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Aaron D. Ames

Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Data-Driven Predictive Control for Robust Exoskeleton Locomotion
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking
Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking

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