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Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

Apr 18, 2022
Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames

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Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

Mar 14, 2022
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames

* 8 pages, 6 figures, submitted to IROS 2022 

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Interactive multi-modal motion planning with Branch Model Predictive Control

Sep 18, 2021
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames

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Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Jun 18, 2021
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar, Aaron D. Ames

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Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

May 04, 2021
Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames

* 13 pages, 4 figures, to appear at the Conference on Learning for Dynamics and Control 2021 

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Learning Controller Gains on Bipedal Walking Robots via User Preferences

Feb 25, 2021
Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames

* 8 pages, 7 figures, submitted to RA-L with IROS 2021 option 

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Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots

Nov 10, 2020
Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames

* 6 pages + 1 page references; 4 figures 

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