from CaltechAUTHORS

• Chen, Yuxiao; Jankovic, Mrdjan; et el. (2021) Backup Control Barrier Functions: Formulation and Comparative Study; ISBN 978-1-6654-3659-5; 6835-6841; 10.1109/CDC45484.2021.9683111
• Gehlhar, Rachel and Ames, Aaron D. (2021) Estimate-to-State Stability for Hybrid Human-Prosthesis Systems; ISBN 978-1-6654-3659-5; 705-712; 10.1109/cdc45484.2021.9683029
• Ahmadi, Mohamadreza; Dixit, Anushri; et el. (2021) Risk-Averse Stochastic Shortest Path Planning; ISBN 978-1-6654-3659-5; 5199-5204; 10.1109/CDC45484.2021.9683527
• Xiong, Xiaobin; Chen, Yuxiao; et el. (2021) Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation; ISBN 978-1-6654-3659-5; 697-704; 10.1109/cdc45484.2021.9683065
• Rosolia, Ugo; Ahmadi, Mohamadreza; et el. (2021) Time-Optimal Navigation in Uncertain Environments with High-Level Specifications; ISBN 978-1-6654-3659-5; 4287-4294; 10.1109/CDC45484.2021.9683486
• Taylor, Andrew J.; Dorobantu, Victor D.; et el. (2021) Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty; ISBN 978-1-6654-3659-5; 6469-6476; 10.1109/CDC45484.2021.9683511
• Jimenez Rodriguez, Ivan D.; Rosolia, Ugo; et el. (2021) Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control; ISBN 978-1-6654-1714-3; 3896-3903; 10.1109/IROS51168.2021.9636786
• Cosner, Ryan K.; Singletary, Andrew W.; et el. (2021) Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State; ISBN 978-1-6654-1715-0; 6286-6291; 10.1109/IROS51168.2021.9636584
• Ubellacker, Wyatt; Csomay-Shanklin, Noel; et el. (2021) Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots; ISBN 978-1-6654-1715-0; 8477-8484; 10.1109/IROS51168.2021.9636537
• Tucker, Maegan; Csomay-Shanklin, Noel; et el. (2021) Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots; ISBN 978-1-7281-9077-8; 2804-2810; 10.1109/ICRA48506.2021.9561515
• Li, Kejun; Tucker, Maegan; et el. (2021) ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes; ISBN 978-1-7281-9077-8; 3212-3218; 10.1109/ICRA48506.2021.9560840
• Ahmadi, Mohamadreza; Rosolia, Ugo; et el. (2021) Constrained Risk-Averse Markov Decision Processes; 10.48550/arXiv.2012.02423
• Maghenem, Mohamed; Taylor, Andrew J.; et el. (2021) Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation; ISBN 978-1-6654-4197-1; 2418-2423; 10.23919/ACC50511.2021.9482871
• Kiss, Adam K.; Molnár, Tamás G.; et el. (2021) Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach; ISBN 978-1-6654-4197-1; 1058-1063; 10.23919/acc50511.2021.9482688
• Xiong, Xiaobin; Reher, Jenna; et el. (2021) Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning; ISBN 978-1-7281-9077-8; 2825-2831; 10.1109/icra48506.2021.9561961
• Reher, Jenna and Ames, Aaron D. (2021) Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking; ISBN 978-1-7281-9077-8; 2040-2047; 10.1109/ICRA48506.2021.9560906
• Gehlhar, Rachel and Ames, Aaron D. (2021) Model-Dependent Prosthesis Control with Interaction Force Estimation; ISBN 978-1-7281-9077-8; 3226-3232; 10.1109/icra48506.2021.9561250
• Grandia, Ruben; Taylor, Andrew J.; et el. (2021) Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control; ISBN 978-1-7281-9077-8; 8352-8358; 10.1109/ICRA48506.2021.9561510
• Chen, Yuxiao; Santillo, Mario; et el. (2021) Online decentralized decision making with inequality constraints: An ADMM approach; ISBN 978-1-6654-4197-1; 2075-2081; 10.23919/ACC50511.2021.9483302
• Molnár, Tamás G.; Singletary, Andrew W.; et el. (2021) Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays; ISBN 978-1-6654-4197-1; 1052-1057; 10.23919/acc50511.2021.9482737
• Ambrose, Eric; Ma, Wen-Loong; et el. (2021) Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots; ISBN 978-1-7281-9077-8; 7073-7078; 10.1109/icra48506.2021.9561322
• Thananjeyan, Brijen; Balakrishna, Ashwin; et el. (2021) ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions; ISBN 9783030667221; 1-17; 10.1007/978-3-030-66723-8_1
• Ahmadi, Mohamadreza; Singletary, Andrew; et el. (2020) Barrier Functions for Multiagent-POMDPs with DTL Specifications; ISBN 978-1-7281-7447-1; 1380-1385; 10.1109/CDC42340.2020.9304266
• Singletary, Andrew; Chen, Yuxiao; et el. (2020) Control Barrier Functions for Sampled-Data Systems with Input Delays; ISBN 9781728174471; 804-809; 10.1109/CDC42340.2020.9304281
• Akella, Prithvi; Ahmadi, Mohamadreza; et el. (2020) Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions; ISBN 9781728174471; 790-795; 10.1109/CDC42340.2020.9303776
• Cheng, Richard; Khojasteh, Mohammad Javad; et el. (2020) Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties; ISBN 978-1-7281-7447-1; 777-783; 10.1109/CDC42340.2020.9304395
• Gehlhar, Rachel; Chen, Yuxiao; et el. (2020) Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses; ISBN 978-1-7281-6212-6; 4126-4133; 10.1109/IROS45743.2020.9341388
• Suh, H. J. Terry; Xiong, Xiaobin; et el. (2020) Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion; ISBN 978-1-7281-6212-6; 7027-7033; 10.1109/IROS45743.2020.9340761
• Tucker, Maegan; Cheng, Myra; et el. (2020) Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits; ISBN 978-1-7281-6212-6; 3423-3430; 10.1109/IROS45743.2020.9341416
• Ma, Wen-Loong; Csomay-Shanklin, Noel; et el. (2020) Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots; ISBN 9781728162126; 4006-4011; 10.1109/IROS45743.2020.9341181
• Xiong, Xiaobin and Ames, Aaron D. (2020) Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control; ISBN 978-1-7281-6212-6; 3510-3517; 10.1109/IROS45743.2020.9341467
• Ma, Wen-Loong and Ames, Aaron D. (2020) From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation; ISBN 978-1-7281-7395-5; 4491-4497; 10.1109/ICRA40945.2020.9196841
• Ambrose, Eric and Ames, Aaron D. (2020) Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity; ISBN 978-1-7281-7395-5; 2457-2463; 10.1109/ICRA40945.2020.9197070
• Reher, Jenna; Csomay-Shanklin, Noel; et el. (2020) Passive Dynamic Balancing and Walking in Actuated Environments; ISBN 9781728173955; 9775-9781; 10.1109/icra40945.2020.9197400
• Tucker, Maegan; Novoseller, Ellen; et el. (2020) Preference-Based Learning for Exoskeleton Gait Optimization; ISBN 978-1-7281-7395-5; 2351-2357; 10.1109/ICRA40945.2020.9196661
• Gao, Chang; Gehlhar, Rachel; et el. (2020) Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator; ISBN 9781728173955; 5460-5466; 10.1109/ICRA40945.2020.9196984
• Singletary, Andrew; Gurriet, Thomas; et el. (2020) Safety-Critical Rapid Aerial Exploration of Unknown Environments; ISBN 9781728173955; 10270-10276; 10.1109/icra40945.2020.9197416
• Taylor, Andrew J. and Ames, Aaron D. (2020) Adaptive Safety with Control Barrier Functions; ISBN 9781538682661; 1399-1405; 10.23919/acc45564.2020.9147463
• Reher, Jenna; Kann, Claudia; et el. (2020) An Inverse Dynamics Approach to Control Lyapunov Functions; ISBN 9781538682661; 2444-2451; 10.23919/ACC45564.2020.9147342
• Chen, Yuxiao; Singletary, Andrew W.; et el. (2020) Density Functions for Guaranteed Safety on Robotic Systems; ISBN 9781538682661; 3199-3204; 10.23919/acc45564.2020.9147265
• Akbari Hamed, Kaveh; Kamidi, Vinay R.; et el. (2020) Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach; 10.23919/ACC45564.2020.9147673
• Doeser, Ludvig; Nilsson, Petter; et el. (2020) Invariant Sets for Integrators and Quadrotor Obstacle Avoidance; ISBN 9781538682661; 3814-3821; 10.23919/acc45564.2020.9147872
• Nilsson, Petter and Ames, Aaron D. (2020) Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs; ISBN 9781538682661; 5175-5181; 10.23919/acc45564.2020.9147414
• Grandia, Ruben; Taylor, Andrew J.; et el. (2020) Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions; 10.48550/arXiv.2006.01229
• Pandey, Ayush and Ames, Aaron D. (2020) On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction; ISBN 9781538682661; 3763-3769; 10.23919/acc45564.2020.9147709
• Chen, Yuxiao; Ahmadi, Mohamadreza; et el. (2020) Optimal Safe Controller Synthesis: A Density Function Approach; ISBN 9781538682661; 5407-5412; 10.23919/acc45564.2020.9147721
• Ahmadi, Mohamadreza; Ono, Masahiro; et el. (2020) Risk-Averse Planning Under Uncertainty; ISBN 9781538682661; 3305-3312; 10.23919/ACC45564.2020.9147792
• Ahmadi, Mohamadreza; Viswanathan, Arun A.; et el. (2020) Partially Observable Games for Secure Autonomy; ISBN 9781728193465; 185-188; 10.1109/spw50608.2020.00046
• Reher, Jacob P.; Hereid, Ayonga; et el. (2020) Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS; ISBN 978-3-030-43088-7; 400-415; 10.1007/978-3-030-43089-4_26
• Klaesson, Filip; Nilsson, Petter; et el. (2020) Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems; 10.1109/ICCPS48487.2020.00031
• Taylor, Andrew J.; Dorobantu, Victor D.; et el. (2019) A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability; ISBN 978-1-7281-1398-2; 1448-1455; 10.1109/CDC40024.2019.9029226
• Gurriet, Thomas; Mote, Mark; et el. (2019) A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees; ISBN 9781728113982; 2046-2053; 10.1109/cdc40024.2019.9030159
• Westenbroek, Tyler; Xiong, Xiaobin; et el. (2019) Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations; ISBN 978-1-7281-1398-2; 3046-3053; 10.1109/CDC40024.2019.9029232
• Murali, Vishal; Ames, Aaron D.; et el. (2019) Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots; ISBN 9781728113982; 6295-6300; 10.1109/cdc40024.2019.9029348
• Ahmadi, Mohamadreza; Singletary, Andrew; et el. (2019) Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions; ISBN 978-1-7281-1398-2; 4797-4803; 10.1109/CDC40024.2019.9030241
• Ambrose, Eric; Csomay-Shanklin, Noel; et el. (2019) Design and Comparative Analysis of 1D Hopping Robots; ISBN 978-1-7281-4004-9; 5717-5724; 10.1109/IROS40897.2019.8967692
• Taylor, Andrew J.; Dorobantu, Victor D.; et el. (2019) Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems; ISBN 978-1-7281-4004-9; 6878-6884; 10.1109/IROS40897.2019.8967820
• Ma, Wen-Loong; Akbari Hamed, Kaveh; et el. (2019) First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach; ISBN 978-1-7281-4004-9; 5498-5503; 10.1109/IROS40897.2019.8968189
• Xiong, Xiaobin and Ames, Aaron D. (2019) Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control; ISBN 978-1-7281-4004-9; 1018-1024; 10.1109/iros40897.2019.8968215
• Singletary, Andrew; Nilsson, Petter; et el. (2019) Online Active Safety for Robotic Manipulators; ISBN 978-1-7281-4004-9; 173-178; 10.1109/IROS40897.2019.8968231
• Xiong, Xiaobin and Ames, Aaron D. (2019) Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model; ISBN 978-1-7281-4004-9; 4644-4651; 10.1109/IROS40897.2019.8968162
• Chen, Yuxiao; Anderson, James; et el. (2019) Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts; ISBN 978-1-5386-7926-5; 1027-1034; 10.23919/ACC.2019.8814437
• Akbari Hamed, Kaveh; Ma, Wen-Loong; et el. (2019) Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers; ISBN 978-1-5386-7926-5; 4588-4595; 10.48550/arXiv.1810.06697
• Gurriet, Thomas; Nilsson, Petter; et el. (2019) Realizable Set Invariance Conditions for Cyber-Physical Systems; ISBN 978-1-5386-7926-5; 3642-3649; 10.23919/ACC.2019.8815332
• Orosz, Gábor and Ames, Aaron D. (2019) Safety Functionals for Time Delay Systems; ISBN 978-1-5386-7926-5; 4374-4379
• Ames, Aaron D.; Coogan, Samuel; et el. (2019) Control Barrier Functions: Theory and Applications; ISBN 978-3-907144-00-8; 3420-3431; 10.23919/ECC.2019.8796030
• Reher, Jacob; Ma, Wen-Loong; et el. (2019) Dynamic Walking with Compliance on a Cassie Bipedal Robot; ISBN 978-3-907144-00-8; 2589-2595; 10.23919/ECC.2019.8796090
• Ma, Wen-Loong; Or, Yizhar; et el. (2019) Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage; ISBN 978-1-5386-6027-0; 3705-3711; 10.1109/ICRA.2019.8793761
• Chang, Alexander H.; Hubicki, Christian; et el. (2019) Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping; ISBN 978-1-5386-6027-0; 3188-3194; 10.1109/ICRA.2019.8793757
• Gurriet, Thomas; Mote, Mark; et el. (2018) An Online Approach to Active Set Invariance; ISBN 9781538613955; 3592-3599; 10.1109/cdc.2018.8619139
• Nilsson, Petter and Ames, Aaron D. (2018) Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control; ISBN 978-1-5386-1395-5; 765-772; 10.1109/CDC.2018.8619142
• Gosyne, Jonathan R.; Hubicki, Christian M.; et el. (2018) Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods; ISBN 9781538672839; 994-1001; 10.1109/humanoids.2018.8624959
• Xiong, Xiaobin and Ames, Aaron D. (2018) Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking; ISBN 9781538672839; 67-74; 10.1109/humanoids.2018.8625066
• Xiong, Xiaobin and Ames, Aaron D. (2018) Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control; ISBN 978-1-5386-8094-0; 3821-3828; 10.1109/IROS.2018.8593547
• Akbari Hamed, Kaveh; Gregg, Robert D.; et el. (2018) Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion; ISBN 978-1-5386-5428-6; 2210-2217; 10.23919/ACC.2018.8431799
• Kolathaya, Shishir; Reher, Jacob; et el. (2018) Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion; ISBN 978-1-5386-5428-6; 2224-2230; 10.23919/ACC.2018.8430946
• Akbari Hamed, Kaveh; Ames, Aaron D.; et el. (2018) Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking; ISBN 978-1-5386-5428-6; 1438-1445; 10.23919/ACC.2018.8431607
• Nilsson, Petter; Haesaert, Sofie; et el. (2018) Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams; ISBN 978-0-9923747-4-7; 1-9; 10.15607/rss.2018.xiv.047
• Gurriet, Thomas; Finet, Sylvain; et el. (2018) Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons; ISBN 978-1-5386-3081-5; 2804-2811; 10.1109/ICRA.2018.8460647
• Gurriet, Thomas; Singletary, Andrew; et el. (2018) Towards a Framework for Realizable Safety Critical Control through Active Set Invariance; 10.1109/ICCPS.2018.00018
• Tabuada, Paulo; Ma, Wen-Loong; et el. (2017) Data-driven control for feedback linearizable single-input systems; ISBN 978-1-5090-2874-0; 6265-6270; 10.1109/CDC.2017.8264603
• Xiong, Xiaobin; Ames, Aaron D.; et el. (2017) A stability region criterion for flat-footed bipedal walking on deformable granular terrain; ISBN 978-1-5386-2682-5; 4552-4559; 10.1109/IROS.2017.8206323
• Hereid, Ayonga and Ames, Aaron D. (2017) FROST: Fast robot optimization and simulation toolkit; ISBN 978-1-5386-2683-2; 719-726; 10.1109/IROS.2017.8202230
• Xu, Xiangru; Waters, Thomas; et el. (2017) Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds; ISBN 978-1-5090-2182-6; 1769-1775; 10.1109/CCTA.2017.8062713
• Ambrose, Eric; Ma, Wen-Loong; et el. (2017) Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M; ISBN 978-1-5090-2182-6; 1270-1276; 10.1109/CCTA.2017.8062633
• Chang, Alexander H.; Hubicki, Christian M.; et el. (2017) Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression; ISBN 978-1-5090-4633-1; 2154-2160; 10.1109/icra.2017.7989248
• Pickem, Daniel; Glotfelter, Paul; et el. (2017) The Robotarium: A remotely accessible swarm robotics research testbed; ISBN 978-1-5090-4633-1; 1699-1706; 10.1109/ICRA.2017.7989200
• Shoukry, Yasser; Tabuada, Paulo; et el. (2017) Closed-form controlled invariant sets for pedestrian avoidance; ISBN 978-1-5090-5992-8; 1622-1628; 10.23919/ACC.2017.7963185
• Grey, Michael X.; Ames, Aaron D.; et el. (2017) Footstep and motion planning in semi-unstructured environments using randomized possibility graphs; ISBN 978-1-5090-4633-1; 4747-4753; 10.1109/ICRA.2017.7989551
• Zhao, Huihua; Ambrose, Eric; et el. (2017) Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis; ISBN 978-1-5090-4633-1; 1140-1147; 10.1109/ICRA.2017.7989136
• Azimi, Vahid; Shu, Tony; et el. (2017) Robust control of a powered transfemoral prosthesis device with experimental verification; ISBN 978-1-5090-5992-8; 517-522; 10.23919/ACC.2017.7963005
• Wang, Li; Ames, Aaron D.; et el. (2017) Safe certificate-based maneuvers for teams of quadrotors using differential flatness; ISBN 978-1-5090-4633-1; 3293-3298; 10.1109/ICRA.2017.7989375
• Ma, Wen-Loong; Kolathaya, Shishir; et el. (2017) Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment; ISBN 978-1-4503-4590-3; 265-274; 10.1145/3049797.3049823
• Nguyen, Quang; Hereid, Ayonga; et el. (2016) 3D dynamic walking on stepping stones with control barrier functions; ISBN 978-1-5090-1837-6; 827-834; 10.1109/CDC.2016.7798370
• Zhao, Huihua; Hereid, Ayonga; et el. (2016) 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation; ISBN 978-1-5090-1837-6; 3668-3674; 10.1109/CDC.2016.7798821
• Wang, Li; Ames, Aaron D.; et el. (2016) Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots; ISBN 978-1-5090-1837-6; 2659-2664; 10.1109/CDC.2016.7798663
• Hereid, Ayonga; Kolathaya, Shishir; et el. (2016) Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization; ISBN 978-1-5090-1837-6; 6173-6179; 10.1109/CDC.2016.7799218
• Powell, Matthew J.; Ma, Wen-Loong; et el. (2016) Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization; ISBN 978-1-5090-4718-5; 981-986; 10.1109/humanoids.2016.7803391
• Ma, Wen-Loong; Hereid, Ayonga; et el. (2016) Efficient HZD gait generation for three-dimensional underactuated humanoid running; ISBN 978-1-5090-3762-9; 5819-5825; 10.1109/IROS.2016.7759856
• Grey, Michael X.; Garrett, Caelan R.; et el. (2016) Humanoid manipulation planning using backward-forward search; ISBN 978-1-5090-3762-9; 5467-5473; 10.1109/IROS.2016.7759804
• Powell, Matthew J. and Ames, Aaron D. (2016) Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints; ISBN 978-1-5090-3762-9; 555-560; 10.1109/IROS.2016.7759108
• Hubicki, Christian M.; Aguilar, Jeff J.; et el. (2016) Tractable terrain-aware motion planning on granular media: An impulsive jumping study; ISBN 978-1-5090-3762-9; 3887-3892; 10.1109/IROS.2016.7759572
• Wang, Li; Ames, Aaron; et el. (2016) Safety barrier certificates for heterogeneous multi-robot systems; ISBN 978-1-4673-8682-1; 5213-5218; 10.1109/ACC.2016.7526486
• Kolathaya, Shishir; Hereid, Ayonga; et el. (2016) Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion; ISBN 978-1-4673-8682-1; 3916-3921; 10.1109/ACC.2016.7525524
• Powell, Matthew J. and Ames, Aaron D. (2016) Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion; ISBN 978-1-4673-8682-1; 3922-3927; 10.1109/ACC.2016.7525525
• Chao, Kenneth Y.; Powell, Matthew J.; et el. (2016) Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs; ISBN 978-1-4673-8682-1; 3910-3915; 10.1109/ACC.2016.7525523
• Hereid, Ayonga; Cousineau, Eric A.; et el. (2016) 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics; ISBN 978-1-4673-8026-3; 1447-1454; 10.1109/ICRA.2016.7487279
• Reher, Jacob; Cousineau, Eric A.; et el. (2016) Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS; ISBN 978-1-4673-8026-3; 1794-1801; 10.1109/ICRA.2016.7487325
• Hubicki, Christian M.; Hereid, Ayonga; et el. (2016) Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion; ISBN 978-1-4673-8026-3; 1552-1559; 10.1109/ICRA.2016.7487293
• Zhao, Huihua; Horn, Jonathan; et el. (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses; ISBN 978-1-4799-7886-1; 1607-1612; 10.1109/CDC.2015.7402440
• Morris, Benjamin J.; Powell, Matthew J.; et el. (2015) Continuity and smoothness properties of nonlinear optimization-based feedback controllers; ISBN 978-1-4799-7886-1; 151-158; 10.1109/CDC.2015.7402101
• Zhao, Huihua; Reher, Jacob; et el. (2015) Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition; ISBN 978-1-4799-1808-9; 265-270; 10.1109/icorr.2015.7281210
• Mehra, Aakar; Ma, Wen-Loong; et el. (2015) Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars; ISBN 978-1-4799-8684-2; 1411-1418; 10.1109/acc.2015.7170931
• Hsu, Shao-Chen; Xu, Xiangru; et el. (2015) Control barrier function based quadratic programs with application to bipedal robotic walking; ISBN 978-1-4799-8684-2; 4542-4548; 10.1109/ACC.2015.7172044
• Sinnet, Ryan W. and Ames, Aaron D. (2015) Energy shaping of hybrid systems via control Lyapunov functions; ISBN 978-1-4799-8684-2; 5992-5997; 10.1109/ACC.2015.7172280
• Ames, Aaron D.; Tabuada, Paulo; et el. (2015) First steps toward formal controller synthesis for bipedal robots; ISBN 978-1-4503-3433-4; 209-218; 10.1145/2728606.2728611
• Hereid, Ayonga; Hubicki, Christian M.; et el. (2015) Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking; ISBN 978-1-4799-6923-4; 5734-5740; 10.1109/icra.2015.7140002
• Powell, Matthew J.; Cousineau, Eric A.; et el. (2015) Model predictive control of underactuated bipedal robotic walking; ISBN 978-1-4799-6923-4; 5121-5126; 10.1109/ICRA.2015.7139912
• Cousineau, Eric and Ames, Aaron D. (2015) Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method; ISBN 978-1-4799-6923-4; 5747-5753; 10.1109/ICRA.2015.7140004
• Kolathaya, Shishir; Ma, Wen-Loong; et el. (2015) Composing Dynamical Systems to Realize Dynamic Robotic Dancing; ISBN 978-3-319-16594-3; 425-442; 10.1007/978-3-319-16595-0_25
• Zhao, Huihua; Reher, Jake; et el. (2015) Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control; ISBN 9781450334334; 305-306; 10.1145/2728606.2728638
• Ames, Aaron D.; Grizzle, Jessy W.; et el. (2014) Control barrier function based quadratic programs with application to adaptive cruise control; ISBN 978-1-4673-6090-6; 6271-6278; 10.1109/CDC.2014.7040372
• Hereid, Ayonga; Powell, Matthew J.; et el. (2014) Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control; ISBN 978-1-4673-6090-6; 2950-2957; 10.1109/CDC.2014.7039843
• Powell, Matthew J. and Ames, Aaron D. (2014) Hierarchical control of series elastic actuators through control Lyapunov functions; ISBN 978-1-4673-6090-6; 2986-2992; 10.1109/CDC.2014.7039848
• Nilsson, Petter; Hussien, Omar; et el. (2014) Preliminary results on correct-by-construction control software synthesis for adaptive cruise control; ISBN 978-1-4673-6090-6; 816-823; 10.1109/cdc.2014.7039482
• Ames, Aaron D. and Holley, James (2014) Quadratic program based nonlinear embedded control of series elastic actuators; ISBN 978-1-4673-6090-6; 6291-6298; 10.1109/CDC.2014.7040375
• Ma, Wen-Loong; Zhao, Hui-Hua; et el. (2014) Human-inspired walking via unified PD and impedance control; ISBN 978-1-4799-3685-4; 5088-5094; 10.1109/icra.2014.6907605
• Lack, Jordan; Powell, Matthew J.; et el. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics; ISBN 978-1-4799-3685-4; 2582-2588; 10.1109/ICRA.2014.6907229
• Zhao, Huihua and Ames, Aaron D. (2014) Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion; ISBN 9781479932726; 4101-4107; 10.1109/ACC.2014.6859014
• Zhao, Huihua; Kolathaya, Shishir; et el. (2014) Quadratic programming and impedance control for transfemoral prosthesis; ISBN 978-1-4799-3685-4; 1341-1347; 10.1109/ICRA.2014.6907026
• Zhao, Hui-Hua; Ma, Wen-Loong; et el. (2014) Human-inspired multi-contact locomotion with AMBER2; ISBN 978-1-4799-4930-4; 199-210; 10.1109/iccps.2014.6843723
• Aghasadeghi, Navid; Zhao, Huihua; et el. (2013) Learning impedance controller parameters for lower-limb prostheses; ISBN 9781467363587; 4268-4274; 10.1109/IROS.2013.6696968
• Powell, Matthew J.; Hereid, Ayonga; et el. (2013) Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics; ISBN 978-1-4673-5643-5; 4803-4810; 10.1109/ICRA.2013.6631262
• Ames, Aaron D.; Galloway, Kevin; et el. (2012) Control Lyapunov functions and hybrid zero dynamics; ISBN 978-1-4673-2066-5; 6837-6842; 10.1109/CDC.2012.6426229
• Kolathaya, Shishir and Ames, Aaron D. (2012) Achieving bipedal locomotion on rough terrain through human-inspired control; ISBN 978-1-4799-0165-4; 1-6; 10.1109/SSRR.2012.6523897
• Taha, Walid; Brauner, Paul; et el. (2012) A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report); ISBN 9781467314237; 303-308; 10.1109/icdcsw.2012.72
• Sinnet, Ryan W. and Ames, Aaron D. (2012) Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction; ISBN 978-1-4577-1096-4; 4831-4836; 10.1109/ACC.2012.6315667
• Jiang, Shu; Partrick, Shawanee; et el. (2012) Outputs of human walking for bipedal robotic controller design; ISBN 978-1-4577-1096-4; 4843-4848; 10.1109/ACC.2012.6315648
• Yadukumar, Shishir Nadubettu; Kothapalli, Bhargav; et el. (2012) Zeno behavior in electromechanical hybrid systems: From theory to experimental validation; ISBN 978-1-4577-1096-4; 2437-2442; 10.1109/ACC.2012.6315696
• Sinnet, Ryan W.; Powell, Matthew J.; et el. (2011) Compass gait revisited: A human data perspective with extensions to three dimensions; ISBN 978-1-61284-801-3; 682-689; 10.1109/CDC.2011.6161473
• Wendel, Eric and Ames, Aaron D. (2011) Rank deficiency and superstability of hybrid systems with application to bipedal robots; ISBN 978-1-61284-801-3; 7422-7427; 10.1109/CDC.2011.6160972
• Sinnet, Ryan W.; Zhao, Huihua; et el. (2011) Simulating prosthetic devices with human-inspired hybrid control; ISBN 978-1-61284-456-5; 1723-1730; 10.1109/IROS.2011.6095186
• Sinnet, Ryan W. and Ames, Aaron D. (2009) 2D bipedal walking with knees and feet: A hybrid control approach; ISBN 978-1-4244-3872-3; 3200-3207; 10.1109/CDC.2009.5400503
• Sinnet, Ryan W. and Ames, Aaron D. (2009) 3D bipedal walking with knees and feet: A hybrid geometric approach; ISBN 978-1-4244-3872-3; 3208-3213; 10.1109/CDC.2009.5400457
• Or, Yizhar and Ames, Aaron D. (2009) Formal and practical completion of Lagrangian hybrid systems; ISBN 978-1-4244-4523-3; 3624-3631; 10.1109/ACC.2009.5159852
• Or, Yizhar and Ames, Aaron D. (2009) Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems; ISBN 978-3-642-00601-2; 291-305; 10.1007/978-3-642-00602-9_21
• Lamperski, Andrew and Ames, Aaron D. (2008) On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria; ISBN 978-1-4244-3124-3; 2776-2781; 10.1109/CDC.2008.4739100
• Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno equilibria in Lagrangian hybrid systems; ISBN 978-1-4244-3124-3; 2770-2775; 10.1109/CDC.2008.4739235
• Lamperski, Andrew and Ames, Aaron D. (2008) Sufficient conditions for Zeno behavior in Lagrangian hybrid systems; ISBN 978-3-540-78928-4; 622-625; 10.1007/978-3-540-78929-1_49
• Ames, Aaron D. and Doyle, John C. (2008) Complexity and fragility in stability for linear systems; ISBN 978-1-4244-2078-0; 1630-1637; 10.1109/ACC.2008.4586725
• Lamperski, Andrew and Ames, Aaron D. (2008) Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems; ISBN 978-1-4244-1497-0; 115-120; 10.1109/CDC.2007.4435003
• Ames, Aaron D.; Abate, Alessandro; et el. (2008) Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations; ISBN 978-1-4244-1497-0; 5420-5425; 10.1109/CDC.2007.4434891
• Ames, Aaron D.; Gregg, Robert D.; et el. (2007) A geometric approach to three-dimensional hipped bipedal robotic walking; ISBN 978-1-4244-1497-0; 5348-5355; 10.1109/CDC.2007.4434880
• Ames, Aaron D. and Gregg, Robert D. (2007) Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions; ISBN 978-1-4244-0988-4; 5658-5664; 10.1109/ACC.2007.4283081
• Ganesh, Sumitra; Ames, Aaron D.; et el. (2007) Composition of Dynamical Systems for Estimation of Human Body Dynamics; ISBN 978-3-540-71492-7; 702-705; 10.1007/978-3-540-71493-4_65
• Pekarek, David; Ames, Aaron D.; et el. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped; ISBN 978-1-4244-1497-0; 5376-5382; 10.1109/CDC.2007.4434296
• Ames, Aaron D. (2007) Homotopy Meaningful Hybrid Model Structures; ISBN 978-0-8218-4246-1; 121-144
• Ames, Aaron D.; Gregg, Robert D.; et el. (2007) On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers; ISBN 978-3-540-73889-3; 183-196; 10.1007/978-3-540-73890-9_14
• Tabuada, Paulo; Ames, Aaron D.; et el. (2006) Approximate Reduction of Dynamical Systems; ISBN 1-4244-0171-2; 6408-6413; 10.1109/CDC.2006.377156
• Abate, Alessandro; Ames, Aaron D.; et el. (2006) A priori detection of Zeno behavior in communication networks modeled as hybrid systems; ISBN 1-4244-0209-3; 3340-3345; 10.1109/ACC.2006.1657234
• Abate, Alessandro; Ames, Aaron D.; et el. (2006) Error bounds based stochastic approximations and simulations of hybrid dynamical systems; ISBN 1-4244-0209-3; 4742-4747; 10.1109/ACC.2006.1657470
• Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Routhian reduction of Lagrangian hybrid systems; ISBN 1-4244-0209-3; 2640-2645; 10.1109/ACC.2006.1656621
• Ames, Aaron D. and Sastry, Shankar (2006) Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry; ISBN 1-4244-0209-3; 2646-2651; 10.1109/ACC.2006.1656622
• Ames, Aaron D.; Zheng, Haiyang; et el. (2006) Is there life after Zeno? Taking executions past the breaking (Zeno) point; ISBN 1-4244-0209-3; 2652-2657; 10.1109/ACC.2006.1656623
• Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Geometric Reduction of Hybrid Systems; ISBN 978-1-4244-0170-3; 923-929; 10.1109/CDC.2006.377245
• Sprinkle, Jonathan; Ames, Aaron D.; et el. (2005) On the Partitioning of Syntax and Semantics For Hybrid Systems Tools; ISBN 0-7803-9567-0; 4694-4699; 10.1109/CDC.2005.1582903
• Ames, Aaron D.; Abate, Alessandro; et el. (2005) Sufficient Conditions for the Existence of Zeno Behavior; ISBN 0-7803-9568-9; 696-701; 10.1109/CDC.2005.1582237
• Ames, Aaron D. and Sastry, Shankar (2005) Characterization of Zeno behavior in hybrid systems using homological methods; ISBN 0-7803-9098-9; 1160-1165; 10.1109/ACC.2005.1470118
• Abate, Alessandro; Ames, Aaron D.; et el. (2005) Stochastic approximations of hybrid systems; ISBN 0-7803-9098-9; 1557-1562; 10.1109/ACC.2005.1470189
• Ames, Aaron D. and Sastry, Shankar (2004) Blowing up affine hybrid systems; ISBN 0-7803-8682-5; 473-478; 10.1109/CDC.2004.1428675