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Zhao, Huihua; Horn, Jonathan et al. (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses 2015 54th IEEE Conference on Decision and Control (CDC); 2015 54th IEEE Conference on Decision and Control (CDC), 15-18 December 2015 , Osaka, Japan

Morris, Benjamin J.; Powell, Matthew J. et al. (2015) Continuity and smoothness properties of nonlinear optimization-based feedback controllers 2015 54th IEEE Conference on Decision and Control (CDC); 2015 54th IEEE Conference on Decision and Control (CDC), 15-18 December 2015 , Osaka, Japan

Zhao, Huihua; Reher, Jacob et al. (2015) Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition 2015 IEEE International Conference on Rehabilitation Robotics (ICORR); 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 11-14 August 2015 , Singapore

Mehra, Aakar; Ma, Wen-Loong et al. (2015) Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars 2015 American Control Conference (ACC); 2015 American Control Conference (ACC), 1-3 July 2015 , Chicago, IL

Hsu, Shao-Chen; Xu, Xiangru et al. (2015) Control barrier function based quadratic programs with application to bipedal robotic walking 2015 American Control Conference (ACC); 2015 American Control Conference (ACC), 1-3 July 2015 , Chicago, IL

Sinnet, Ryan W.; Ames, Aaron D. (2015) Energy shaping of hybrid systems via control Lyapunov functions 2015 American Control Conference (ACC); 2015 American Control Conference (ACC), 1-3 July 2015 , Chicago, IL

Ames, Aaron D.; Tabuada, Paulo et al. (2015) First steps toward formal controller synthesis for bipedal robots Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control; 18th International Conference on Hybrid Systems: Computation and Control (HSCC '15), 14-16 April 2015 , Seattle, WA

Hereid, Ayonga; Hubicki, Christian M. et al. (2015) Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking 2015 IEEE International Conference on Robotics and Automation (ICRA); 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015 , Seattle, WA

Powell, Matthew J.; Cousineau, Eric A. et al. (2015) Model predictive control of underactuated bipedal robotic walking 2015 IEEE International Conference on Robotics and Automation (ICRA); 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015 , Seattle, WA

Cousineau, Eric; Ames, Aaron D. (2015) Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method 2015 IEEE International Conference on Robotics and Automation (ICRA); 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015 , Seattle, WA

Kolathaya, Shishir; Ma, Wen-Loong et al. (2015) Composing Dynamical Systems to Realize Dynamic Robotic Dancing Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics; Series.Springer Tracts in Advanced Robotics; No. 107; Eleventh International Workshop on the Algorithmic Foundations of Robotics, 3-5 August 2014 , Istanbul, Turkey

Zhao, Huihua; Reher, Jake et al. (2015) Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control; 18th International Conference on Hybrid Systems: Computation and Control (HSCC 2015), 14-16 April 2015 , Seattle, WA

Ames, Aaron D.; Grizzle, Jessy W. et al. (2014) Control barrier function based quadratic programs with application to adaptive cruise control 53rd IEEE Conference on Decision and Control; 53rd IEEE Conference on Decision and Control, 15-17 December 2014 , Los Angeles, CA

Hereid, Ayonga; Powell, Matthew J. et al. (2014) Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control 53rd IEEE Conference on Decision and Control; 53rd IEEE Conference on Decision and Control, 15-17 December 2014 , Los Angeles, CA

Powell, Matthew J.; Ames, Aaron D. (2014) Hierarchical control of series elastic actuators through control Lyapunov functions 53rd IEEE Conference on Decision and Control; 53rd IEEE Conference on Decision and Control, December 15-17, 2014 , Los Angeles, CA

Nilsson, Petter; Hussien, Omar et al. (2014) Preliminary results on correct-by-construction control software synthesis for adaptive cruise control 53rd IEEE Conference on Decision and Control; 53rd IEEE Conference on Decision and Control, 15-17 December 2014 , Los Angeles, CA

Ames, Aaron D.; Holley, James (2014) Quadratic program based nonlinear embedded control of series elastic actuators 53rd IEEE Conference on Decision and Control; 53rd IEEE Conference on Decision and Control, December 15-17, 2014 , Los Angeles, CA

Ma, Wen-Loong; Zhao, Hui-Hua et al. (2014) Human-inspired walking via unified PD and impedance control 2014 IEEE International Conference on Robotics and Automation (ICRA); 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-7 June 2014 , Hong Kong

Lack, Jordan; Powell, Matthew J. et al. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics 2014 IEEE International Conference on Robotics and Automation (ICRA); 2014 IEEE International Conference on Robotics and Automation (ICRA), May 31 - June 7, 2014 , Hong Kong

Zhao, Huihua; Ames, Aaron D. (2014) Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion 2014 American Control Conference; 2014 American Control Conference (ACC), 4-6 June 2014 , Portland, OR

Zhao, Huihua; Kolathaya, Shishir et al. (2014) Quadratic programming and impedance control for transfemoral prosthesis 2014 IEEE International Conference on Robotics and Automation (ICRA); 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-7 June 2014 , Hong Kong

Zhao, Hui-Hua; Ma, Wen-Loong et al. (2014) Human-inspired multi-contact locomotion with AMBER2 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS); 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 14-17 April 2014 , Berlin, Germany

Aghasadeghi, Navid; Zhao, Huihua et al. (2013) Learning impedance controller parameters for lower-limb prostheses 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Series.IEEE International Conference on Intelligent Robots and Systems; 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3-7 November 2013 , Tokyo, Japan

Powell, Matthew J.; Hereid, Ayonga et al. (2013) Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics 2013 IEEE International Conference on Robotics and Automation; 2013 IEEE International Conference on Robotics and Automation (ICRA), 6-10 May 2013 , Karlsruhe, Germany

Ames, Aaron D.; Galloway, Kevin et al. (2012) Control Lyapunov functions and hybrid zero dynamics 51st IEEE Conference on Decision and Control; 51st IEEE Conference on Decision and Control, 10-13 December 2012 , Maui, HI

Kolathaya, Shishir; Ames, Aaron D. (2012) Achieving bipedal locomotion on rough terrain through human-inspired control 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR); 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 5-8 November 2012 , College Station, TX

Taha, Walid; Brauner, Paul et al. (2012) A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report) 32nd International Conference on Distributed Computing Systems Workshops; 32nd International Conference on Distributed Computing Systems Workshops, 18-21 June 2012 , Macau, China

Sinnet, Ryan W.; Ames, Aaron D. (2012) Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction 2012 American Control Conference (ACC); 2012 American Control Conference (ACC), 27-29 June 2012 , Montréal, Canada

Jiang, Shu; Partrick, Shawanee et al. (2012) Outputs of human walking for bipedal robotic controller design 2012 American Control Conference (ACC); 2012 American Control Conference (ACC), 27-29 June 2012 , Montréal, Canada

Yadukumar, Shishir Nadubettu; Kothapalli, Bhargav et al. (2012) Zeno behavior in electromechanical hybrid systems: From theory to experimental validation 2012 American Control Conference (ACC); 2012 American Control Conference (ACC), 27-29 June 2012 , Montréal, Canada

Sinnet, Ryan W.; Powell, Matthew J. et al. (2011) Compass gait revisited: A human data perspective with extensions to three dimensions 2011 50th IEEE Conference on Decision and Control and European Control Conference; 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 12-15 December 2011 , Orlando, FL

Wendel, Eric; Ames, Aaron D. (2011) Rank deficiency and superstability of hybrid systems with application to bipedal robots 2011 50th IEEE Conference on Decision and Control and European Control Conference; 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 12-15 December 2011 , Orlando, FL

Sinnet, Ryan W.; Zhao, Huihua et al. (2011) Simulating prosthetic devices with human-inspired hybrid control 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 25-30 September 2011 , San Francisco, CA

Sinnet, Ryan W.; Ames, Aaron D. (2009) 2D bipedal walking with knees and feet: A hybrid control approach Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference; 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 15-18 December 2009 , Shanghai, China

Sinnet, Ryan W.; Ames, Aaron D. (2009) 3D bipedal walking with knees and feet: A hybrid geometric approach Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference; 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 15-18 December 2009 , Shanghai, China

Or, Yizhar; Ames, Aaron D. (2009) Formal and practical completion of Lagrangian hybrid systems American Control Conference, 2009; American Control Conference 2009, June 10-12, 2009 , St. Louis, MO

Or, Yizhar; Ames, Aaron D. (2009) Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems Hybrid Systems: Computation and Control 2009; Vol. 5469; Series.Lecture Notes in Computer Science; No. 5469; 12th International Conference on Hybrid Systems - Computation and Control, 13-15 April 2009 , San Francisco, CA

Lamperski, Andrew; Ames, Aaron D. (2008) On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria 47th IEEE Conference on Decision and Control; 47th IEEE Conference on Decision and Control, 9-11 December 2008 , Cancun, Mexico

Or, Yizhar; Ames, Aaron D. (2008) Stability of Zeno equilibria in Lagrangian hybrid systems 47th IEEE Conference on Decision and Control; 47th IEEE Conference on Decision and Control, 9-11 December 2008 , Cancun, Mexico

Lamperski, Andrew; Ames, Aaron D. (2008) Sufficient conditions for Zeno behavior in Lagrangian hybrid systems Hybrid systems : computation and control : 11th international workshop; Series.Lecture Notes in Computer Science; No. 4981; 11th International Conference on Hybrid Systems - Computation and Control, 22-24 April 2008 , St Louis, MO

Ames, Aaron D.; Doyle, John C. (2008) Complexity and fragility in stability for linear systems 2008 American Control Conference; Series.Proceedings of the American Control Conference; American Control Conference 2008, 11-13 June 2008 , Seattle, WA

Lamperski, Andrew; Ames, Aaron D. (2008) Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems 46th IEEE Conference on Decision and Control; 46th IEEE Conference on Decision and Control, 12-14 Dec. 2007 , New Orleans, LA

Ames, Aaron D.; Abate, Alessandro et al. (2008) Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations 46th IEEE Conference on Decision and Control; 46th IEEE Conference on Decision and Control, Dec. 12-14, 2007 , New Orleans, LA

Ames, Aaron D.; Gregg, Robert D. et al. (2007) A geometric approach to three-dimensional hipped bipedal robotic walking 46th IEEE Conference on Decision and Control; 46th IEEE Conference on Decision and Control, 12-14 December 2007 , New Orleans, LA

Ames, Aaron D.; Gregg, Robert D. (2007) Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions 2007 American Control Conference; American Control Conference 2007, 9-13 July 2007 , New York, NY

Ganesh, Sumitra; Ames, Aaron D. et al. (2007) Composition of Dynamical Systems for Estimation of Human Body Dynamics Hybrid Systems: Computation and Control; Series.Lecture Notes in Computer Science; No. 4416; 10th International Workshop on Hybrid Systems: Computation and Control, 3-5 April 2007 , Pisa, Italy

Pekarek, David; Ames, Aaron D. et al. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped 46th IEEE Conference on Decision and Control ; Series.Proceedings IEEE Conference on Decision and Control; 46th IEEE Conference on Decision and Control, Dec. 12-14, 2007 , New Orleans, LA

Ames, Aaron D. (2007) Homotopy Meaningful Hybrid Model Structures Topology and Robotics ; Series.Contemporary Mathematics Series; No. 438; Workshop on Topology and Robotics, Jul. 10-14, 2006 , ETH, Forschungsinst Math, Zurich, Switzerland

Ames, Aaron D.; Gregg, Robert D. et al. (2007) On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 ; Series.Lecture Notes in Control and Information Sciences; No. 366; 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear, 19-21 July 2006 , Nagoya, Japan

Tabuada, Paulo; Ames, Aaron D. et al. (2006) Approximate Reduction of Dynamical Systems Proceedings of the 45th IEEE Conference on Decision and Control; 45th IEEE Conference on Decision and Control, December 13-15, 2006 , San Diego, CA

Abate, Alessandro; Ames, Aaron D. et al. (2006) A priori detection of Zeno behavior in communication networks modeled as hybrid systems 2006 American Control Conference; 2006 American Control Conference, 14-16 June 2006 , Minneapolis, MN

Abate, Alessandro; Ames, Aaron D. et al. (2006) Error bounds based stochastic approximations and simulations of hybrid dynamical systems 2006 American Control Conference; 2006 American Control Conference, 14-16 June 2006 , Minneapolis, MN

Ames, Aaron D.; Sastry, Shankar (2006) Hybrid Routhian reduction of Lagrangian hybrid systems 2006 American Control Conference; 2006 American Control Conference, 14-16 June 2006 , Minneapolis, MN

Ames, Aaron D.; Sastry, Shankar (2006) Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry 2006 American Control Conference; 2006 American Control Conference, 14-16 June 2006 , Minneapolis, MN

Ames, Aaron D.; Zheng, Haiyang et al. (2006) Is there life after Zeno? Taking executions past the breaking (Zeno) point 2006 American Control Conference; 2006 American Control Conference, 14-16 June 2006 , Minneapolis, MN

Ames, Aaron D.; Sastry, Shankar (2006) Hybrid Geometric Reduction of Hybrid Systems Proceedings of the 45th IEEE Conference on Decision and Control; Series.IEEE Conference on Decision and Control ; 45th IEEE Conference on Decision and Control, Dec. 13-15, 2006 , San Diego, CA

Sprinkle, Jonathan; Ames, Aaron D. et al. (2005) On the Partitioning of Syntax and Semantics For Hybrid Systems Tools Proceedings of the 44th IEEE Conference on Decision and Control; 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, 12-15 December 2005 , Seville, Spain

Ames, Aaron D.; Abate, Alessandro et al. (2005) Sufficient Conditions for the Existence of Zeno Behavior Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference; 44th IEEE Conference on Decision and Control and the European Control Conference, 12-15 December 2005 , Seville, Spain

Ames, Aaron D.; Sastry, Shankar (2005) Characterization of Zeno behavior in hybrid systems using homological methods 2005 American Control Conference; 2005 American Control Conference (ACC), 8-10 June 2005 , Portland, OR

Abate, Alessandro; Ames, Aaron D. et al. (2005) Stochastic approximations of hybrid systems 2005 American Control Conference; Vol. 3; 2005 American Control Conference (ACC), 8-10 June 2005 , Portland, OR

Ames, Aaron D.; Sastry, Shankar (2004) Blowing up affine hybrid systems 43rd IEEE Conference on Decision and Control; 43rd IEEE Conference on Decision and Control, 14-17 December 2004 , Nassau, Bahamas