2.5k citations · 4.4k across the 142 of their papers we have counts for
158 papers
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner +3
We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical system…
Multi-Domain Walking with Reduced-Order Models of Locomotion
Min Dai, Jaemin Lee, Aaron D. Ames
Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our a…
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…
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability
Albert H. Li, Preston Culbertson, Aaron D. Ames
Classical approaches to grasp planning are deterministic, requiring perfect knowledge of an object's pose and geometry. In response, data-driven approaches have emerged that plan g…
Characterizing Smooth Safety Filters via the Implicit Function Theorem
Max H. Cohen, Pio Ong, Gilbert Bahati +1
Optimization-based safety filters, such as control barrier function (CBF) based quadratic programs (QPs), have demonstrated success in controlling autonomous systems to achieve com…
Composing Control Barrier Functions for Complex Safety Specifications
Tamas G. Molnar, Aaron D. Ames
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to d…