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Aaron Ames

3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
Sequential motion planning for bipedal somersault via flywheel slip and momentum transmission with task space control
Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations
Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
A Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain

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