8 citations · 14 across the 4 of their papers we have counts for
7 papers
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking
Jenna Reher, Aaron D. Ames
The ability to realize nonlinear controllers with formal guarantees on dynamic robotic systems has the potential to enable more complex robotic behaviors -- yet, realizing these co…
Learning Controller Gains on Bipedal Walking Robots via User Preferences
Noel Csomay-Shanklin, Maegan Tucker, Min Dai +2
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requ…
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Xiaobin Xiong, Jenna Reher, Aaron Ames
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear…
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Jenna Reher, Aaron D. Ames
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of complian…
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Jenna Reher, Aaron D. Ames
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understan…
An Inverse Dynamics Approach to Control Lyapunov Functions
Jenna Reher, Claudia Kann, Aaron D. Ames
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body…
Control of Separable Subsystems with Application to Prostheses
Rachel Gehlhar, Jenna Reher, Aaron D. Ames
Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent con…