| 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 | 150 | 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 | 140 | 2018 |
| Dynamic walking with compliance on a cassie bipedal robot J Reher, WL Ma, AD Ames 2019 18th European Control Conference (ECC), 2589-2595, 2019 | 97 | 2019 |
| Dynamic walking: Toward agile and efficient bipedal robots J Reher, AD Ames Annual Review of Control, Robotics, and Autonomous Systems 4 (1), 535-572, 2021 | 71 | 2021 |
| 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 | 66 | 2020 |
| 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, 725-742, 2017 | 63 | 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 | 61 | 2016 |
| An inverse dynamics approach to control lyapunov functions J Reher, C Kann, AD Ames 2020 American Control Conference (ACC), 2444-2451, 2020 | 42 | 2020 |
| Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning X Xiong, J Reher, AD Ames 2021 IEEE International Conference on Robotics and Automation (ICRA), 2825-2831, 2021 | 41 | 2021 |
| 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 | 32 | 2015 |
| 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 |
| 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 | 28 | 2015 |
| Inverse dynamics control of compliant hybrid zero dynamic walking J Reher, AD Ames 2021 IEEE International Conference on Robotics and Automation (ICRA), 2040-2047, 2021 | 24 | 2021 |
| Learning controller gains on bipedal walking robots via user preferences N Csomay-Shanklin, M Tucker, M Dai, J Reher, AD Ames 2022 International Conference on Robotics and Automation (ICRA), 10405-10411, 2022 | 14 | 2022 |
| 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 | 14 | 2015 |
| Control lyapunov functions for compliant hybrid zero dynamic walking J Reher, AD Ames arXiv preprint arXiv:2107.04241, 2021 | 12 | 2021 |
| Control of separable subsystems with application to prostheses R Gehlhar, J Reher, AD Ames arXiv preprint arXiv:1909.03102, 2019 | 8 | 2019 |
| Dynamic Bipedal Locomotion: From Hybrid Zero Dynamics to Control Lyapunov Functions Via Experimentally Realizable Methods J Reher California Institute of Technology, 2021 | 5 | 2021 |
| Input to state stability of bipedal walking robots: Application to durus S Kolathaya, J Reher, AD Ames arXiv preprint arXiv:1801.00618, 2018 | 3 | 2018 |
| 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 |
Aaron D. AmesBren Professor, Mechanical and Civil Engineering, Control and Dynamical Systems, CaltechVerified email at cds.caltech.edu
