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AMBER Lab
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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.
Bipedal Robotics

Prosthetic Design

Hybrid Systems & Zeno Behavior

Cyberphysical & Automotive Systems


    Bipedal Robotics

    [82]
    W.L. Ma, S. Kolathaya, E.R. Ambrose, C.M. Hubicki and A.D. Ames
    ​Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment
    in: Proceedings of the 20th International Conference on Hybrid Systems : Computation and Control (HSCC2017)
    ​
    Experimental results shown in the video on the right. 
    [81]
    A. Agrawal, O. Harib, A. Hereid, S. Finet, M. Masselin, L. Praly, A Ames, K. Sreenath and J. Grizzle
    ​First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons
    in: IEEE Access, 2017
    [80]
    X. Xiong, J. Aguilar, J. Rieser, A. Kim, A. Ames and D. Goldman
    ​Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media
    in: Bulletin of the American Physical Society 6
    [79]
    C. Hubicki, J. Aguilar, A. Kim, J. Rieser, A.D. Ames and D. Goldman
    ​Paused intrusions improve robot jumping performance in granular media
    in: Bulletin of the American Physical Society 62
    [78]
    M.X. Grey, A.D. Ames and C.K. Liu
    Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments
    in: arXiv preprint arXiv:1702.00425
    [77]
    M.X. Grey, A.D. Ames and C.K. Liu
    Footstep and motion planning in semi-unstructured environments using randomized possibility graphs
    in: IEEE International Conference on Robotics and Automation (ICRA2017)
    [76]
    A.D. Ames, X. Xu, J.W. Grizzle and P. Tabuada
    ​Control Barrier Function Based Quadratic Programs for Safety Critical Systems
    IEEE Transactions on Automatic Control (TAC)
    [75]
    A. Hereid, S. Kolathaya and A.D. Ames
    ​Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
    in: IEEE 55th Conference on Decision and Control (CDC2016), 6173-6179
    [74]
    Q. Nguyen, A. Hereid, J.W. Grizzle, A.D. Ames and K. Sreenath
    ​3D dynamic walking on stepping stones with control barrier functions
    in IEEE 55th Conference on Decision and Control (CDC2016), 827-834
    [73]
    M.J. Powell, W.L. Ma, E.R. Ambrose and A.D. Ames
    ​Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization
    in: IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids2016)
    ​Experimental results shown in the video on the right. 
    [72]
    W.L. Ma, A. Hereid, C.M. Hubicki and A.D. Ames
    ​Efficient hzd gait generation for three-dimensional underactuated humanoid running
    in: IEEE/RSJ International Conference on Intelligent Robots and Systems
    (IROS2016)
    Experimental results shown in the video on the right. 
    [71]
    M.J. Powell and A.D. Ames
    ​Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints
    in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016)
    [70]
    C.M. Hubicki, J.J. Aguilar, D.I. Goldman and A.D. Ames
    Tractable terrain-aware motion planning on granular media: An impulsive jumping study
    in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016)
    [69]
    M.X. Grey, C.R. Garrett, C.K. Liu, A.D. Ames and A.L. Thomaz
    ​Humanoid manipulation planning using backward-forward search
    in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016)
    [68]
    M.X. Grey, C.K. Liu, A.D. Ames
    ​Traversing Environments Using Possibility Graphs with Multiple Action Types
    arXiv preprint arXiv:1610.0070
    [67]
    M.X. Grey, A.D. Ames, and C.K. Liu
    ​Footstep and motion planning in semi-unstructured environments using possibility graphs
    arXiv preprint arXiv:1610.00700
    [66]
    M.X. Grey, A.D. Ames and C.K. Liu
    ​Traversing Environments Using Possibility Graphs for Humanoid Robots
    arXiv preprint arXiv:1608.0384
    [65]
    S. Kolathaya, B.J. Morris, R.W. Sinnet and A.D. Ames
    System Identification and Control through Efficient SVA–Based Regressor Computation
    arXiv preprint arXiv:1608.02683
    [64]
    K.Y. Chao, M.J. Powell, A.D. Ames and P. Hur
    ​Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs
    American Control Conference (ACC), 2016, 3910-3915
    [63]
    J. Reher, E.A. Cousineau, A. Hereid, C.M. Hubicki, A.D. Ames
    Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
    in: IEEE International Conference on Robotics and Automation (ICRA2016) , 1794-1801
    [62]
    A Hereid, EA Cousineau, CM Hubicki, AD Ames
    3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
    in IEEE International Conference on Robotics and Automation (ICRA2016) , 1447-1454
    [61]
    C.M Hubicki, A. Hereid, M.X. Grey, A.L. Thomaz and A.D. Ames,
    Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
    in  IEEE International Conference on Robotics and Automation (ICRA2016) 1552-1559
    [60]
    M.J. Powell and A.D. Ames
    Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion
    in: American Control Conference (ACC2016), 3922-3927
    [59]
    A. Hereid, E. A. Cousineau, C. M. Hubicki and A. D. Ames
    3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics
    in: International Conference on Robotics and Automation (ICRA), 2016.
    ​
    [58]




    ​[57]
    ​J. Reher, E. A. Cousineau, A. Hereid, C. M. Hubicki, and A. D. Ames
    Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS
    in: International Conference on Robotics and Automation (ICRA), 2016.
    ​C. M. Hubicki, A. Hereid, M. X. Grey, A. L. Thomaz and A. D. Ames
    Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion
    in: International Conference on Robotics and Automation (ICRA), 2016.
    [56]



    ​[55]
    S. Kolathaya, A. Hereid, and A. D. Ames
    Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion
    To appear in: American Control Conference (ACC), 2016
    K. Chao, M. Powell, A. D. Ames, and P. Hur
    Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs
    To appear in: American Control Conference (ACC), 2016
    [54]
    ​M. Powell and A. D. Ames
    Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion
    To appear in: American Control Conference (ACC), 2016
    [53]
    H. Zhao, A. Hereid, W-L. Ma and A. D. Ames
    Multi-Contact Bipedal Robotic Locomotion
    in Robotica, 1-35
    [52]
    B. J. Morris, M. J. Powell, A. D. Ames
    Continuity and Smoothness Properties of Nonlinear Optimization-Based Feedback Controllers
    In: Conference on Decision and Control (CDC), 2015
    [51]
    K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle
    Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
    In: IEEE Access, vol. 3, pp. 323 -332, 2015
    [50]
    S-C. Hsu, X. Xu and A. D. Ames
    Control Barrier Function based Quadratic Programs with Application to Bipedal Robotic Walking
    in: American Control Conference (ACC), 2015.
    [49]
    R. Sinnet and A. D. Ames
    Energy Shaping of Hybrid Systems via Control Lyapunov Functions
    in: American Control Conference (ACC), 2015.
    [48]
    A. Hereid, C. M. Hubicki, E. A. Cousineau, J. W. Hurst and A. D. Ames
    Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
    In: IEEE International Conference on Robotics and Automation (ICRA), 2015.
    [47]
    M. J. Powell, E. Cousineau and A. D. Ames
    Model Predictive Control of Underactuated Bipedal Robotic Walking
    In: IEEE International Conference on Robotics and Automation (ICRA), 2015.
    [46]




    ​[45]
    E. Cousineau and A. D. Ames
    Realizing Underactuated Bipedal Walking with Torque Controllers via the Ideal Model Resolved Motion Method
    in: IEEE International Conference on Robotics and Automation (ICRA), 2015.
    A. D. Ames, P. Tabuada, B. Schuermann, W. Ma, S. Kolathaya, M. Rungger and J. W. Grizzle
    First Steps toward Formal Controller Synthesis for Bipedal Robots.
    In: 18th Hybrid Systems: Computation and Control (HSCC), 2015.
    [44]
    N. A. Radford, P. Strawser, K. Hambuchen, J. S. Mehling, W. K. Berdyen, S. Donnan, J. Holley, J. Sanchez, V. Nguyen, L. Bridgwater, R. Berka, R. Ambrose, C. McQuin, J. D. Yamokoski, S. Hart, R. Guo, A. Parsons, B. Wightman, P. Dinh, B. Ames, C. Blakely, C. Edmonson, B. Sommers, R. Rea, C. Tobler, H. Bibby, B. Howard, L. Nui, A. Lee, M. Conover, L. Truong, D. Chesney, R. Platt Jr., G. Johnson, C. Fok, N. Paine, L. Sentis, E. Cousineau, R. Sinnet, J. Lack, M. Powell, B. Morris and A. D. Ames
    Valkyrie: NASA's First Bipedal Humanoid Robot.
    In: Journal of Field Robotics, vol. 32, no. 3, pp 397–419, 2015.
    [43]
    A. D. Ames and J. Holley.  
    Quadratic Program based Nonlinear Embedded Control of Series Elastic Actuators.  
    In the IEEE Conference on Decision and Control (CDC), 2014.
    [42]
    A. Hereid, M. J. Powell and A. D. Ames.  
    Embedding of SLIP Dynamics on Underactuated Bipedal Robot through Multi-Objective Quadratic Program based Control. 
    In the IEEE Conference on Decision and Control (CDC), 2014.
    [41]
    M. J. Powell and A. D. Ames.  
    Hierarchical Control of Series Elastic Actuators through Control Lyapunov Functions.   
    In the IEEE Conference on Decision and Control (CDC), 2014.
    [40]
    S. Kolathaya, W. Ma and A. D. Ames.  
    Composing Dynamical Systems to Realize Dynamic Robotic Dancing.  
    In the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. 
    [Note: linked paper is the submitted version and will be updated]

    Experimental results shown in the video on the right. 
    [39]
    N. Dantam, D. M. Lofaro, A. Hereid, P. Oh, A. D. Ames and M. Stillman, 
    Multiprocess Communication and Control Software for Humanoid Robots.  
    To appear in the IEEE RAS Robotics and Automation Magazine, 2014.  
    [38]
    J. W. Grizzle, C. Chevallereau, R. W. Sinnet, A. D. Ames.  
    Models, feedback control, and open problems of 3D bipedal robotic walking.  
    In: Automatica, vol. 50, no. 8, pp. 1955-1988, 2014.
    [Note: linked paper is the submitted version and will be updated]
    [37]
    H. Zhao, W. Ma, M. Zeagler and A. D. Ames
    Human-Inspired Multi-Contact Locomotion with AMBER2.
    In the International Conference on Cyber-Physical Systems, 2014.
    [Note: linked paper is the submitted version and will be updated]
    Best paper award finalist
    [36]
    A. Hereid, S. Kolathaya, M. S. Jones, J. Van Why, J. W. Hurst and A. D. Ames
    Dynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired Control
    To appear in Hybrid Systems: Computation and Control, 2014.
    DENSO Best Student Paper Award

    Note: Video on the right demonstrates the experimental results of the paper. 
    [35]
    S. Kolathaya, and A. D. Ames.  
    Exponential Convergence of a Unified CLF Controller for Robotic Systems under Parameter Uncertainty.  
    To appear in the American Control Conference (ACC), 2014.
    [34]
    W. Ma, H. Zhao, S. Kolathaya, and A. D. Ames.  
    Human-Inspired Walking via Unified PD and Impedance Control.  
    In IEEE International Conference on Robotics and Automation (ICRA), 2014. 
    [Note: linked paper is the submitted version and will be updated]
    [33]
    J. Lack, M. J. Powell and A. D. Ames.  
    Planar Mulit-Contact Bipedal Walking Using Hybrid Zero Dynamics
    In IEEE International Conference on Robotics and Automation (ICRA), 2014. 
    [32]
    H. Zhao, M. J. Powell, A. D. Ames.  
    Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain.  
    To appear in Optimal Control, Applications and Methods, 2014. 
    [31]
    B. Morris, M. Powell, and A. D. Ames,  
    Sufficient Conditions for the Lipschitz Continuity of QP-based Multi-Objective Control of Humanoid Robots.
    In the IEEE Conference on Decision and Control (CDC), 2013. 

    [30]
    A. R. Teel, R. Goebel, B. Morris, A D. Ames, and J. W. Grizzle,  
    A stabilization result with application to bipedal locomotion.
    In the IEEE Conference on Decision and Contrl (CDC), 2013. 

    [29]
    N. Dantam, A. Hereid, A. D. Ames and M. Stilman, 
    Correct Software Synthesis for Stable Speed-Controlled Walking.  
    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.  
    In IEEE Transactions on Automatic Control, vol. 59, no. 4, pp. 876-891, 2014 
    [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.  
    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]
    In Hybrid Systems: Computation and Control, 2013
    [24]
    A. D. Ames.  
    Human-Inspired Control of Bipedal Walking Robots.  
    In: IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1115-1130, 2014

    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.  
    In the International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 1, pages 20–41, 2014. 
    [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

    [12]
    H. Zhao, A. Hereid, E. Ambrose and A.D. Ames
    ​3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
    in: IEEE 55th Conference on Decision and Control (CDC2016), 3668-3674
    [11]
    H.Zhao, J. Horn, J. Reher, V. Paredes and A.D.Ames
    Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control
    IEEE Transactions on Automation Science and Engineering 12(2),502-513
    [10]
    H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
    First Steps Toward Translating Robotic Walking to Prostheses: A Nonlinear Optimization based Control Approach
    To appear in: Autonomous Robots: Special Issue on Assistive and Rehabilitation Robotics, 2016
    [9]
    ​H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
    Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control.
    To appear in: IEEE Transactions on Automation Science and Engineering, 2016
    [8]
    H. Zhao, J. Horn, J. Reher, V. Paredes and A. D. Ames
    A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses
    In: Conference on Decision and Control (CDC), 2015
    [7]
    H. Zhao, J. Reher, J. Horn, V. Paredes, and A. D. Ames
    Realization of stair ascent and motion transition on prostheses utilizing optimization-based control and intent recognition
    In: International Conference on Rehabilitation Robot (ICORR), 2015

    [6]
    H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
    Realization of Nonlinear Real-Time Optimization Based Controllers on Self-Contained Transfemoral Prosthesis.
    To appear in: International Conference on Cyber-Physical Systems (ICCPS), 2015.
    [5]
    H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
    Demonstration of Locomotion with the Powered Prosthesis AMPRO utilizing Online Optimization-Based Control
    Appear as a demonstration at Hybrid Systems: Computation and Control (HSCC), 2015.
    [4]
    H. Zhao, S. Kolathaya and A. D. Ames.   
    Quadratic Programming and Impedance Control for Transfemoral Prosthesis.  
    In IEEE International Conference on Robotics and Automation (ICRA), 2014. 
    [Note: Linked version is submitted version, final version will be updated soon.]
    [3]
    H. Zhao, and A. D. Ames.  
    Quadratic Program based Control of Fully-Actuated Transfemoral Prosthesis for Flat-Ground and Up-Slope Locomotion.  
    To appear in the American Control Conference (ACC), 2013.
    [Note: Linked version is submitted version, final version will be updated soon.]
    [2]
    N. Aghasadeghi, H. Zhao, L. J. Hargrove, A. D. Ames, E. J. Perreault, and T. Bretl, 
    Learning Impedance Controller Paramters for Lower-Limb Prostheses.
    In the International Conference on Intelligent Robots and Systems (IROS), 2013.
     
      [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

      [18]
      O. Hussien, A.D. Ames and P. Tabuada
      ​Abstracting Partially Feedback Linearizable Systems Compositionally
      in: IEEE Control Systems Letters 1 (2), 227-232
      [17]
      A.D. Ames, P. Tabuada, A. Jones, W-L. Ma, M. Rungger, B. Schürmann, S. Kolathaya and J. W Grizzle
      ​First steps toward formal controller synthesis for bipedal robots with experimental implementation
      in: Nonlinear Analysis: Hybrid Systems (NAHS) 25, 155-173
      [16]
      S. Kolathaya and A.D. Ames
      ​Parameter to state stability of control lyapunov functions for hybrid system models of robots
      in: Nonlinear Analysis: Hybrid Systems (NAHS) 25, 174-191
      [14]
      S. Kolathaya, A. Hereid, and A. D. Ames
      Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion
      ​in: American Control Conference (ACC), 2016
      [13]
      S. Kolathaya, and A. D. Ames
      Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits
      In: Analysis and Design of Hybrid Systems (ADHS), 2015
      [12]
      M. Konecny, W. Taha, J. Duracz and A. D. Ames, 
      Enclosing the Behavior of Hybrid Systems up to and Beyond a Zeno Point.  
      In the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013. 
      Best paper award. 
      [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. 
      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 & Automotive Systems

        [23]
        L Wang, AD Ames and M Egerstedt
        ​Safety Barrier Certificates for Collisions-Free Multirobot Systems
        in: IEEE Transactions on Robotics
        [22]
        ​L.Wang, A.D. Ames and M. Egerstedt
        ​Safe certificate-based maneuvers for teams of quadrotors using differential flatness
        in: arXiv preprint arXiv:1702.0107
        [21]
        L. Wang, A.D. Ames and M. Egerstedt
        ​Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
        in: IEEE 55th Conference on Decision and Control (CDC2016), 2659-2664
        [20]
        X. Xu, J.W. Grizzle, P. Tabuada, A.D. Ames
        Correctness guarantees for the composition of lane keeping and adaptive cruise control
        arXiv preprint arXiv:1609.06807
        [19]
        A.D. Ames, X. Xu, J.W. Grizzle and P. Tabuada
        Control barrier function based quadratic programs with application to automotive safety systems
        arXiv preprint arXiv:1609.06408​
        [18]
        D. Pickem, P. Glotfelter, L. Wang, M. Mote, A. Ames, E. Feron and M. Egerstedt
        ​The Robotarium: A remotely accessible swarm robotics research testbed
        arXiv preprint arXiv:1609.04730
        [17]
        L. Wang, A. Ames and M. Egerstedt,
        Safety barrier certificates for heterogeneous multi-robot systems
        in: American Control Conference (ACC2016), 5213-5218
        American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218sAmerican Control Conference (ACC), 2016, 5213-5218AAmerican Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218
        [16]
        P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D Ames, J. W Grizzle, N. Ozay, H. Peng and P. Tabuada
        Correct-by-construction adaptive cruise control: Two approaches
        in IEEE Transactions on Control Systems Technology
        [15]
        D. Pickem, L. Wang, P. Glotfelter, Y. Diaz-Mercado, M. Mote, A. Ames, E. Feron and M. Egerstedt
        Safe, remote-access swarm robotics research on the robotarium
        arXiv preprint arXiv:1604.00640
        [14]
        W. Taha, A.Duracz, Y.Zeng, K.Atkinson, F.Bartha, P.Brauner, J.Duracz, F. Xu, R. Cartwright, M.Konečný, E.Moggi, J.Masood, B.Andreasson, J.Inoue, A.Sant'Anna, R.Philippsen, A. Chapoutot, M.O'Malley, A.Ames, V.Gaspes, L.Hvatum, S.Mehta, H.Eriksson, C.Grante
        Acumen: An open-source testbed for cyber-physical systems research
        in: EAI International Conference on Cyber physical systems, iOt and sensors Networks (CYCLONE'15)
        [13]
        N.T. Dantam, D.M. Lofaro, A. Hereid, P.Y. Oh, A.D. Ames and M. Stilman, 
        ​
        The ach library: a new framework for real-time communication,
        ​IEEE Robotics & Automation Magazine 22 (1),76-85
        [12]
        P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D. Ames, J. Grizzle, N. Ozay, H. Peng and P. Tabuada
        Correct-By-Construction Adaptive Cruise Control: Two Approaches
        in: IEEE Transactions on Control Systems Technology, 2016.[12]
        [11]
        Li Wang, A. D. Ames and M. Egerstedt
        Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
        in: American Control Conference (ACC), 2016
        [10]
        X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames
        Robustness of Control Barrier Functions for Safety Critical Control
        In: Analysis and Design of Hybrid Systems (ADHS), 2015
        [9]
        U. Borrmann, Li. Wang, A. D. Ames, and M. Egerstedt
        Control Barrier Certificates for Safe Swarm Behavior
        In: Analysis and Design of Hybrid Systems (ADHS), 2015
        [8]
        A. Mehra, W-L. Ma, F. Berg, P. Tabuada, J. W. Grizzle and A. D. Ames
        Adaptive Cruise Control: Experimental Validation of Advanced Controllers on Scale-Model Cars
        To appear in: American Control Conference (ACC), 2015.


        Experimental results shown on the right. 
        [7]
        A. D. Ames, J. W. Grizzle and P. Tabuada.  
        Control Barrier Function based Quadratic Programs with Application to Adaptive Cruise Control.  
        In the IEEE Conference on Decision and Control (CDC), 2014.
        [6]
        P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P. Tabuada.  
        Preliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Control.  
        In the IEEE Conference on Decision and Control (CDC), 2014.
        [5]
        W. Taha, P. Brauner, Y. Zeng, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot
        A Core Language for Executable Models of Cyber Physical Systems (Preliminary Report)
        In 32nd International Conference on Distributed Computing Systems Workshops (ICDCS), Macau, China,
        2012.
        [4]
        W. Taha, P. Brauner, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot
        A Core Language for Executable Models of Cyber Physical Systems: work in progress report
        In SIGBED Review, vol. 8, no. 2, pp. 39-43, 2011.
        [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. 
        Picture
        Mechanical and Civil Engineering
        Computational + Mathematical Sciences
        ​California Institute of Technology
        B121 Gates Thomas
        1200 E California Blvd. MC 104-44,
        Pasadena, CA 91125
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