324 citations · 420 across the 56 of their papers we have counts for
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Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya +4
Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obta…
Input-to-State Safety With Control Barrier Functions
Shishir Kolathaya, Aaron D. Ames
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar…
Input to State Stability of Bipedal Walking Robots: Application to DURUS
Shishir Kolathaya, Jacob Reher, Aaron D. Ames
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to…