Publications

Publications from AMBER Lab by Subject (2008 - Present):

Note: For publications related to these topics that appeared before 2008, see the website of Aaron Ames.

Papers submitted and under review. These are available upon request.

N. Aghasadeghi, H. Zhao, L. J. Hargrove, A. D. Ames, E. J. Perreault, and T. Bretl, Learning Impedance Controller Paramters for Lower-Limb Prostheses, submitted to the International Conference on Intelligent Robots and Systems (IROS), 2013.
S. Kolathaya, J. Lack, H. Zhao, W. Ma, R. W. Sinnet, and A. D. Ames, Realizing Bipedal Walking via Human-Inspired Voltage Control on a Novel Robotic Platform, submitted to the International Conference on Intelligent Robots and Systems (IROS), 2013.
B. Morris, M. Powell, and A. D. Ames, Sufficient Conditions for the Lipschitz Continuity of QP-based Multi-Objective Control of Humanoid Robots, submitted to the IEEE Conference on Decision and Control (CDC), 2013.
A. R. Teel, R. Goebel, B. Morris, A D. Ames, and J. W. Grizzle, A stabilization result with application to bipedal locomotion, submitted to the IEEE Conference on Decision and Control (CDC), 2013.
S. Jiang, and A. D. Ames, Towards Estimating the Domain of Attraction for Bipedal Robots, submitted to the IEEE Conference on Decision and Control (CDC), 2013.
K. Galloway, K. Sreenath, A. D. Ames and J. W. Grizzle, Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. Submitted to Transactions on Robotics (TRO), 2013.
M. Konecny, W. Taha, J. Duracz and A. D. Ames, Enclosing the Behavior of Hybrid Systems up to and Beyond a Zeno Point. Submitted to the 40th International Colloquium on Automata, Languanges and Programming (ICALP), 2013.
N. Dantam, A. Hereid, A. D. Ames and M. Stillman, Verification and Synthesis of Hybrid Control Software for Optimal Speed-Controlled Robotic Walking. Submitted to IEEE Transactions on Automatic Control (TAC), 2013.
N. Dantam, D. M. Lofaro, A. Hereid, P. Oh, A. D. Ames and M. Stillman, Reliable Software for Humanoid Robots. Submitted to IEEE RAS Robotics and Automation Magazine, 2013.
S. Kolathaya and A. D. Ames, Realization of Human-Inspired Robotic Walking on Flat Ground, Up-Slope. Submitted to IEEE Transactions on Robotics, 2013.
M. J. Powell, R. W. Sinnet and A. D. Ames. 3D Human-Inspired Robotic Walking: Optimization, Speed Regulation and Implementation. Accepted for publication in IJARS: Biped Robots, 2013.
H. Zhao, M. J. Powell, A. D. Ames. Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain. Submitted to Optimal Control, Applications and Methods, 2012.
R. W. Sinnet, M. J. Powell, S. Jiang and A. D. Ames. Bipedal Robotic Walking: From Human Data to Feedback Control. Submitted to Robotica, 2011.
A. D. Ames. Using Zeno Phenomena to Characterize Knee-Bounce in Bipedal Robotic Walking. Submitted to Nonlinear Analysis: Hybrid Systems, 2011.

[29]

N. Dantam, A. Hereid, A. D. Ames and M. Stilman,
Correct Software Synthesis for Stable Speed-Controlled Walking.
To appear in Robotics Science and Systems (RSS), 2013.

Corresponding experimental implementation on NAO is shown on the right.

[28]	A. D. Ames and M. J. Powell Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. In the Workshop on the Control of Cyber-Physical Systems, to appear in Springer's Lecture Notes in Control and Information Science series, 2013.

[27]

A. D. Ames, K. Galloway, J. W. Grizzle, and K. Sreenath,
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics.
Conditionally accepted to the IEEE Transactions on Automatic Control, 2013. [Note: linked paper is the submitted version and will be updated]

Corresponding experimental implementation on MABEL is shown on the right.

[26]

M. Powell, A. Hereid and A. D. Ames.
Speed Regulation in 3D Robotic Walking through Motion Transitions between Human-Inspired Partial Hybrid Zero Dynamics.
To appear in the IEEE International Conference on Robotics and Automation, 2013.

Corresponding experimental implementation on NAO is shown on the right.

[25]	A. D. Ames. Human-Inspired Control of Bipedal Robotics via Control Lyapunov Functions and Quadratic Programs. [Extended abstract accompanying keynote presentation for HSCC 2013] To appear in Hybrid Systems: Computation and Control, 2013

[24]

A. D. Ames.
Human-Inspired Control of Bipedal Walking Robots.
Conditionally accepted for publication in IEEE Transactions on Automatic Control, 2012.

Experimental implementation of the general ideas on AMBER 2 shown on the right. See also the implementations on AMBER 1 and NAO in other vidoes.

[23]

S. Kolathaya and A. D. Ames
Achieving Bipedal Locomotion on Rough Terrain through Human-Inspired Control.
In the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012

Experimental Implementation on AMBER 1 is shown on the right.

[22]	R. W. Sinnet, S. Jiang and A. D. Ames. A Human-Inspired Framework for Bipedal Robotic Walking Design. To appear in the International Journal of Biomechatronics and Biomedical Robotics, 2012.

[21]	A. D. Ames, K. Galloway and J. W. Grizzle. Control Lyapunov Functions and Hybrid Zero Dynamics. To appear in the IEEE Conference on Decision and Control (CDC), 2012.

[20]

S. Nadubettu Yadukumar, M. Pasupuleti and A. D. Ames.
Human-Inspired Underactuated Bipedal Robotic Walking with AMBER on Flat-ground, Up-slope and Uneven Terrain.
To appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

Experimental implementation on AMBER 1, in the case of uneven terrain, is shown on the right.

[19]	H. Zhao, S. Nadubettu Yadukumar, and A. D. Ames. Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization. To appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

[18]

R. W. Sinnet and A. D. Ames.
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots.
In the Journal of Robotics and Mechatronics, Special Issue on Focused areas and future trends in bio-inspired robots, Vol. 24, No. 4, Aug. 2012.

Experimental implementation on NAO is shown on the right.

[17]

S. Nadubettu Yadukumar, M. Pasupuleti and A. D. Ames.
From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots.
In the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.

Experimental implementation on AMBER 1 is shown on the right.

[16]

R. Vasudevan, A. D. Ames and R. Bajcsy.
Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking.
Accepted for publication in: Nonlinear Analysis: Hybrid Systems, special issue devoted to selected papers from the 2011 IFAC world congress, 2012.
(Submitted version linked; the final version, with minor modification, will be uploaded when available.)

[15]	R. W. Sinnet and A. D. Ames. Extending Two-Dimensional Human-Inspired Bipedal Robotic Walking to Three Dimensions through Geometric Reduction. In the American Control Conference (ACC), 2012.

[14]	S. Jiang, S. Patrick, H. Zhao, A. D. Ames. Outputs of Human Walking for Bipedal Robotic Controller Design. In the American Control Conference (ACC), 2012.

[13]	M. J. Powell, H. Zhao, and A. D. Ames. Motion Primitives for Human-Inspired Bipedal Robotic Locomotion: Walking and Stair Climbing. In the IEEE International Conference on Robotics and Automation (ICRA), 2012.

[12]	A. D. Ames. First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking. In the IEEE International Conference on Robotics and Automation (ICRA), 2012.

[11]	A. D. Ames, E. A. Cousineau, M. J. Powell. Dynamically Stable Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics. In Hybrid Systems: Computation and Control (HSCC), 2012.

[10]	R. W. Sinnet, M. J. Powell, Shu Jiang and A. D. Ames. Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions. In 50th IEEE Conference on Decision and Control and European Control Conference (CDC), 2011.

[9]

A. D. Ames.
First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data.
In 8th International Workshop on Robotic Motion and Control, (RoMoCo), 2011.
Appeared as a book chapter in Robotic Motion and Control, 2011, K. Kozlowski eds, Lecture Notes in Control and Information Sciences, Volume 422, pages 89-116, 2012.

[8]	R. W. Sinnet, M. J. Powell, R. P. Shah and A. D. Ames. A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking. In 18th IFAC World Congress, Milano, Italy, 2011.

[7]	R. Vasudevan, A. D. Ames and R. Bajcsy. Using Persistent Homology to Determine a Human-Data Based Cost for Bipedal Walking. In 18th IFAC World Congress, Milano, Italy, 2011.

[6]	A. D. Ames. Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach. In Hybrid Systems: Computation and Control (HSCC), 2011.

[5]	A. D. Ames, R. Vasudevan and R. Bajcsy. Human-Data Based Cost of Bipedal Robotic Walking. In Hybrid Systems: Computation and Control (HSCC), 2011.

[4]	J. W. Grizzle, C. Chevallereau, A. D. Ames and R. W. Sinnet. 3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems. In 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, 2010.

[3]	R. W. Sinnet and A. D. Ames. 3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach. In 48th IEEE Conference on Decision and Control (CDC), Shanghai, 2009.

[2]	R. W. Sinnet and A. D. Ames. 2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach. In 48th IEEE Conference on Decision and Control (CDC), Shanghai, 2009.

[1]	A. D. Ames, R. W. Sinnet and E. D. B. Wendel. Three-dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach. In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 16-30. Springer-Verlag, 2009.

Prosthetic Design

[1]	R. W. Sinnet, Huihua Zhao and A. D. Ames. Simulating Prosthetic Devices with Human-Inspired Hybrid Control. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS11), San Francisco, 2011.

Hybrid Systems & Zeno Behavior

[11]	A. Lamperski and A. D. Ames. Lyapunov Theory for Zeno Stability. Accepted for publication in the IEEE Transactions on Automatic Control, 2012. (Submitted version linked; the final version, with minor modification, will be uploaded when available.)

[10]

S. Nadubettu Yadukumar, B. Kothapalli and A. D. Ames.
Zeno Behavior in Electromechanical Hybrid Systems: From Theory to Experimental Validation.
To appear in the American Control Conference (ACC), 2012.

Experimental verification of the formal ideas present in the paper is shown on the right.

[9]	E. D. B. Wendel and A. D. Ames. Rank Deficiency and Superstability of Hybrid Systems. In Nonlinear Analysis: Hybrid Systems, Vol. 6(2), pages 787-805, 2012.

[8]	E. D. B. Wendel and A. D. Ames. Rank Deficiency and Superstability of Hybrid Systems with Application to Bipedal Robots. In 50th IEEE Conference on Decision and Control and European Control Conference (CDC), 2011.

[7]	A. D. Ames. Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach. In Hybrid Systems: Computation and Control (HSCC), 2011.

[6]	E. D. B. Wendel and A. D. Ames. Rank Properties of Poincaré Maps for Hybrid Systems with Applications to Bipedal Walking. In Hybrid Systems: Computation and Control (HSCC), 2010.

[5]	Y. Or and A. D. Ames. Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. In IEEE Transactions on Automatic Control, Vol. 56, 2011.

[4]	Y. Or and A. D. Ames. Existence of Periodic Orbits in Completed Lagrangian Hybrid Systems with Non-Plastic Impacts. In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 291-305. Springer-Verlag, 2009.

[3]	Y. Or and A. D. Ames. Formal and Practical Completion of Lagrangian Hybrid Systems. In the American Control Conference (ACC), 2009.

[2]	Y. Or and A. D. Ames. Stability of Zeno Equilibria in Lagrangian Hybrid Systems. In 47th IEEE Conference on Decision and Control (CDC), 2008.

[1]	A. Lamperski and A. D. Ames. On the Existence of Zeno Behavior in Hybrid Systems with Non-Isolated Zeno Equilibria. In 47th IEEE Conference on Decision and Control (CDC), 2008.

Cyberphysical Systems

[3]	W. Taha, P. Brauner, R. Cartwright, V. Gaspes and A.D. Ames. A Core Language for Executable Models of Cyber Physical Systems. In ACM/IEEE 2nd International Conference on Cyber-Physical Systems (ICCPS), 2011.

[2]	Y. Zhu, E. Westbrook, J. Inoue, A. Chapoutot, C. Salama, M. Peralta, T. Martin, W. Taha, M. O'Malley, R. Cartwright, A.D. Ames, and R. Bhattacharya. Mathematical Equations as Executable Models of Mechanical Systems. In the First International Conference on Cyber-Physical Systems (ICCPS), 2010.

[1]	A. D. Ames, R. Murphy, D. Woods, J. Valasek and T. Zourntos. Human-Cyber-Physical Systems for Emergency Response. In IEEE/RSJ International Conference on Intelligent Robot Systems, 2008.