| 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics A Hereid, EA Cousineau, CM Hubicki, AD Ames 2016 IEEE International Conference on Robotics and Automation (ICRA), 1447-1454, 2016 | 249 | 2016 |
| Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway Y Gong, R Hartley, X Da, A Hereid, O Harib, JK Huang, J Grizzle 2019 American control conference (ACC), 4559-4566, 2019 | 228 | 2019 |
| FROST*: Fast Robot Optimization and Simulation Toolkit A Hereid, AD Ames 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 | 161 | 2017 |
| 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 | 149 | 2016 |
| 3d dynamic walking on stepping stones with control barrier functions Q Nguyen, A Hereid, JW Grizzle, AD Ames, K Sreenath 2016 IEEE 55th Conference on Decision and Control (CDC), 827-834, 2016 | 139 | 2016 |
| Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization A Hereid, CM Hubicki, EA Cousineau, AD Ames IEEE Transactions on Robotics 34 (2), 370-387, 2018 | 137 | 2018 |
| Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking O Harib, A Hereid, A Agrawal, T Gurriet, S Finet, G Boeris, A Duburcq, ... IEEE Control Systems Magazine 38 (6), 61 - 87, 2018 | 136 | 2018 |
| First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons A Agrawal, O Harib, A Hereid, S Finet, M Masselin, L Praly, AD Ames, ... IEEE Access 5, 9919-9934, 2017 | 104 | 2017 |
| Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons T Gurriet, S Finet, G Boeris, A Duburcq, A Hereid, O Harib, M Masselin, ... 2018 IEEE international conference on robotics and automation (ICRA), 2804-2811, 2018 | 101 | 2018 |
| Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control A Hereid, S Kolathaya, MS Jones, J Van Why, JW Hurst, AD Ames Proceedings of the 17th international conference on Hybrid systems …, 2014 | 84 | 2014 |
| Robust feedback motion policy design using reinforcement learning on a 3d digit bipedal robot GA Castillo, B Weng, W Zhang, A Hereid 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 68 | 2021 |
| Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped A Hereid, O Harib, R Hartley, Y Gong, JW Grizzle IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019 | 65* | 2019 |
| 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: Proceedings of the Twelfth Workshop …, 2020 | 63 | 2020 |
| The ach library: a new framework for real-time communication NT Dantam, DM Lofaro, A Hereid, PY Oh, AD Ames, M Stilman IEEE Robotics & Automation Magazine 22 (1), 76-85, 2015 | 48* | 2015 |
| Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning GA Castillo, B Weng, W Zhang, A Hereid 2020 IEEE International Conference on Robotics and Automation (ICRA), 8746-8752, 2020 | 46 | 2020 |
| Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics MJ Powell, A Hereid, AD Ames 2013 IEEE international conference on robotics and automation, 4803-4810, 2013 | 45* | 2013 |
| Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking A Hereid, CM Hubicki, EA Cousineau, JW Hurst, AD Ames IEEE International Conference on Robotics and Automation, 2015 | 42 | 2015 |
| Multi-contact bipedal robotic locomotion H Zhao, A Hereid, W Ma, AD Ames Robotica 35 (5), 1072-1106, 2017 | 38 | 2017 |
| Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization A Hereid, S Kolathaya, AD Ames Decision and Control (CDC), 2016 IEEE 55th Conference on, 6173-6179, 2016 | 36* | 2016 |
| 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 | 29 | 2018 |
Aaron D. AmesBren Professor, Mechanical and Civil Engineering, Control and Dynamical Systems, CaltechVerified email at cds.caltech.edu
