36 citations · 47 across the 23 of their papers we have counts for
4 papers · 1 filter
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
Maegan Tucker, Kejun Li, Aaron D. Ames
Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work…
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker +1
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of t…
Input-to-State Stability in Probability
Preston Culbertson, Ryan K. Cosner, Maegan Tucker +1
Input-to-State Stability (ISS) is fundamental in mathematically quantifying how stability degrades in the presence of bounded disturbances. If a system is ISS, its trajectories wil…
An Input-to-State Stability Perspective on Robust Locomotion
Maegan Tucker, Aaron D. Ames
Uneven terrain necessarily transforms periodic walking into a non-periodic motion. As such, traditional stability analysis tools no longer adequately capture the ability of a biped…