Alert button
Picture for Aaron D. Ames

Aaron D. Ames

Alert button

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking

Oct 18, 2020
Jenna Reher, Aaron D. Ames

Figure 1 for Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Figure 2 for Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Figure 3 for Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Figure 4 for Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
Viaarxiv icon

Dynamic Walking: Toward Agile and Efficient Bipedal Robots

Oct 15, 2020
Jenna Reher, Aaron D. Ames

Figure 1 for Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Figure 2 for Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Figure 3 for Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Figure 4 for Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Viaarxiv icon

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Jun 01, 2020
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames

Figure 1 for Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Figure 2 for Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Figure 3 for Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Figure 4 for Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
Viaarxiv icon

Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties

Apr 11, 2020
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick

Figure 1 for Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Figure 2 for Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Figure 3 for Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Figure 4 for Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
Viaarxiv icon

Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions

Apr 08, 2020
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames

Figure 1 for Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
Figure 2 for Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
Figure 3 for Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions
Viaarxiv icon

Barrier Functions for Multiagent-POMDPs with DTL Specifications

Mar 19, 2020
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames

Figure 1 for Barrier Functions for Multiagent-POMDPs with DTL Specifications
Figure 2 for Barrier Functions for Multiagent-POMDPs with DTL Specifications
Figure 3 for Barrier Functions for Multiagent-POMDPs with DTL Specifications
Viaarxiv icon

Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses

Mar 17, 2020
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames

Figure 1 for Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Figure 2 for Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Figure 3 for Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Figure 4 for Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Viaarxiv icon

Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits

Mar 13, 2020
Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames

Figure 1 for Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Figure 2 for Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Figure 3 for Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Figure 4 for Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Viaarxiv icon

Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator

Mar 05, 2020
Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck

Figure 1 for Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Figure 2 for Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Figure 3 for Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Figure 4 for Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Viaarxiv icon