| Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS J Reher, EA Cousineau, A Hereid, CM Hubicki, AD Ames 2016 IEEE International Conference on Robotics and Automation (ICRA), 1794-1801, 2016 | 76 | 2016 |
| Towards a framework for realizable safety critical control through active set invariance T Gurriet, A Singletary, J Reher, L Ciarletta, E Feron, A Ames 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS …, 2018 | 39 | 2018 |
| First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach H Zhao, J Horn, J Reher, V Paredes, AD Ames Autonomous Robots 41 (3), 725-742, 2017 | 39 | 2017 |
| Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control H Zhao, J Horn, J Reher, V Paredes, AD Ames IEEE Transactions on Automation Science and Engineering 13 (2), 502-513, 2016 | 34 | 2016 |
| Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS JP Reher, A Hereid, S Kolathaya, CM Hubicki, AD Ames Algorithmic Foundations of Robotics XII, 400-415, 2020 | 32 | 2020 |
| Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis H Zhao, J Reher, J Horn, V Paredes, AD Ames Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical …, 2015 | 23 | 2015 |
| Dynamic walking with compliance on a cassie bipedal robot J Reher, WL Ma, AD Ames 2019 18th European Control Conference (ECC), 2589-2595, 2019 | 16 | 2019 |
| Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition H Zhao, J Reher, J Horn, V Paredes, AD Ames 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 265-270, 2015 | 16 | 2015 |
| A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses H Zhao, J Horn, J Reher, V Paredes, AD Ames 2015 54th IEEE Conference on Decision and Control (CDC), 1607-1612, 2015 | 11 | 2015 |
| An inverse dynamics approach to control lyapunov functions J Reher, C Kann, AD Ames 2020 American Control Conference (ACC), 2444-2451, 2020 | 7 | 2020 |
| Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion S Kolathaya, J Reher, A Hereid, AD Ames 2018 Annual American Control Conference (ACC), 2224-2230, 2018 | 6 | 2018 |
| Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking J Reher, AD Ames arXiv preprint arXiv:2010.09047, 2020 | 3 | 2020 |
| Control of separable subsystems with application to prostheses R Gehlhar, J Reher, AD Ames arXiv preprint arXiv:1909.03102, 2019 | 3 | 2019 |
| Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control H Zhao, J Reher, J Horn, V Paredes, AD Ames Proceedings of the 18th International Conference on Hybrid Systems …, 2015 | 3 | 2015 |
| Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning X Xiong, J Reher, A Ames arXiv preprint arXiv:2011.06050, 2020 | 2 | 2020 |
| Input to state stability of bipedal walking robots: Application to durus S Kolathaya, J Reher, AD Ames arXiv preprint arXiv:1801.00618, 2018 | 2 | 2018 |
| Passive Dynamic Balancing and Walking in Actuated Environments J Reher, N Csomay-Shanklin, DL Christensen, B Bristow, AD Ames, ... 2020 IEEE International Conference on Robotics and Automation (ICRA), 9775-9781, 2020 | 1 | 2020 |
| Learning Controller Gains on Bipedal Walking Robots via User Preferences N Csomay-Shanklin, M Tucker, M Dai, J Reher, AD Ames arXiv preprint arXiv:2102.13201, 2021 | | 2021 |
| Dynamic Walking: Toward Agile and Efficient Bipedal Robots J Reher, AD Ames Annual Review of Control, Robotics, and Autonomous Systems 4, 2020 | | 2020 |
Aaron D. AmesBren Professor, Mechanical and Civil Engineering, Control and Dynamical Systems, CaltechVerified email at cds.caltech.edu
