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Aaron D Ames
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Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons
FROST*: Fast Robot Optimization and Simulation Toolkit
Multi-contact bipedal robotic locomotion
3d dynamic walking on stepping stones with control barrier functions
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Efficient HZD gait generation for three-dimensional underactuated humanoid running
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
The ach library: a new framework for real-time communication
Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics
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