| 2025 | ICML | Learning Safe Control via On-the-Fly Bandit Exploration. | Alexandre Capone, Ryan Kazuo Cosner, Aaron D. Ames, Sandra Hirche |
| 2025 | ICRA | Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. | William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames |
| 2025 | ICRA | Dynamically Feasible Path Planning in Cluttered Environments via Reachable BZier Polytopes. | Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames |
| 2025 | ICRA | Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. | Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames |
| 2025 | ICRA | Safety-Critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles During Navigation Toward Destination. | Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames |
| 2025 | ICRA | DROP: Dexterous Reorientation via Online Planning. | Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames |
| 2025 | IROS | Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis. | Kejun Li, Jeeseop Kim, Maxime Brunet, Marine Ptriaux, Yisong Yue, Aaron D. Ames |
| 2025 | IROS | Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks. | Xiao Tan, Junior Sundar, Renzo Bruzzone, Pio Ong, Willian T. Lunardi, Martin Andreoni, Paulo Tabuada, Aaron D. Ames |
| 2025 | IROS | SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. | Lizhi Yang, Blake Werner, Ryan K. Cosner, David Fridovich-Keil, Preston Culbertson, Aaron D. Ames |
| 2024 | CoRL | Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. | Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg |
| 2024 | ICRA | Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. | Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames |
| 2024 | ICRA | Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. | Jeeseop Kim, Jaemin Lee, Aaron D. Ames |
| 2024 | ICRA | Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. | Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tams G. Molnr, Aaron D. Ames |
| 2024 | IROS | Robust Agility via Learned Zero Dynamics Policies. | Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames |
| 2024 | IROS | Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. | Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames |
| 2024 | IROS | Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. | Jaemin Lee, Jeeseop Kim, Aaron D. Ames |
| 2024 | IROS | Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. | Albert H. Li, Preston Culbertson, Aaron D. Ames |
| 2024 | IROS | Data-Driven Predictive Control for Robust Exoskeleton Locomotion. | Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames |
| 2024 | IROS | Learned Regions of Attraction for Safe Motion Primitive Transitions. | Wyatt Ubellacker, Aaron D. Ames |
| 2024 | ICRA | Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. | Maegan Tucker, Kejun Li, Aaron D. Ames |
| 2023 | ICRA | Safety-Critical Controller Verification via Sim2Real Gap Quantification. | Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames |
| 2023 | ICRA | Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. | Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray |
| 2023 | ICRA | Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. | Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames |
| 2023 | ICRA | Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. | Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed |
| 2023 | ICRA | Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. | Rachel Gehlhar, Aaron D. Ames |
| 2023 | ICRA | Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. | Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames |
| 2023 | IROS | Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. | Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames |
| 2023 | IROS | Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. | Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames |
| 2023 | IROS | Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. | Jeeseop Kim, Jaemin Lee, Aaron D. Ames |
| 2023 | IROS | Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. | Jaemin Lee, Jeeseop Kim, Aaron D. Ames |
| 2023 | IROS | FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. | Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames |
| 2023 | ICRA | Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. | Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames |
| 2023 | ICRA | Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. | Wyatt Ubellacker, Aaron D. Ames |
| 2022 | ICML | LyaNet: A Lyapunov Framework for Training Neural ODEs. | Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue |
| 2022 | ICRA | Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. | Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tams G. Molnr, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman |
| 2022 | ICRA | Learning Controller Gains on Bipedal Walking Robots via User Preferences. | Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames |
| 2022 | ICRA | Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. | Min Dai, Xiaobin Xiong, Aaron D. Ames |
| 2022 | IROS | Safe Drone Flight with Time-Varying Backup Controllers. | Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames |
| 2022 | IROS | From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. | Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth |
| 2021 | AAAI | Constrained Risk-Averse Markov Decision Processes. | Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames |
| 2021 | ICRA | Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. | Eric R. Ambrose, Wen-Loong Ma, Aaron D. Ames |
| 2021 | ICRA | Model-Dependent Prosthesis Control with Interaction Force Estimation. | Rachel Gehlhar, Aaron D. Ames |
| 2021 | ICRA | Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. | Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter |
| 2021 | ICRA | ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes. | Kejun Li, Maegan Tucker, Erdem Biyik, Ellen R. Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames |
| 2021 | ICRA | Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. | Jenna Reher, Aaron D. Ames |
| 2021 | IROS | Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. | Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tams G. Molnr, Katherine L. Bouman, Aaron D. Ames |
| 2021 | IROS | Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. | Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue |
| 2021 | IROS | Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. | Andrew Singletary, Karl Klingebiel, Joseph Bourne, N. Andrew Browning, Phil Tokumaru, Aaron D. Ames |
| 2021 | IROS | Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. | Wyatt Ubellacker, Noel Csomay-Shanklin, Tams G. Molnr, Aaron D. Ames |
| 2021 | ICRA | Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. | Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames |
| 2021 | ICRA | Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. | Xiaobin Xiong, Jenna Reher, Aaron D. Ames |
| 2021 | WAFR | ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. | Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg |
| 2020 | CoRL | Reactive motion planning with probabilisticsafety guarantees. | Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray |
| 2020 | CoRL | Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. | Sarah Dean, Andrew J. Taylor, Ryan K. Cosner, Benjamin Recht, Aaron D. Ames |
| 2020 | ICRA | Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. | Eric R. Ambrose, Aaron D. Ames |
| 2020 | ICRA | Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. | Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck |
| 2020 | ICRA | From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. | Wen-Loong Ma, Aaron D. Ames |
| 2020 | ICRA | Passive Dynamic Balancing and Walking in Actuated Environments. | Jenna Reher, Noel Csomay-Shanklin, David L. Christensen, Bobby Bristow, Aaron D. Ames, Lanny S. Smoot |
| 2020 | IROS | Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. | Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames |
| 2020 | IROS | Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots. | Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames |
| 2020 | IROS | Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. | Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick |
| 2020 | IROS | Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. | Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames |
| 2020 | IROS | Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. | Xiaobin Xiong, Aaron D. Ames |
| 2020 | ICRA | Safety-Critical Rapid Aerial Exploration of Unknown Environments. | Andrew Singletary, Thomas Gurriet, Petter Nilsson, Aaron D. Ames |
| 2020 | ICRA | Preference-Based Learning for Exoskeleton Gait Optimization. | Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel W. Burdick, Aaron D. Ames |
| 2020 | SP | Partially Observable Games for Secure Autonomy. | Mohamadreza Ahmadi, Arun Viswanathan, Michel D. Ingham, Kymie Tan, Aaron D. Ames |
| 2019 | ICRA | Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. | Alexander H. Chang, Christian Hubicki, Aaron D. Ames, Patricio A. Vela |
| 2019 | ICRA | Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. | Wen-Loong Ma, Yizhar Or, Aaron D. Ames |
| 2019 | IROS | Design and Comparative Analysis of 1D Hopping Robots. | Eric R. Ambrose, Noel Csomay-Shanklin, Yizhar Or, Aaron D. Ames |
| 2019 | IROS | First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. | Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames |
| 2019 | IROS | Online Active Safety for Robotic Manipulators. | Andrew Singletary, Petter Nilsson, Thomas Gurriet, Aaron D. Ames |
| 2019 | IROS | Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems | Andrew J. Taylor, Victor D. Dorobantu, Hoang Minh Le, Yisong Yue, Aaron D. Ames |
| 2019 | IROS | Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. | Xiaobin Xiong, Aaron D. Ames |
| 2019 | IROS | Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. | Xiaobin Xiong, Aaron D. Ames |
| 2018 | ICRA | Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. | Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames |
| 2018 | IROS | Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. | Xiaobin Xiong, Aaron D. Ames |
| 2017 | ICRA | Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. | Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela |
| 2017 | ICRA | Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. | Michael X. Grey, Aaron D. Ames, C. Karen Liu |
| 2017 | ICRA | The Robotarium: A remotely accessible swarm robotics research testbed. | Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt |
| 2017 | IROS | FROST∗: Fast robot optimization and simulation toolkit. | Ayonga Hereid, Aaron D. Ames |
| 2017 | IROS | A stability region criterion for flat-footed bipedal walking on deformable granular terrain. | Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman |
| 2017 | ICRA | Safe certificate-based maneuvers for teams of quadrotors using differential flatness. | Li Wang, Aaron D. Ames, Magnus Egerstedt |
| 2017 | ICRA | Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. | Huihua Zhao, Eric R. Ambrose, Aaron D. Ames |
| 2016 | ICRA | 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. | Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames |
| 2016 | ICRA | Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. | Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames |
| 2016 | ICRA | Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. | Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames |
| 2016 | IROS | Humanoid manipulation planning using backward-forward search. | Michael X. Grey, Caelan Reed Garrett, C. Karen Liu, Aaron D. Ames, Andrea Lockerd Thomaz |
| 2016 | IROS | Tractable terrain-aware motion planning on granular media: An impulsive jumping study. | Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames |
| 2016 | IROS | Efficient HZD gait generation for three-dimensional underactuated humanoid running. | Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames |
| 2016 | IROS | Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. | Matthew J. Powell, Aaron D. Ames |
| 2016 | WAFR | Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. | Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames |
| 2015 | ICRA | Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. | Eric A. Cousineau, Aaron D. Ames |
| 2015 | ICRA | Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. | Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames |
| 2015 | ICRA | Model predictive control of underactuated bipedal robotic walking. | Matthew J. Powell, Eric A. Cousineau, Aaron D. Ames |
| 2014 | ICRA | Planar multi-contact bipedal walking using hybrid zero dynamics. | Jordan Lack, Matthew J. Powell, Aaron D. Ames |
| 2014 | ICRA | Human-inspired walking via unified PD and impedance control. | Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames |
| 2014 | ICRA | Quadratic programming and impedance control for transfemoral prosthesis. | Huihua Zhao, Shishir Kolathaya, Aaron D. Ames |
| 2014 | WAFR | Composing Dynamical Systems to Realize Dynamic Robotic Dancing. | Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames |
| 2013 | CISS | Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. | Aaron D. Ames, Matthew J. Powell |
| 2013 | ICRA | Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. | Matthew J. Powell, Ayonga Hereid, Aaron D. Ames |
| 2013 | IROS | Learning impedance controller parameters for lower-limb prostheses. | Navid Aghasadeghi, Huihua Zhao, Levi J. Hargrove, Aaron D. Ames, Eric J. Perreault, Timothy Bretl |
| 2012 | ICRA | First steps toward underactuated human-inspired bipedal robotic walking. | Aaron D. Ames |
| 2012 | ICRA | Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. | Matthew J. Powell, Huihua Zhao, Aaron D. Ames |
| 2012 | IROS | Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. | Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames |
| 2012 | IROS | Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. | Huihua Zhao, Shishir Nadubettu Yadukumar, Aaron D. Ames |
| 2012 | WAFR | From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. | Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames |
| 2011 | IROS | Simulating Prosthetic Devices with Human-Inspired Hybrid Control. | Ryan W. Sinnet, Huihua Zhao, Aaron D. Ames |
| 2007 | ACC | Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. | Aaron D. Ames, Robert D. Gregg |