
RiskAverse Stochastic Shortest Path Planning
We consider the stochastic shortest path planning problem in MDPs, i.e.,...
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Learning Unstable Dynamics with One Minute of Data: A Differentiationbased Gaussian Process Approach
We present a straightforward and efficient way to estimate dynamics mode...
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Learning Controller Gains on Bipedal Walking Robots via User Preferences
Experimental demonstration of complex robotic behaviors relies heavily o...
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Constrained RiskAverse Markov Decision Processes
We consider the problem of designing policies for Markov decision proces...
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Towards Robust DataDriven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Modern nonlinear control theory seeks to endow systems with properties s...
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Lidarbased exploration and discretization for mobile robot planning
In robotic applications, the control, and actuation deal with a continuo...
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Decentralized Task and Path Planning for MultiRobot Systems
We consider a multirobot system with a team of collaborative robots and...
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PreferenceBased Learning for UserGuided HZD Gait Generation on Bipedal Walking Robots
This paper presents a framework that unifies control theory and machine ...
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ModelDependent Prosthesis Control with Interaction Force Estimation
Current prosthesis control methods are primarily modelindependent  lac...
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ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
Characterizing what types of exoskeleton gaits are comfortable for users...
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Reactive motion planning with probabilistics safety guarantees
Motion planning in environments with multiple agents is critical to many...
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RiskSensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion
Enforcing safety of robotic systems in the presence of stochastic uncert...
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MultiLayered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
The problem of dynamic locomotion over rough terrain requires both accur...
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Guaranteeing Safety of Learned Perception Modules via MeasurementRobust Control Barrier Functions
Modern nonlinear control theory seeks to develop feedback controllers th...
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Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
We present a trajectory planning and control architecture for bipedal lo...
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Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Dynamic walking on bipedal robots has evolved from an idea in science fi...
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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
The theoretical unification of Nonlinear Model Predictive Control (NMPC)...
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Safe MultiAgent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Robots operating in real world settings must navigate and maintain safet...
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Formal Test Synthesis for SafetyCritical Autonomous Systems based on Control Barrier Functions
The prolific rise in autonomous systems has led to questions regarding t...
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Barrier Functions for MultiagentPOMDPs with DTL Specifications
Multiagent partially observable Markov decision processes (MPOMDPs) pro...
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Datadriven Characterization of Human Interaction for Modelbased Control of Powered Prostheses
This paper proposes a datadriven method for powered prosthesis control ...
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Human PreferenceBased Learning for Highdimensional Optimization of Exoskeleton Walking Gaits
Understanding users' gait preferences of a lowerbody exoskeleton requir...
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Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Lower leg prostheses could improve the lives of amputees by increasing c...
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Partially Observable Games for Secure Autonomy
Technology development efforts in autonomy and cyberdefense have been e...
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Intermittent Connectivity for Exploration in CommunicationConstrained MultiAgent Systems
Motivated by exploration of communicationconstrained underground enviro...
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An Inverse Dynamics Approach to Control Lyapunov Functions
With the goal of moving towards implementation of increasingly dynamic b...
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Improved Performance on MovingMass Hopping Robots with Parallel Elasticity
Robotic Hopping is challenging from the perspective of both modeling the...
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RiskAverse Planning Under Uncertainty
We consider the problem of designing policies for partially observable M...
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PreferenceBased Learning for Exoskeleton Gait Optimization
This paper presents a personalized gait optimization framework for lower...
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Stabilization of Exoskeletons through Active Ankle Compensation
This paper presents an active stabilization method for a fully actuated ...
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Towards Variable Assistance for Lower Body Exoskeletons
This paper presents and experimentally demonstrates a novel framework fo...
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Optimal Motion Planning for MultiModal Hybrid Locomotion
Hybrid locomotion, which combines multiple modalities of locomotion with...
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From Bipedal Walking to Quadrupedal Locomotion: FullBody Dynamics Decomposition for Rapid Gait Generation
This paper systematically decomposes quadrupeds into bipeds to rapidly g...
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First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
The hybrid zero dynamics (HZD) approach has become a powerful tool for t...
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Control of Separable Subsystems with Application to Prostheses
Nonlinear control methodologies have successfully realized stable human...
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Dynamic Walking with Compliance on a Cassie Bipedal Robot
The control of bipedal robotic walking remains a challenging problem in ...
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Safe Policy Synthesis in MultiAgent POMDPs via DiscreteTime Barrier Functions
A multiagent partially observable Markov decision process (MPOMDP) is a...
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A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
The goal of this paper is to understand the impact of learning on contro...
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Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Many modern nonlinear control methods aim to endow systems with guarante...
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Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage
Dynamic bipedal robot locomotion has achieved remarkable success due in ...
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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Handsfree Dynamic Walking
This paper presents a design methodology for feedback control policy tha...
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Aaron D. Ames
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