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Aaron D. Ames, Ph.D. - Publications

Affiliations: 
2006 University of California, Berkeley, Berkeley, CA, United States 
Area:
Electronics and Electrical, Robotics
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56 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2023 Gehlhar R, Tucker M, Young AJ, Ames AD. A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses. Annual Reviews in Control. 55: 142-164. PMID 37635763 DOI: 10.1016/j.arcontrol.2023.03.003  0.586
2021 Kerdraon J, Previnaire JG, Tucker M, Coignard P, Allegre W, Knappen E, Ames A. Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury. Spinal Cord Series and Cases. 7: 71. PMID 34349101 DOI: 10.1038/s41394-021-00432-3  0.559
2020 Chang AH, Hubicki CM, Aguilar JJ, Goldman DI, Ames AD, Vela PA. Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping Ieee Transactions On Control Systems and Technology. 1-16. DOI: 10.1109/Tcst.2020.3009636  0.373
2019 Azimi V, Shu T, Zhao H, Gehlhar R, Simon D, Ames AD. Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments Ieee Transactions On Systems, Man, and Cybernetics. 1-18. DOI: 10.1109/Tsmc.2019.2896193  0.46
2019 Hamed KA, Ames AD. Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking Ieee Transactions On Control Systems and Technology. 1-8. DOI: 10.1109/Tcst.2019.2947874  0.373
2018 Hereid A, Hubicki CM, Cousineau EA, Ames AD. Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization Ieee Transactions On Robotics. 34: 370-387. DOI: 10.1109/Tro.2017.2783371  0.359
2018 Xu X, Grizzle JW, Tabuada P, Ames AD. Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control Ieee Transactions On Automation Science and Engineering. 15: 1216-1229. DOI: 10.1109/Tase.2017.2760863  0.457
2018 Harib O, Hereid A, Agrawal A, Gurriet T, Finet S, Boeris G, Duburcq A, Mungai ME, Masselin M, Ames AD, Sreenath K, Grizzle JW. Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking Ieee Control Systems. 38: 61-87. DOI: 10.1109/Mcs.2018.2866604  0.406
2018 Haesaert S, Nilsson P, Vasile C, Thakker R, Agha-mohammadi A, Ames A, Murray R. Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations Ifac-Papersonline. 51: 271-276. DOI: 10.1016/J.Ifacol.2018.08.046  0.531
2017 Wang L, Ames AD, Egerstedt M. Safety Barrier Certificates for Collisions-Free Multirobot Systems Ieee Transactions On Robotics. 33: 661-674. DOI: 10.1109/Tro.2017.2659727  0.461
2017 Ames AD, Xu X, Grizzle JW, Tabuada P. Control Barrier Function Based Quadratic Programs for Safety Critical Systems Ieee Transactions On Automatic Control. 62: 3861-3876. DOI: 10.1109/Tac.2016.2638961  0.441
2017 Agrawal A, Harib O, Hereid A, Finet S, Masselin M, Praly L, Ames AD, Sreenath K, Grizzle JW. First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons Ieee Access. 5: 9919-9934. DOI: 10.1109/Access.2017.2690407  0.488
2017 Ames AD, Tabuada P, Jones A, Ma WL, Rungger M, Schürmann B, Kolathaya S, Grizzle JW. First steps toward formal controller synthesis for bipedal robots with experimental implementation Nonlinear Analysis: Hybrid Systems. 25: 155-173. DOI: 10.1016/J.Nahs.2017.01.002  0.44
2017 Kolathaya S, Ames AD. Parameter to state stability of control Lyapunov functions for hybrid system models of robots Nonlinear Analysis: Hybrid Systems. 25: 174-191. DOI: 10.1016/J.Nahs.2016.09.003  0.412
2016 Zhao H, Horn J, Reher J, Paredes V, Ames AD. Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control Ieee Transactions On Automation Science and Engineering. DOI: 10.1109/Tase.2016.2524528  0.444
2016 Zhao H, Horn J, Reher J, Paredes V, Ames AD. A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses Proceedings of the Ieee Conference On Decision and Control. 2016: 1607-1612. DOI: 10.1109/CDC.2015.7402440  0.316
2016 Kolathaya S, Ames AD. Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits Ifac-Papersonline. 48: 377-382. DOI: 10.1016/J.Ifacol.2015.11.203  0.428
2016 Borrmann U, Wang L, Ames AD, Egerstedt M. Control Barrier Certificates for Safe Swarm Behavior Ifac-Papersonline. 48: 68-73. DOI: 10.1016/J.Ifacol.2015.11.154  0.455
2016 Xu X, Tabuada P, Grizzle JW, Ames AD. Robustness of Control Barrier Functions for Safety Critical Control Ifac-Papersonline. 48: 54-61. DOI: 10.1016/J.Ifacol.2015.11.152  0.418
2016 Zhao H, Horn J, Reher J, Paredes V, Ames AD. First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach Autonomous Robots. 1-18. DOI: 10.1007/S10514-016-9565-1  0.447
2015 Zhao H, Reher J, Horn J, Paredes V, Ames AD. Realization of nonlinear real-Time optimization based controllers on self-Contained transfemoral prosthesis Acm/Ieee 6th International Conference On Cyber-Physical Systems, Iccps 2015. 130-138. DOI: 10.1145/2735960.2735964  0.377
2015 Zhao H, Reher J, Horn J, Paredes V, Ames AD. 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, Hscc 2015. 305-306. DOI: 10.1145/2728606.2728638  0.382
2015 Nilsson P, Hussien O, Balkan A, Chen Y, Ames AD, Grizzle JW, Ozay N, Peng H, Tabuada P. Correct-by-Construction Adaptive Cruise Control: Two Approaches Ieee Transactions On Control Systems Technology. DOI: 10.1109/Tcst.2015.2501351  0.455
2015 Dantam NT, Lofaro DM, Hereid A, Oh PY, Ames AD, Stilman M. The Ach library: A new framework for real-time communication Ieee Robotics and Automation Magazine. 22: 76-85. DOI: 10.1109/Mra.2014.2356937  0.317
2015 Cousineau E, Ames AD. Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method Proceedings - Ieee International Conference On Robotics and Automation. 2015: 5747-5753. DOI: 10.1109/ICRA.2015.7140004  0.366
2015 Galloway K, Sreenath K, Ames AD, Grizzle JW. Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs Ieee Access. 3: 323-332. DOI: 10.1109/Access.2015.2419630  0.476
2015 Hsu SC, Xu X, Ames AD. Control barrier function based quadratic programs with application to bipedal robotic walking Proceedings of the American Control Conference. 2015: 4542-4548. DOI: 10.1109/ACC.2015.7172044  0.328
2015 Zhao H, Hereid A, Ma Wl, Ames AD. Multi-contact bipedal robotic locomotion Robotica. 1-35. DOI: 10.1017/S0263574715000995  0.355
2014 Sinnet RW, Jiang S, Ames AD. A human-inspired framework for bipedal robotic walking design International Journal of Biomechatronics and Biomedical Robotics. 3: 20. DOI: 10.1504/Ijbbr.2014.059275  0.352
2014 Ames AD. Human-inspired control of Bipedal walking robots Ieee Transactions On Automatic Control. 59: 1115-1130. DOI: 10.1109/Tac.2014.2299342  0.377
2014 Ames AD, Galloway K, Sreenath K, Grizzle JW. Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics Ieee Transactions On Automatic Control. 59: 876-891. DOI: 10.1109/Tac.2014.2299335  0.379
2014 Zhao H, Kolathaya S, Ames AD. Quadratic programming and impedance control for transfemoral prosthesis Proceedings - Ieee International Conference On Robotics and Automation. 1341-1347. DOI: 10.1109/ICRA.2014.6907026  0.34
2014 Ames AD, Holley J. Quadratic program based nonlinear embedded control of series elastic actuators Proceedings of the Ieee Conference On Decision and Control. 2015: 6291-6298. DOI: 10.1109/CDC.2014.7040375  0.34
2014 Ames AD, Grizzle JW, Tabuada P. Control barrier function based quadratic programs with application to adaptive cruise control Proceedings of the Ieee Conference On Decision and Control. 2015: 6271-6278. DOI: 10.1109/CDC.2014.7040372  0.324
2014 Zhao H, Ames AD. Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion Proceedings of the American Control Conference. 4101-4107. DOI: 10.1109/ACC.2014.6859014  0.368
2014 Grizzle JW, Chevallereau C, Sinnet RW, Ames AD. Models, feedback control, and open problems of 3D bipedal robotic walking Automatica. 50: 1955-1988. DOI: 10.1016/J.Automatica.2014.04.021  0.454
2014 Zhao H, Powell MJ, Ames AD. Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain Optimal Control Applications and Methods. 35: 730-755. DOI: 10.1002/Oca.2099  0.41
2013 Lamperski A, Ames AD. Lyapunov theory for zeno stability Ieee Transactions On Automatic Control. 58: 100-112. DOI: 10.1109/Tac.2012.2208292  0.325
2013 Teel AR, Goebel R, Morris B, Ames AD, Grizzle JW. A stabilization result with application to bipedal locomotion Proceedings of the Ieee Conference On Decision and Control. 2030-2035. DOI: 10.1109/CDC.2013.6760180  0.434
2013 Vasudevan R, Ames A, Bajcsy R. Persistent homology for automatic determination of human-data based cost of bipedal walking Nonlinear Analysis: Hybrid Systems. 7: 101-115. DOI: 10.1016/J.Nahs.2012.07.006  0.335
2013 Ames AD, Powell M. Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs Lecture Notes in Control and Information Sciences. 449: 219-240. DOI: 10.1007/978-3-319-01159-2_12  0.337
2013 Radford NA, Strawser P, Hambuchen K, Mehling JS, Verdeyen WK, Donnan AS, Holley J, Sanchez J, Nguyen V, Bridgwater L, Berka R, Ambrose R, Myles Markee M, Fraser-Chanpong NJ, McQuin C, ... ... Ames A, et al. Valkyrie: NASA's First Bipedal Humanoid Robot Journal of Field Robotics. 32: 397-419. DOI: 10.1002/Rob.21560  0.329
2012 Sinnet RW, Ames AD. Bio-inspired feedback control of three-dimensional humanlike bipedal robots Journal of Robotics and Mechatronics. 24: 595-601. DOI: 10.20965/Jrm.2012.P0595  0.449
2012 Kolathaya S, Ames AD. Achieving bipedal locomotion on rough terrain through human-inspired control 2012 Ieee International Symposium On Safety, Security, and Rescue Robotics, Ssrr 2012. DOI: 10.1109/SSRR.2012.6523897  0.317
2012 Yadukumar SN, Pasupuleti M, Ames AD. Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain Ieee International Conference On Intelligent Robots and Systems. 2478-2483. DOI: 10.1109/IROS.2012.6386182  0.338
2012 Wendel E, Ames AD. Rank deficiency and superstability of hybrid systems Nonlinear Analysis: Hybrid Systems. 6: 787-805. DOI: 10.1016/J.Nahs.2011.09.002  0.345
2012 Sinnet RW, Ames AD. Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction Proceedings of the American Control Conference. 4831-4836.  0.312
2011 Vasudevan R, Ames AD, Bajcsy R. Human based cost from persistent homology for bipedal walking Ifac Proceedings Volumes (Ifac-Papersonline). 18: 3292-3297. DOI: 10.3182/20110828-6-It-1002.03807  0.305
2011 Sinnet RW, Powell MJ, Shah RP, Ames AD. A human-inspired hybrid control approach to bipedal robotic walking Ifac Proceedings Volumes (Ifac-Papersonline). 18: 6904-6911. DOI: 10.3182/20110828-6-It-1002.03802  0.405
2011 Or Y, Ames AD. Stability and completion of Zeno equilibria in Lagrangian hybrid systems Ieee Transactions On Automatic Control. 56: 1322-1336. DOI: 10.1109/Tac.2010.2080790  0.316
2010 Grizzle JW, Chevallereau C, Ames AD, Sinnet RW. 3D bipedal robotic walking: Models, feedback control, and open problems Ifac Proceedings Volumes (Ifac-Papersonline). 505-532. DOI: 10.3182/20100901-3-It-2016.00302  0.45
2008 Tabuada P, Ames AD, Julius A, Pappas GJ. Approximate reduction of dynamic systems Systems and Control Letters. 57: 538-545. DOI: 10.1016/J.Sysconle.2007.12.005  0.552
2007 Ames AD, Abate A, Sastry S. Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations Proceedings of the Ieee Conference On Decision and Control. 4033-4038. DOI: 10.1109/CDC.2007.4434891  0.453
2007 Ames AD, Gregg RD, Spong MW. A geometric approach to three-dimensional hipped bipedal robotic walking Proceedings of the Ieee Conference On Decision and Control. 5123-5130. DOI: 10.1109/CDC.2007.4434880  0.337
2007 Ames AD, Gregg RD, Wendel EDB, Sastry S. On the geometric reduction of controlled three-dimensional bipedal robotic walkers Lecture Notes in Control and Information Sciences. 366: 183-196.  0.333
2005 Sprinkle J, Ames AD, Eklund JM, Mitchell IM, Sastry SS. Online safety calculations for glide-slope recapture Innovations in Systems and Software Engineering. 1: 157-175. DOI: 10.1007/S11334-005-0017-X  0.538
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