi = "https://doi.org/10.1109/LRA.2022.3184007", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220712-629677000", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115363, title ="Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions", author = "Singletary, Andrew and Ahmadi, Mohamadreza and Ames, Aaron D.", journal = "IEEE Control Systems Letters", volume = "7", pages = "349-354", month = "June", year = "2022", doi = "https://doi.org/10.1109/LCSYS.2022.3187458", url = 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"944-951", month = "April", year = "2022", doi = "https://doi.org/10.1109/lra.2021.3135569", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220107-191565600", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113404, title ="Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics", author = "Li, Kejun and Tucker, Maegan and Gehlhar, Rachel and Yue, Yisong and Ames, Aaron D.", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "2", pages = "4283-4290", month = "April", year = "2022", doi = "https://doi.org/10.1109/LRA.2022.3149568", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220210-721740000", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113592, title ="Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions", author = "Singletary, Andrew and Swann, Aiden and Chen, Yuxiao and Ames, Aaron D.", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "2", pages = "2897-2904", month = "April", year = "2022", doi = "https://doi.org/10.1109/LRA.2022.3144777", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200854184", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113763, title ="Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing", author = "Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D.", journal = "IEEE Robotics and Automation Letters", volume = "7", number = "2", pages = "5151-5158", month = "April", year = "2022", doi = "https://doi.org/10.1109/lra.2022.3154810", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220307-188387000", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113764, title ="3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization", author = "Xiong, Xiaobin and Ames, Aaron", journal = "IEEE 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"December", year = "2021", doi = "https://doi.org/10.1109/lcsys.2021.3133198", url = "https://resolver.caltech.edu/CaltechAUTHORS:20220104-181287300", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107467, title ="Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators", author = "Folkestad, Carl and Chen, Yuxiao and Ames, Aaron D. and Burdick, Joel W.", journal = "IEEE Control Systems Letters", volume = "5", number = "6", pages = "2012-2017", month = "December", year = "2021", doi = "https://doi.org/10.1109/lcsys.2020.3046159", url = "https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505361", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107465, title ="Online Decentralized Decision Making With Inequality Constraints: An ADMM approach", author = "Chen, Yuxiao and Santillo, Mario and Jankovic, Mrdjan and Ames, Aaron D.", journal = "IEEE Control Systems Letters", volume = "5", number = 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Noel V. and Tomizuka, Masayoshi and Sreenath, Koushil and Ames, Aaron D.", journal = "IEEE Robotics and Automation Letters", volume = "6", number = "4", pages = "8442-8449", month = "October", year = "2021", doi = "https://doi.org/10.1109/lra.2021.3108510", url = "https://resolver.caltech.edu/CaltechAUTHORS:20211021-172748746", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/112675, title ="Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking", author = "Westenbroek, Tyler and Xiong, Xiaobin and Sastry, S. 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