Aaron D. Ames266 Gates-Thomas Email: ames@caltech.eduCalifornia Institute of Technology Phone: 626-395-87501200 East California Boulevard AMBER Lab: http://www.bipedalrobotics.comPasadena, CA 91125 YouTube: http://www.youtube.com/ProfAmes

Education

Ph.D. Electrical Engineering University of California, Berkeley 2006Dissertation: A Categorical Theory of Hybrid Systems

Advisor: Shankar SastryM.A. Mathematics University of California, Berkeley 2006B.S. Mechanical Engineering University of St. Thomas 2001B.A. Mathematics University of St. Thomas 2001

Appointments

Bren Professor Mechanical and Civil Engineering, Control and Dynamical Systems, Caltech,January 2017 to present

Associate Professor Woodruff School of Mechanical Engineering, School of Electrical & Computer En-gineering, Georgia Institute of Technology, July 2015 to December 2016

Associate Professor &Morris E. FosterFaculty Fellow II

Mechanical Engineering, Electrical & Computer Engineering, Computer Science &Engineering, Texas A&M University, Sept. 2014 to June 2015

Assistant Professor Mechanical Engineering, Texas A&M University, August 2008 to Aug. 2014Electrical & Computer Engineering, Texas A&M University, May 2011 to Aug. 2014Computer Science & Engineering, Texas A&M University, Dec. 2013 to Aug. 2014

Postdoctoral Scholar Control and Dynamical Systems, California Institute of Technology, August 2006 toAugust 2008. Advisor: John Doyle.

GraduateStudent Researcher

Electrical Engineering and Computer Sciences, University of California, Berkeley,Spring 2002 to Spring 2006. Advisor: Shankar Sastry.

Research Interests

Areas ofInterest

Bipedal Robotic Walking, Nonlinear Control and Hybrid Systems: Theoreticalfoundations with practical applications to human-inspired bipedal walking,including control Lyapunov functions, multi-objective quadratic programbased control, control barrier functions, Zeno behavior and stability of Zenoequilibria, geometric reduction for controller design, applications to pros-thetic design, embedded and networked systems, composition, automotivecontrol systems, category theory, cyber-physical systems, autonomy.

Aaron D. Ames Curriculum Vitae

Honors and Awards

¦ Leon O. Chua Award, UC Berkeley (2005), for “outstanding achievement in an area of nonlinear sciencefrom any discipline, including biological, engineering, mathematical, physical and social sciences.”

¦ Bernard Friedman Memorial Prize in Applied Mathematics, UC Berkeley (2006), for “demonstrated abil-ity to do research in applied mathematics.”

¦ National Science Foundation CAREER Award, 2010, for the project: “Closing the Loop on Walking: FromHybrid Systems to Bipedal Robots to Prosthetic Devices and Back.”

¦ Plenary Speaker, Robotic Motion and Control (RoMoCo), 2011.

¦ Plenary Speaker, Hybrid Systems: Computation and Control (HSCC), 2013.

¦ Best Paper Award, IEEE International Conference on Cyber-Physical Systems, Networks, and Applications(CPSNA), 2013.

¦ Best Paper Award Finalist, International Conference on Cyber-Physical Systems (ICCPS), 2014.

¦ DENSO Best Student Paper Award, as advisor, with students Ayonga Hereid and Shishir Kolathaya, HybridSystems: Computation and Control (HSCC), 2014.

¦ Morris E. Foster Faculty Fellow II, Texas A&M University, 2014, for “many accomplishments and futurepotential.”

¦ Donald P. Eckman Award, American Automatic Control Council (AACC), 2015, “For fundamental contri-butions to the dynamic walking of bipedal robots, including foundational results for hybrid and nonlinearsystems, together with the experimental realization of formal results on novel robotic platforms.”

¦ Best Paper Award Finalist, International Conference on Robotics and Automation (ICRA), 2016.

¦ Plenary Speaker, American Control Conference (ACC), 2016.

¦ Best Student Paper Award Finalist, as advisor, with students Vahid Azimi (visiting student), Tony Shu(undergraduate), Huihua Zhao, Eric Ambrose, American Control Conference (ACC), 2016.

¦ Best Paper Award Finalist, International Conference on Robotics and Automation (ICRA), 2017.

¦ Best Medical Robotics Paper Award Finalist, International Conference on Robotics and Automation (ICRA),2017.

¦ Best Multi-Robot Systems Paper Award, International Conference on Robotics and Automation (ICRA),2017.

¦ Okawa Foundation Research Grant, for “Safety Critical Autonomy in Robotic Locomotion,” 2017.

¦ Earnest C. Watson Lecture, “Toward the Robots of Science Fiction,” California Institute of Technology,2017.

¦ Google Research Award, Machine Learning and Data Mining, 2017.

¦ Plenary Speaker, Southwest Robotics Symposium, 2018.

¦ Best Theory Paper Award Finalist, International Conference on Cyber-Physical Systems (ICCPS), 2018.

¦ Invited Speaker, National Academy of Engineering (NAE), Mechanical Engineering Section, 2018.

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Aaron D. Ames Curriculum Vitae

Funding

Current Projects CPS: TTP Option: Synergy: Safe and Secure Open-Access Multi-Robot Systems,NSF, PI: M. Egerstedt, Co-PIs, A. Ames, R. Beyah, E. Feron, 10/1/15-9/30/19,$1,000,000. Award Number: 1544332. (Co-PIs Ames’ component, $237,216).

CPS: Synergy: Learning to Walk - Optimal Gait Synthesis and Online Learning forTerrain-Aware Legged Locomotion, NSF, PI: P. Vela, Co-PIs, A. Ames, D. Gold-man, E. Verriest, 10/1/15-9/30/19, $800,000. Award Number: 1544857. (Co-PIs Ames’ component, $250,376).

NRI: Collaborative Research: Unified Feedback Control and Mechanical Design forRobotic, Prosthetic, and Exoskeleton Locomotion, NSF, PI: A. Ames, 9/1/15-8/31/19, $712,010.00. Award Number: 1526519. (Collaborative proposal withMichigan, PI: J. Grizzle, CMU, PI: K. Sreenath, and Northwestern/RIC, PI: L.Hargrove. Total award $1.8M .)

Adaptive Verifiable Autonomy for Space Missions: Concurrent Control andModel Adaptation under Uncertainty, JPL, PI: A. Ames (Co-PI R. Murray),06/24/2018-06/30/2019, $95,000.00.

Physics-infused Learning for Autonomous Dynamic Robots, DARPA, PI: A. Ani-meshree (Co-PIs A. Ames, J. Burdick, S-J. Chung, Y. Yue), 09/24/2018-03/23/2020, $1,000,000.00.

Safety-critical control of power networks, BATTELL (PNNL), PI: S. Low (Co-PIs A.Ames), 9/1/2018-8/31/2019, $144,000.00.

Dynamic Locomotion in Diverse and Natural Terrain, JPL (NASA), PI: A. Ames,5/1/2018-4/30/2019, $76,200.00.

Specification-guided and Capability-aware Autonomy for Long-endurance Situa-tional Awareness in Subterranean Environment, JPL (prime sponsor: DARPA),PI: J. Burdick (Co-PI: A. Ames), 10/01/2018-09/30/2021.

A Robotic Bouncing Ball, Disney, PI: A. Ames, 8/1/2017-7/31/2020.

Dynamic Crutch Free Walking for Paraplegics with the Wandercraft Exoskeleton,Wandercraft, PI: A. Ames, 1/1/18-12/31/2020.

Gift Funding Robots in the Wild: Unifying Learning and Control for Robust Locomotion, GoogleFaculty Research Awards Program, $150,000.00.

Miso Robotics.

Safety-Critical Autonomy in Robotic Locomotion, Okawa Foundation ResearchGrant, $10,000.00.

Cheetah Mobile, Graduate Student Fellowship.

Gregg Zietlin Discovery Fund.

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Aaron D. Ames Curriculum Vitae

Past Projects CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Syn-thesis for Highly Dynamic Systems, NSF, PI: A. Ames, 2/15/13-2/14/18,$1,100,000. Award Number: 1239055. (Collaborative proposal with Michigan,PI: J. Grizzle, Award number: 1239037, UCLA, PI: P. Tabuada, Award number:1239085, and CMU, PI: H. Geyer, Award number: 1239143. Total award $4M .)

Safety-critical Autonomy and Verification for Space Missions, JPL, PI: A. Ames (Co-PI R. Murray), 06/24/2018-06/30/2019, $180,000.00.

CPS Medium: Collaborative Research: A CPS Approach to Robot Design, NSF, PI: A.Ames, 9/25/11-8/31/16, $317,573. Award number: CNS-1136104. (Collabora-tive proposal with Rice University, PI: W. Taha, co-PI’s: C. Cartwright and M.O’Malley, $1.4M . Award number: CNS-1136099.)

CAREER: Closing the Loop on Walking: From Hybrid Systems to Bipedal Robots toProsthetic Devices and Back, NSF, PI: A. Ames. 06/01/10-05/31/16, $400,000.Supplement for NSF Workshop on Formal Composition of Motion Primitives:$10,300. Award number: CNS-0953823.

DRC Consortium: Next Generation Humanoid Robot for Disaster Response,Texas Emerging Technology Fund, Fiscal Agent: A. Ames, 10/1/13-9/31/18,$1,000,000. (Additional cost-sharing and matching funds from TAMU of$276,700.) Joint project with NASA, UT Austin and the DRC Consortium.

Efficient Bipedal Robotic Walking: SLIP Model based Human-Inspired Control, SRIInternational, PI: A. Ames, 8/15/13-6/31/15, $236,790. (Representing work onM3A project, funded by DARPA, $4M .)

Human-Like Walking Controller for NASA’s Robonaut 2, NASA, PI: A. Ames,8/01/11-7/31/14, $90,000. Grant number: NNX11AN06H.

Next Generation Humanoid for Disaster Response, NASA, PI: A. Ames, 8/31/12-1/15/14, $100,000. Grant number: NNX12AQ68G. (Representing work as aKey Investigator for the NASA JSC DRC Team, funded by DARPA, $3M .)

Achieving Bipedal Locomotion with Robonaut through Human-Inspired Con-trol, NASA, PI: A. Ames, 12/31/11-12/31/12, $90,000. Grant number:NNX12AB58G.

MRI: Acquisition of Mobile, Distributed Instrumentation for Response Research(RESPOND-R), NSF, PI: R. Murphy, Co-PI: A. Ames, R. Stoleru, D. Song, R.Gutierrez-Osuna, 9/01/09-9/01/13, $2M (with $307,239 allocated to co-PIAmes). Award number: CNS-0923203.

Norman Hackerman Advanced Research Program (NHARP) Award, THECB, PI: A.Ames, 8/01/10-5/31/13, $196,691, Project number: 000512-0184-2009.

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Aaron D. Ames Curriculum Vitae

Robots

CassieCassie is a bipedal robot developed and built by Agility Robotics. At Caltech, cus-tom walking algorithms were developed and implemented to achieve robust walk-ing including walking outdoors. Additionally, advanced dynamic behaviors wereachieved including jumping.

V3. Cassie Jumping, Feburary 2018.https://youtu.be/qANxY3AhTm8

V2. Cassie walking on uneven terrain (with custom onboard walking controllers),April 2019.https://youtu.be/NYooAyAC0kA

V1. Cassie walking around Caltech (with Agility Robotics walking controller), Octo-ber 2017.https://youtu.be/wXvzlTPAkMo

Publications featuring Cassie: [C125, C123]

ExoskeletonThe ATALANTE exoskeleton was designed and built by Wandercraft, a Frenchrobotics company. Dynamic walking on the exoskeleton, i.e., the first example ofexoskeleton walking without crutches, was achived using the same mathematicalframework that was realized on DURUS. Gaits are generated using the methods de-veloped by the lab, collaboratively with Wandercraft and University of Michigan.

V1. First dynamic walking on an exoskeleton for parapaligics, May 2018.https://youtu.be/V30HsyUD4fs

V2. Exoskeleton in AMBER Lab, April 2019. https://youtu.be/S55PeYWBBRI

Publications featuring ATALANTE: [C121, J32]

AMPRO 3AMPRO 3 is the third generation powered transfemoral prosthesis custom designedand built by AMBER lab. It includes series elastic actuators at the knee and ankle,along with a 2 degree of freedom ankle with compliance. Differenti assistive gaitshave been realized, including walking on flat ground and up and down slopes. Itwas demoed in front of Congress in 2016.

V3. AMPRO 3 walking in the lab, October 2018.https://youtu.be/DbhHyJ0QjaQ

V2. AMPRO 3 walking outdoors at Caltech, September 2018.https://youtu.be/9CjBgSP_MwU

V1. AMPRO 3 demo in DC, July 2016.https://youtu.be/8kRGBT_iHpk

Publications featuring AMPRO 3: [C106, C102, C97]

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Aaron D. Ames Curriculum Vitae

Modified SegwayA segway type robot was modified from the ground up, with completleley new on-board electronics, control, sensing and computation. This allows for the real-timecontrol and implementaiton of safety-critical control algorithms, i.e., control barrierfunctions.

V1. Safe behavior through control barrier functions, May 2017.https://youtu.be/RYXcGTo8Chg

Publications related to the Modified Segway: [C118]

AMBER 3MAMBER 3M is the 3rd generation bipedal robot custom built and designed by AM-BER lab. It is planar robot that has multiple leg configurations that can be used totest different walkking behaviors.

V3. AMBER 3 walking in AMBER Lab, October 2018.https://youtu.be/v4egr2VDhGk

V2. Testing the efficiency of different leg configurations, December 2016.https://youtu.be/sHA2Bwjij7Y

V1. AMBER 3M: Walking with Mechanics Based Control, July 2016.https://youtu.be/xw8jaDz8XTc

Publications featuring AMBER 3M: [C110, C95]

QuadrotorsQuadrotors are used, with custom controllers, to test concepts realted to multi-robot systems and collision avoidance (collaboratively with Georgia Tech).

V1. Barrier Certificates for Safe Quad Swarm, July 2016.https://youtu.be/rK9oyqccMJw

Publications featuring quadrotors: [C104]

Ground VehiclesGround vehicles, i.e., wheeled vehicles, are used to demonstrate concepts related toswarm robotics and automotive systems, and specifically control barrier functions.Platforms include the Kepler robotics and Gritsbots.

V2. Safety Barrier Certificates for Collision-Free Multi-robot Systems: Experiments,October 2016. https://youtu.be/-WUkzik1_VQ

V1. Robotarium Algorithm Development: Safety Barrier Certificates, September2016. https://youtu.be/PWJk-oMcgn4

Publications featuring ground vehicles: [J28, C110, C106, C96, C90, C79]

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Aaron D. Ames Curriculum Vitae

DURUSDURUS is a 23 degree of freedom humanoid robot with onboard processing andpower. It was developed through a DARPA funded collaboration between SRI inter-national, Ames’ AMBER lab and OSU. Importantly, it has a passive spring at the an-kle allowing energy to be stored and released during locomotion. This necessitatedthe use of hybrid zero dynamics (HZD) for the walking gait generation, in which anew paradigm for generating HZD gaits was introduced utilizing direction colloca-tion based optimization. The end result was the most efficient locomotion realizedon a bipedal humanoid robot, which was demonstrated at the DRC finals. Videos ofDURUS walking gait be found at:

V3. DURUS Walks like a Human , July 2016.https://youtu.be/1fC7b2LjVW4

V2. DURUS: SRI’s Ultra-Efficient Walking Humanoid Robot, Spectrum, June 2015.https://youtu.be/HyqT9Bdamt8

V1. Dynamic Walking on DURUS (aka PROXI) at the 2015 DRC Finals , June 2015.https://youtu.be/a-R4H8-8074

Publications featuring DURUS: [J30, B17, C117, C86, C85, C88]

AMPROAMPRO is an intelligent powered prosthesis with 2 degrees of actuation—at the kneeand ankle–that was designed and built in AMBER Lab at Texas A&M University. Con-trollers will developed by translating formal controller synthesis for bipedal robotsto prosthesis, including online optimization-based controllers, and the result hasbeen stable robotic assisted locomotion both in the lab and outside a laboratorysetting. Videos of the resulting robotic assisted walking can be seen at:

V2. AMPRO: Realizing Nonlinear Controllers on Prosthesis, October 2014.http://youtu.be/NxJ7nMsJ63o

V1. Introducing AMPRO: Translating Robotic Locomotion to Powered TransfemoralProsthesis, October 2014.http://youtu.be/EzOIb0CP_pU

Publications featuring AMPRO: [J20, J22, C68, C77, C82, C70]

Autonomous CarsAutonomous cars modified by AMBER Lab from commercially available scale-model cars to include onboard processing, sensing and power. This testbedallows for the testing of advanced controllers experimentally—including onlineoptimization-based controllers. A video can be found at:

V1. Adaptive Cruise Control: Experimental Validation of Advanced Controllers onScale-Model Cars, October 2014.http://youtu.be/9Du7F76s4jQ

Publications featuring autonomous cars: [C73, C66]

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Aaron D. Ames Curriculum Vitae

2D DURUS2D DURUS is a planar (2D) robot designed and built by SRI International, withcontrol algorithms that result in locomotion designed and implemented by andat AMBER Lab at Texas A&M University. This robot has served as a testbed inachieving highly efficient locomotion, e.g., through the implementation of onlineoptimization-based control methods, and has resulted in walking with a electricalspecific cost of transport of 0.63 (nearing a humans metabolic cost of transport of0.20). Additionally, running was achieved on this robot. Videos can be seen at:

V3. Bipedal Robotic Running on DURUS-2D, March 2015.https://youtu.be/3XQOO6kvHFY

V2. CLF based QP Control on DURUS, January 2015.http://youtu.be/hYaUzE2lZN4

V1. Introducing: DURUS, August 2014.http://youtu.be/V3Ax08x6s28

Publications featuring 2D DURUS: [C76, C75]

AMBER 2AMBER 2 is a 2D fully actuated bipedal walking robot that was designed and builtin AMBER Lab at Texas A&M University. Locomotion was achieved using human-inspired control, implemented through torque control. In addition, walking withmultiple heel-toe behavior has been demonstrated. Videos can be seen at:

V4. Robustness Tests on the Bipedal Robot AMBER 2, April 2014.http://youtu.be/q0FThc1fe_U

V3. Dynamic Robotic Dancing, March 2014.http://youtu.be/IwR9XvojXWo

V2. Human-Like Multi-Contact Walking with AMBER 2, October 2013.http://youtu.be/VvkIdCKlL54

V1. Robotic Walking with AMBER 2.0, August 2013.http://youtu.be/d6oM5sLI9vA

Publications featuring AMBER 2: [J21, C56, C60, C59]

ATRIAS

ATRIAS is a compliant underactuated 2D robot developed and built by Oregon StateUniversity (OSU). Through collaboration between AMBER Lab and OSU, multi-domain walking was achieved using SLIP based optimization coupled with human-inspired control. A video of walking behavior can be found at:

V1. Dynamic Multi-Domain Bipedal Walking with ATRIAS, October 2013.http://youtu.be/yiEbWwC-sR0

Publications related to ATRIAS: [C100, J21, C57]

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Aaron D. Ames Curriculum Vitae

Vanderbilt Prosthesiswith mass and length parameters corresponding to an averagehuman [3], with the exception of one of the shanks, whichhas the physical characteristics of the Vanderbilt prostheticleg [35]. The controllers for this simulation consist of twodata-based controllers, namely the estimated impedance con-troller, and a stable controller replicating observed human lo-comotion trajectories, which we refer to as a human-inspiredcontroller. These two controllers are described below.

A. Estimated Impedance Controller

The estimated impedance controller is used to controlone knee of the 5-link biped. The control architecture is asdescribed in section II-B, and the controller parameters areestimated using our proposed estimation method describedin section III. The segment lengths of the biped correspondsto an average human [3]. Note that since the length ofthe prosthetic can be adjusted, we use the average humanshank length for both legs, but we use different massesfor the two shanks, corresponding to average human andprosthetic masses. The segment lengths are subsequentlyused to produce joint trajectories as described in section III-B. Furthermore, the produced joint trajectories, along withthe length and mass information are used in the estimationproblem (9) to find impedance controller parameters for thebiped model.

B. Human-Inspired Controller

The human-inspired controller will be used on all re-maining joints of the biped, i.e. all joints except one kneejoint being controlled with the estimated impedance control.While we do not know how the central nervous system con-trols locomotion, we can design a controller that replicatesobserved human trajectories. This is the motivation for usingthe human-inspired controller introduced in [24], which hasalso been implemented on the biped robot AMBER1 [36].In short, this controller utilizes the observed locomotiontrajectories zi described in section III-B, and fits functionsto these observations with the additional constraint thatthe fitted functions satisfy a hybrid zero-dynamics (HZD)constraint [23], [24], [37]. Subsequently, an Input/Outputlinearization feedback controller [26] is used to replicatethe fitted functions. The additional HZD constraint is usedto ensure that the resulting fitted functions lead to a stablecontroller. This controller utilizes the complete informationabout the states of the biped system, which is not available tothe prosthetic device. Thus the application of this controllerin this work is limited to modeling the intact human joints.

V. RESULTS

In this section we describe the results obtained throughthe application of the proposed controller parameter learningapproach to finding impedance parameters for a subject, andwe demonstrate experimental results of the subject walkingwith the Vanderbilt prosthetic leg [35], shown in Figure 5.We use invariant locomotion trajectories that were obtainedusing motion captured locomotion of unimpaired subjects.

A. Prosthetic Experiment with Learned Impedance Con-troller Parameters

Fig. 5: Vanderbilt prosthetic leg with the attached able-bodied adapter

As a preliminary evaluation of our approach, we appliedthe proposed controller parameter learning algorithm to findknee controller parameters for one able-bodied subject. Theankle controller parameters were tuned experimentally byclinicians. Unimpaired subjects can walk on the Vanderbiltprosthetic leg using an able-bodied adapter [2]. We usedthe subject’s physical characteristics, which are listed inTable I. The weight and height of the subject, along withthe lengths of the thigh and shank were measured. Theremaining values were obtained through the computationmethods described in [3], [22]. We used averaged invarianttrajectories, along with the physical characteristics of thesubject to obtain controller parameters listed in Table II.The learned impedance controller parameters result in kneetrajectories shown in Figure 6 for the corresponding subject.Note that these trajectories can be obtained by simulatingthe controlled dynamic equations with the learned impedanceparameters and the subject’s joint trajectories (all except theknee trajectories), which were produced in the first step ofour algorithm.

To estimate controller parameters for the Vanderbilt leg,we measured the intrinsic damping of the device duringstance and swing to be 0.05 and 0.08 respectively. To accountfor the intrinsic damping of the prosthetic, we constrainedour impedance estimation to have damping values larger thanthe intrinsic damping of the device. We then subtracted theintrinsic damping from the estimated damping parameters,to account for the intrinsic property of the device.

The subject walked with the Vanderbilt leg, shown inFigure 5, using the learned impedance controller parametersand hand-tuned impedance parameters for the ankle. Theresulting knee trajectories from multiple steps of walking

The Vanderbilt Prosthesis is a powered transfemoral prosthesis located at the Reha-bilitation Institute of Chicago (RIC). Through collaboration among AMBER Lab, RICand the University of Illinois Urbana-Champaign, impedance parameters for thedevice were learned based upon robotic walking gaits generated through human-inspired control. These parameters successfully yielded natural locomotion experi-mentally. A video of walking behavior can be found at:

V1. Impedance Control for Lower-Limb Prostheses, April 2013.http://youtu.be/AzF5-gqtRbc

Publications related to control of prosthesis: [C61, C58, C55]

Valkyrie

Valkyrie is a humanoid robot developed by NASA Johnson Space Center. Locomo-tion, including slow walking, turning, side-stepping, and walking backwards, wasachieved using algorithms developed by AMBER Lab. In addition, a method for full-body coordination was developed by AMBER Lab allowing for behaviors like step-ping up and over a cinder block as illustrated in the following video:

V1. Valkyrie - Cinder Block, November 2013http://youtu.be/qubDKVCut4o

Publications related to Valkyrie: [J16]

MABEL MABEL is a 2D underactuated bipedal walking robot at the University of Michiganthat was designed at Oregon State University. Locomotion was achieved throughcollaboration between AMBER Lan and the University of Michigan using Con-trol Lyapunov Function Based Quadratic Programs (CLF based QPs), implementedthrough torque control. This is the first example of locomotion with online CLFbased QPs. Videos of the walking behaviors are at:

V2. Dynamic Torque Saturation with a CLF-based Feedback Controller on MABEL,February 2013. http://youtu.be/rc1FSXpfrrM

V1. Robotic Walking with Control Lyapunov Functions, November 2012.http://youtu.be/ZchIcWL_Vcg

Publications featuring CLF based QPs and MABEL: [J17, J11, C44]

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Aaron D. Ames Curriculum Vitae

NASA Prototype Legs

The NASA Prototype Legs are a fully actuated 3D bipedal robot leg testbed devel-oped by NASA Johnson Space Center. Locomotion was achieved using human-inspired control coupled with partial hybrid zero dynamics reconstructions. A videoof the similar walking behavior achieved on the NAO robot can be found at:

V1. Speed Regulated Robotic Walking on NAO, April 2013http://youtu.be/P0UERYbDEJc

Additional details can be found in the Master’s Thesis of M. J. Powell.

AMBER 1 AMBER 1 is a 2D underactuated bipedal walking robot that was designed andbuilt in AMBER Lab at Texas A&M University. Locomotion was achieved usinghuman-inspired control, implemented through voltage control. In addition to flatground walking, walking up and down slopes and rough terrain locomotion hasbeen demonstrated. Videos of the walking behaviors and robustness tests are at:

V3. Quadratic Programs + Impedance Control for Prosthesis, September 2013.http://youtu.be/3UflxhfX7WE

V2. Robustness Tests on the Bipedal Robot AMBER, February 2012.http://youtu.be/RgQ8atV1NW0

V1. AMBER Walking with Human-Inspired Control, December 2011.http://youtu.be/SYXWoNU8QUE

Publications featuring AMBER 1: [J12, B13, C47, C46, C39]

NAO NAO is a 3D fully actuated humanoid robot that is commercially available and pro-duced by Aldebaran Robotics. Locomotion was achieved using custom softwaredeveloped by AMBER Lab based upon human-inspired control as implementedthrough onboard position controls. In addition to flat ground walking, speed reg-ulated walking was achieved. Videos of the walking behaviors are at:

V3. Speed Regulated Robotic Walking on NAO, April 2013http://youtu.be/P0UERYbDEJc

V2. 3D Robotic Walking through Motion Transitions, September 2012http://youtu.be/kLakY9rWh6Y

V1. NAO: First Human-Inspired Robotic Walking, October 2011http://youtu.be/OBGHU-e1kc0

Publications featuring NAO: [J12, C50, C48, C37]

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Aaron D. Ames Curriculum Vitae

Teaching Experience

Teaching Instructor, Nonlinear control (CDS 233). Graduate level course, Caltech, Spring2018, 2019. Course description: “This course studies nonlinear control sys-tems from Lyapunov perspective. Beginning with feedback linearization andthe stabilization of feedback linearizable system, these concepts are relatedto control Lyapunov functions, and corresponding stabilization results in thecontext of optimization based controllers. Advanced topics that build uponthese core results will be discussed including: stability of periodic orbits, con-troller synthesis through virtual constraints, safety-critical controllers, andthe role of physical constraints and actuator limits. The control of roboticsystems will be used as a motivating example.”

Instructor, Nonlinear dynamics (CDS 232). Graduate level course, Caltech, Win-ter 2018, 2019. Course Description: “This course studies nonlinear dynam-ical systems beginning from first principles. Topics include: existence anduniqueness properties of solutions to nonlinear ODEs, stability of nonlinearsystems from the perspective of Lyapunov, and behavior unique to nonlinearsystems; for example: stability of periodic orbits, Poincaré maps and stabil-ity/invariance of sets. The dynamics of robotic systems will be used as a mo-tivating example.”

Instructor, Advanced Topics in Systems and Control (CDS 270). Graduate levelcourse, Caltech, Spring 2017. Course description: “CDS 270 is an ongoingcourse that is aimed at exploring the applications of control and dynamicalsystems (CDS) tools to new domains.”

Instructor, Nonlinear Systems (ECE 6552). Graduate level course, Georgia Insti-tute of Technology, Spring 2016. Course description: “Classical analysis tech-niques and stability theory for nonlinear systems. Control design for nonlin-ear systems, including robotic systems. Design projects.”

Instructor, Capstone Design (ME 4182). Senior level undergraduate course, GeorgiaInstitute of Technology, Fall 2015 and Fall 2016. Course description: “Teamsapply a systematic design process to real multidisciplinary problems. Prob-lems selected from a broad spectrum of interest areas, including biomedical,ecological, environmental, mechanical, and thermal. .”

Instructor, Dynamics and Vibrations (MEEN 363). Junior level undergraduatecourse, Texas A&M University, Spring 2010, Spring 2011, Fall 2011. Course de-scription: “Application of Newtonian and energy methods to model dynamicsystems (particles and rigid bodies) with ordinary differential equations; so-lution of models using analytical and numerical approaches; interpreting so-lutions; linear vibrations.”

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Aaron D. Ames Curriculum Vitae

Instructor, Design of Nonlinear Control Systems. (MEEN 655). Graduate levelcourse, Texas A&M University, Spring 2009, Spring 2011, Spring 2014. Coursedescription: “Nonlinear phenomena such as multiple equilibria, limit cy-cles and complex behavior will be introduced. Planer dynamical systemswill be considered and theorems characterizing their behavior will be dis-cussed. Foundational theorems for nonlinear systems such as existence anduniqueness will be proven. Stability of nonlinear systems will be consideredin great detail, introducing Lyapunov’s theorem as well as the converse stabil-ity theorems. Results related to the control of nonlinear systems, such as in-put/output linearization and zero dynamics will be considered and exampleswill be given. Mechanical systems will be used as a prime example of nonlin-ear systems. Finally, more advanced concepts from control will be discussed,e.g., hybrid systems, together with the needed mathematical background.”

Instructor, Dynamic Systems and Controls (MEEN 364). Junior level undergradu-ate course, Texas A&M University, Fall 2008 and Fall 2009. Course description:“Mathematical modeling, analysis, measurement and control of dynamic sys-tems; extensions of modeling techniques of MEEN 363 to other types of dy-namic systems; introduction to feedback control, time and frequency domainanalysis of control systems, stability, PID control, root locus; design and im-plementation of computer-based controllers in the lab.”

Instructor, Engineering Laboratory (MEEN 404). Senior level undergraduatecourse, Texas A&M University, Fall 2010 and Fall 2012. Course description:“Systematic design of experimental investigations; student teams identifytopics and develop experiment designs including establishing the need; func-tional decomposition; requirements; conducting the experiment; analyzingand interpreting the results and preparing written and oral reports document-ing the objectives, procedure, analysis, and results and conclusions of threeexperiments.”

Instructor, Introduction to Dynamics (CDS 140A), co-taught with Sujit Nair. Firstyear graduate level course, California Institute of Technology, Fall 2007.Course covered “basics in topics in dynamics in Euclidean space, includ-ing equilibria, stability, Lyapunov functions, periodic solutions, Poincaré-Bendixon theory, Poincaré maps, the Euler-Lagrange equations, mechanicalsystems, dissipation, energy as a Lyapunov function, and simple conservationlaws. Introduction to basic bifurcations and eigenvalue crossing conditions.Discussion of bifurcations in applications, invariant manifolds, the method ofaveraging, Melnikov’s method, and the Smale horseshoe.”

Developed, organized and taught: Bipedal Robotic Walking: From Theory to Prac-tice, a special research course on bipedal robotic walking, Fall 2005 andSpring 2006, UC Berkeley. Resulted in an original research paper, which ap-peared in the 2006 Workshop on Lagrangian and Hamiltonian Methods forNonlinear Control: “Towards the Geometric Reduction of Controlled Three-Dimensional Robotic Bipedal Walkers.”

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Aaron D. Ames Curriculum Vitae

Teaching Assistant Introduction to Circuit Analysis (EE 42), Fall 2001, UC Berkeley.

Student Advising

Current GraduateStudents

Wenlong Ma (PhD student, Spring 2012-present)

Eric Ambrose (PhD student, Fall 2013-present)

Jake Reher (PhD student, Spring 2014-present)

Thomas Gurriet (PhD student, Spring 2016-present)

Rachel D. Gehlhar (PhD student, Fall 2016-present), NSF Fellow

Xiaobin Xiong (PhD student, Spring 2017-present)

Claudia Kann (PhD student, Fall 2017-present), NSF Fellow

Andrew Singletary (PhD student, Fall 2017-present)

Andrew Taylor (PhD student, Fall 2017-present)

Maegan Tucker (PhD student, Fall 2017-present), NSF Fellow

Prithvi Akella (PhD student, Spring 2019-present)

Ph.D. StudentsGraduated

Matthew PowellThesis: Mechanics-Based Control of Underactuated Robotics Walking.Degree Conferred: PhD, Mechanical EngineeringInstitution: Georgia Institute of TechnologyGraduation Date: August, 2017 (Defended June 2017)

Micheal Grey (co-advised with Karen Liu)Thesis: High Level Decomposition for Bipedal Locomotion Planning.Degree Conferred: PhD, RoboticsInstitution: Georgia Institute of TechnologyGraduation Date: August, 2017 (Defended June 2017)

Shishir KolathayaThesis: Input to State Stabilizing Control Lyapunov Functions for HybridSystems.Degree Conferred: PhD, Mechanical EngineeringInstitution: Georgia Institute of TechnologyGraduation Date: December, 2016

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Aaron D. Ames Curriculum Vitae

Ayonga HereidThesis: Dynamic Humanoid Locomotion: Hybrid Zero Dynamics Based GaitOptimization via Direct Collocation Methods.Degree Conferred: PhD, Mechanical EngineeringInstitution: Georgia Institute of TechnologyGraduation Date: August, 2016

Huihua ZhaoThesis: From Bipedal Locomotion to Prosthetic Waling: A Hybrid System andNonlinear Control Approach.Degree Conferred: PhD, Mechanical EngineeringInstitution: Georgia Institute of TechnologyGraduation Date: August, 2016

Ryan SinnetThesis: Energy Shaping of Non-Smooth Mechanical Systems with Applicationto Bipedal Locomotion.Degree Conferred: PhD, Mechanical EngineeringInstitution: Texas A&M UniversityGraduation Date: May, 2015

M.S. StudentsGraduated

Thomas WatersThesis: Realizing Simultaneous Lane Keeping and Adaptive Speed Regulationon Accessible Mobile Robot Testbeds.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Georgia Institute of TechnologyGraduation Date: September, 2017Publications related to thesis: [C110]

Jonathan HornThesis: Design and Implementation of the Powered Self-Contained AMPROProstheses.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: August, 2015Publications related to thesis: [C37]

Aakar MehraThesis: Analysis of Various Adaptive Cruise Controllers via Experimental Im-plementation.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: August, 2015Publications related to thesis: [C37]

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Aaron D. Ames Curriculum Vitae

Eric CousineauThesis: Realizing Torque Controllers for Underactuated Bipedal Walking Usingthe Ideal Model Resolved Motion Method.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: December, 2014Publications related to thesis: [C37]

Shao-Chen HsuThesis: Control Barrier Function based Quadratic Programs with Applicationto Bipedal Robotic Walking.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: December, 2014Publications related to thesis: [C71]

Wenlong MaThesis: Flat-Foot Dynamic Walking via Human-Inspired Controller Design.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: May, 2014Publications related to thesis: [?, C56, C60]

Matthew PowellThesis: Robot Controller Generation through Human-Inspired Optimization.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: December, 2013Publications related to thesis: [C59, C54, B14, C48, J13, C38, C37, C35, C32]

Jordan LackThesis: Planar Multicontact Locomotion using Hybrid Zero Dynamics.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: December, 2013Publications related to thesis: [C59]

Shishir KolathayaThesis: Achieving Human-Inspired Walking in AMBER on flat-ground, up-slope and rough terrain with Hybrid Zero Dynamics.Degree Conferred: Master of Science, Electrical and Computer EngineeringInstitution: Texas A& M UniversityGraduation Date: September, 2012Publications related to thesis: [C47, C46, C45, B13, C40]

Murali PasupuletiThesis: Design and Implementation of Voltage Based Human Inspired Feed-back Control of a Planar Bipedal Robot AMBER.Degree Conferred: Masters of Science, Electrical and Computer EngineeringInstitution: Texas A& M UniversityGraduation Date: May, 2012Publications related to thesis: [C46, B13]

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Aaron D. Ames Curriculum Vitae

Ryan SinnetThesis: Hybrid Geometric Feedback Control of Three-Dimensional BipedalRobotic Walkers with Knees and Feet.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: May, 2011Publications related to thesis: [B11, C28, C25, C24]

Bhargav KothapalliThesis: Application of Product Design Concepts and Hybrid System Dynamicsto Demonstrate Zeno Behavior and Zeno Periodic Orbits in a Physical DoublePendulum Setup.Degree Conferred: Master of Science, Mechanical EngineeringInstitution: Texas A& M UniversityGraduation Date: May, 2011Publications related to thesis: [C40]

PostdoctoralScholars

Mohamadreza Ahmadi (January 2019 - Present), Caltech Postdoctoral Fellow.

Yuxiao Chen (July 2018 - Present), Caltech Postdoctoral Fellow.

Petter Nilsson (September 2017 - Present), Caltech Postdoctoral Fellow.

Luca Bonanomi (September 2017 - Present), Caltech Postdoctoral Fellow.

Shishir Kolathaya (January 2017 - December 2017), Caltech Postdoctoral Fellow.Now an INSPIRE Faculty fellow in the Robert Bosch Center for Cyber PhysicalSystems (RBCCPS) in IISc Bangalore.

Christian Hubicki (August 2015 - December 2016), Georgia Tech Postdoctoral Fel-low. Now an assistant professor at Flordia State University.

Austin Jones (July 2015 - December 2015), Georgia Tech Postdoctoral Fellow.

ResearchEngineers

Eric Cousineau (January 2015 - July 2015), TEES Research Engineering Associate.

Dr. Benjamin Morris (October 2012 - December 2013), TEES Associate ResearchEngineer.

VisitingScholars

Vahid Azimi (June 2016 - December 2016), Cleveland State University

Victor Christian Paredes Cauna (January 2013 - December 2013), National Univer-sity of Engineering, Lima, Peru.

UndergraduateStudentResearchers/Mentorship

Robert Gregg (SUPERB program, UC Berkeley, Summer 2005)

Jessica Austin (Senior Thesis, Caltech, Fall 2007 - Spring 2009)

Rigoberto Lopez (2009-2010)Supported by the LSAMP program for underrepresented minorities.

Ivan Joel Alaniz (2010)

George Montgomery (2010-2011)

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Aaron D. Ames Curriculum Vitae

Peter Nystrom (2011)

Grant O’Connor (Summer 2011)

Michael Zeagler (2011-2013)

Shawanee Patrick (2010-present)Recipient of the Undergraduate Summer Research Grant (USRG), 2011Supported by the LSAMP program for underrepresented minorities, Fall 2011Coauthored publication: [C42]

Eric Cousineau (2011-2012)Recipient of the Undergraduate Summer Research Grant (USRG), 2011Coauthored publication: [C37]

Bridget Hill (Fall 2012)

Jonathan Horn (Summer 2012-Fall 2013)

John Mayo (Fall 2013-Spring 2014)

John Micheal Frullo (Summer 2014)Research Experiences for Undergraduates (REU), 2014

Nathan Viehmann (Summer 2014)Research Experiences for Undergraduates (REU), 2014

Alejandro Azocar (Fall 2014 - Spring 2015)Undergraduate Research Scholars Program, Thesis: Using Neural Signals forReal-time Robot Control

Tony Shu (Fall 2015 - Fall 2016)Resulted in a publication and the American Control Conference [C102]

Jordyn Schroeder (Summer 2016)

Andrew Singletary (Summer 2016 - Fall 2016)Continued as graduate student in the lab

Maegan Tucker (Summer 2016 - Fall 2017)Continued as graduate student in the lab

Sara Adams (SURF student, Summer 2017)

Noel Csomay-Shanklin (SURF student, Summer 2017)

Filippos Lymperopoulos-Bountalis (SURF student, Summer 2017)

Elin Samuelsson (SURF student, Summer 2017)

Michael Estrada (WAVE student, Summer 2018)

Sergio Esteban (WAVE student, Summer 2018)

Alexander Bouman (SURF student, Summer 2018)

Jesus Hernandez (SURF student, Summer 2018)

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Aaron D. Ames Curriculum Vitae

Cindy Huang (SURF student, Summer 2018)

Hana Keller (SURF student, Summer 2018)

Connor Soohoo (SURF student, Summer 2018)

Hyung Ju Suh (SURF student, Summer 2018)

Andrew Galassi (SURF student, Summer 2018)

Professional Experience and Service

Workshop Organizer RSS Workshop on Dynamic Locomotion, co-organized with Koushil Sreenath,July 12-13 2014, UC Berkeley, CA. Additional details at: http://www.

dynamiclocomotion.org/

2nd NSF Workshop on Formal Composition of Motion Primitives, co-organizedwith Jessy Grizzle and Necmiye Ozay, April 8 2013, CPS Week, Philadelphia,PA. Additional details at: www.formalcomp.com

NSF Workshop on Formal Composition of Motion Primitives, co-organized withCalin Belta, June 12 2012, MIT. Additional details at: www.formalcomp.com

Professional Service Senior Member, Institute of Electrical and Electronics Engineers (IEEE)

Member, IEEE CSS Technical Committee on Hybrid Systems.

Member, ASME Dynamic Systems and Control Division, Robotics Technical Com-mittee.

Associate Editor(Journal)

IEEE Transactions on Robotics (TRO), 12/2014-12/2016

Associate Editor(Conference)

IEEE/RSJ International Conference on Intelligent and Robotic Systems (IROS)2011, 2012, 2013.

Program Committee IEEE Conference on Control Technology and Applications (CCTA 2017)

ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2014).

Workshop on the Algorithmic Foundations of Robotics (WAFR 2014)

Robotics: Science and Systems (RSS 2014, RSS 2017).

Hybrid Systems: Computation and Control (HSCC 2012, HSCC 2011 and HSCC2010).

IEEE Workshop on Design, Modeling and Evaluation of Cyber Physical Systems(CyPhy 2012, CyPhy 2011).

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Aaron D. Ames Curriculum Vitae

NSF Panel Reviewer 1 CAREER Panel.

1 National Robotics Initiative (NRI) panel.

1 Smart Health and Wellbeing panel, CISE Directorate.

4 Cyber-Physical Systems (CPS) panels, CISE Directorate.

Journal Reviewer • SIAM Journal on Control and Optimization. • IEEE Transactions on AutomaticControl. • IEEE Transactions on Robotics. • IEEE Robotics and AutomationMagazine. • Journal of Mathematical Analysis and Applications. • ControlSystems Magazine. •ESAIM: Control, Optimization, and the Calculus of Vari-ations. • IEEE Transactions on Mechatronics. • Optimal Control, Applicationsand Methods. • Nonlinear Analysis: Hybrid Systems. • ASME Journal of Dy-namic Systems, Measurement and Control.

Conference Reviewer • Conference on Decision and Control. • American Control Conference. • Euro-pean Control Conference. • International Symposium of Robotics Research.• IEEE International Conference on Robotics and Automation. • Hybrid Sys-tems: Computation and Control. • IEEE/RSJ International Conference on In-telligent Robots and Systems. • Workshop on Design, Modeling and Evalu-ation of Cyber-Physical Systems. • ACM/IEEE International Conference onCyber-Physical Systems. • Robotics: Systems and Science. • Workshop on theAlgorithmic Foundations of Robotics.

Invited Presentations

[P81] Safety-Critical Control of Dynamic Robotic SystemsDistinguished Series in Autonomy and Control, University of Illinois, Urbana-Champaign, April, 2019.

[P80] Safety-Critical Control of Dynamic Robotic SystemsECE and CPSRC Seminar, University of California, Santa Cruz, April, 2019.

[P79] Safety-Critical Control of Dynamic Robotic SystemsDREAM Seminar, University of California, Berkeley, January, 2019.

[P78] Safety-Critical Control of Dynamic Robotic SystemsCymer Center for Control Systems and Dynamics, University of California, San Diego, November, 2018.

[P77] Imagining the Robots of Science FictionMechanical Engieering Section, National Academy of Engineering, October, 2018.

[P76] Automatic Control of Autonomous RobotsVistas in Control, ETH Zürich, September, 2018.

[P75] Safety-Critical Control of Dynamic Robotic SystemsMitsubishi Electric Research Laboratories (MERL), Boston MA, September, 2018.

[P74] Safety-Critical Control of Dynamic Robotic SystemsMAE Seminar, University of California, Irvine, May, 2018.

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Aaron D. Ames Curriculum Vitae

[P73] Toward the Robots of Science FictionCaltech Alumni Association, California Institute of Technology, May, 2018.

[P72] The Quest for Autonomy on Dynamic Robotic SystemsPlenary Speaker, Southwest Robotics Symposium, January, 2018.

[P71] Toward the Robots of Science FictionEarnest C. Watson Lecture Series, California Institute of Technology, December, 2017.

[P70] Eye, Robot: Computer Vision and Autonomous RoboticsDeep Learning Summit, Amazon AWS re:Invent, November, 2017.

[P69] Unified Control of Dynamic Robotic SystemsCenter for Controls, Dynamical Systems, and Computation (CCDC), University of California, Santa Barbara(UCSB), October, 2017.

[P68] Unified Control of Dynamic Robotic SystemsCenter for Systems and Control, University of Southern California (USC), October, 2017.

[P67] Composing Motion Primitives on Walking Robots: A Categorical PerspectiveIROS Workshop: Planning Legged and Aerial Locomotion with Dynamic Motion Primitives , IROS, Septem-ber, 2017.

[P66] Towards the Robots of Science FictionCAM Colloquium, University of St. Thomas, September, 2017.

[P65] Safe and Efficient Dynamic Robotic LocomotionRSS Workshop: Challenges in Dynamic Legged Locomotion, Robotics System and Science, July, 2017.

[P64] Categorical Perspectives on Hybrid Systems with a View Toward RoboticsInvited Workshop, SIAM Conference on Control and Its Applications , July, 2017.

[P63] Dynamic Walking on Humanoid Robots and Robotic Assistive DevicesCentre Automatique et Systèmes, École des Mines de Paris, June, 2017.

[P62] Imagining the Robots of Science FictionKeynote Speaker, Entrepreneurs Forum, California Institute of Technology, May, 2017.

[P61] Optimization-Based Control of Dynamic Robotic SystemsWilliam E. Boeing Department of Aeronautics & Astronautics Distinguished Seminar Series , University ofWashington, March, 2017.

[P60] Unified Control of Dynamic Robotic SystemsIST Lunch Bunch , Caltech, March, 2017.

[P59] Safety-Critical Control of Dynamic Robotic SystemsMechanical Engineering Seminar , Carnegie Mellon University (CMU), Decmeber, 2016.

[P58] Safety-Critical Control of Dynamic Robotic SystemsJet Propulsion Laboratory (JPL) , Pasadena CA, November, 2016.

[P57] Controlling the Next Generation of Bipedal Robots and Robotic Assistive DevicesPlanery Presentation, American Control Conference (ACC) , Boston, July, 2016.

[P56] Control of Hybrid System Models of Robotic Systems: Bipedal WalkingDISC Summer School , The Netherlands, June, 2016.

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Aaron D. Ames Curriculum Vitae

[P55] Towards the Humanoid Robots of Science FictionDesign of Robotics and Embedded systems, Analysis, and Modeling Seminar (DREAMS) , UC Berkeley,May, 2016.

[P54] Towards the Humanoid Robots of Science FictionMechanical and Aerospace Engineering Colloquium Series , Cornell University, May, 2016.

[P53] Towards the Humanoid Robots of Science FictionCenter for Information & Systems Engineering Seminar , Boston University, February, 2016.

[P52] Humanoid Robots as ART: Challenges and Opportunities in Dynamic WalkingWorkshop on Accessible Remote Testbeds , National Science Foundation, November, 2015.

[P51] Towards the Humanoid Robots of Science FictionLaboratory for Computational Sensing + Robotics , Johns Hopkins University, November, 2015.

[P50] Triumph of Control Theory: How Hybrid System Models and Nonlinear Control Realized Efficient Dy-namic Walking on the Humanoid Robot DURUSMechanical and Civil Engineering Seminar, California Institute of Technology, November, 2015.

[P49] Towards the Humanoid Robots of Science Fiction.7785: Introduction to Robotics Research, Georgia Institute of Technology, October, 2015.

[P48] First Steps toward Formal Controller Synthesis for Bipedal RobotsHybrid Modeling Languages (HyML), Rice University, May, 2015.

[P47] Online Optimization-Based Control of Bipedal Walking Robots.Automatic Control Laboratory, ETH Zürich, November, 2014.

[P46] Controlling the Next Generation of Bipedal Robots.ECE Departmental Seminar, Georgia Institute of Technology, August, 2014.

[P45] Controlling the Next Generation of Bipedal Robots.ECE Departmental Seminar, University of Minnesota, April, 2014.

[P44] Controlling the Next Generation of Bipedal Robots.ME Departmental Seminar, Southern Methodist University, March, 2014.

[P43] Controlling the Next Generation of Bipedal Robots.MCE Department Seminar, California Institute of Technology, February, 2014.

[P42] Controlling the Next Generation of Bipedal Robots.Control Seminar Series, Texas A&M University, College Station TX, February, 2014.

[P41] Controlling the Next Generation of Bipedal Robots.681 Graduate Seminar Series, Department of Computer Science & Engineering, Texas A&M University,College Station TX, February, 2014.

[P40] Controlling the Next Generation of Bipedal Robots.GRASP Seminar Series, University of Pennsylvania, Philadelphia, PA, November, 2013.

[P39] Human-Inspired Control of Bipedal Robotics via Control Lyapunov Functions and Quadratic Pro-grams.Invited (keynote) speaker, Hybrid Systems: Computation and Control, Philadelphia, PA, March, 2013.

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Aaron D. Ames Curriculum Vitae

[P38] Controlling the Next Generation of Bipedal Robots.Departement of Mechanical Engineering Seminar, Massachusetts Institute of Technology, Cambridge MA,February, 2013.

[P37] Better Feedback Control of Bipedal Locomotion.International Workshop on Recent Developments in Robotics and Control (SpongFest), University of Texasat Dallas, Dallas TX, November, 2012.

[P36] Simplicity on the Far Side of Complexity in the Control of Bipedal Robots.Control and Dynamical Systems Department Seminar, California Institute of Technology, Pasadena CA,October, 2012.

[P35] Human-Inspired Bipedal Robotic Walking: From Theorems to Experimental Realization.681 Graduate Seminar Series, Department of Mechanical Engineering, Texas A&M University, College Sta-tion TX, September, 2012.

[P34] Human-Inspired Bipedal Robotic Walking: Formal Methods, Software Structures and ExperimentalRealization.Halmstad Colloquium, Halmstad University, Halmstad, Sweden, June, 2012.

[P33] Human-Inspired Bipedal Robotic Walking: From Theorems to Experimental Realization.Automated Control Seminar, Kungliga Tekniska Högskolan (KTH) Royal Institute of Technology, Stock-holm, Sweden, June, 2012.

[P32] Human-Inspired Bipedal Robotic Walking: From Human Data to Controller Design to ExperimentalRealization.Departmental Seminar, Aeronautics & Astronautics Department, University of Washington, Seattle,March, 2012.

[P31] Human-Inspired Bipedal Robotic Walking: From Human Data to Controller Design to ExperimentalRealization.Control Science Laboratory (CSL), Electrical & Computer Engineering, University of Illinois, Urbana-Champaign, February, 2012.

[P30] Human-Inspired Bipedal Robotic Walking.Departmental Seminar, Biomedical Engineering, Texas A&M University, College Station TX, November,2011.

[P29] First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data.Keynote Presentation, 8th International Workshop on Robot Motion and Control (RoMoCo), Gronow,Poland, June, 2011.

[P28] From Human Data to Bipedal Robotic Walking and Beyond.Departmental Seminar, Department of Electrical Engineering and Computer Science, Northwestern Uni-versity, Chicago IL, March, 2011.

[P27] From Human Data to Bipedal Robotic Walking and Beyond.Sensor Motor Performance Program, Rehabilitation Institute of Chicago, Chicago IL, March, 2011.

[P26] Bipedal Robotic Walking via Human-Inspired Control.Robotics and Embedded Systems Seminar, Department of Electrical Engineering and Computer Sciences,University of California at Berkeley, Berkeley CA, March, 2011.

[P25] First Steps Toward Closing the Loop on Walking: From Human Walking to Hybrid Systems to RoboticWalking and Back.System, Control & Robotics Seminar Series, Texas A&M University, College Station, TX, February, 2011.

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Aaron D. Ames Curriculum Vitae

[P24] First Steps Toward Closing the Loop on Walking: From Human Walking to Hybrid Systems to RoboticWalking and Back.Sensor Motor Performance Program, Rehabilitation Institue of Chicago and Northwestern University,Chicago IL, January, 2011.

[P23] First Steps Toward Closing the Loop on Walking: From Human Walking to Hybrid Systems to RoboticWalking and Back.Robotic Systems Technology Branch, NASA, Houston TX, November, 2010.

[P22] First Steps Toward Closing the Loop on Walking: From Human Walking to Hybrid Systems to RoboticWalking and Back.681 Graduate Seminar Series, Department of Mechanical Engineering, Texas A&M University, College Sta-tion TX, October, 2010.

[P21] First Steps Toward Closing the Loop on Walking: From Human Walking to Hybrid Systems to RoboticWalking and Back.Dynamic Walking 2010, Principles and Concepts of Legged Locomotion, Massachusetts Institute of Tech-nology, Boston MA, July, 2010.

[P20] Bipedal Robotic Walking: Motivating the Study of Hybrid Phenomena.División de Ingenierías, Campus Irapuato-Salamanca, Universidad de Guanajuato, Guanajuato, Mexico,May, 2010.

[P19] Bipedal Robotic Walking: Motivating the Study of Hybrid Phenomena.Robotics and Embedded Systems Seminar, Department of Electrical Engineering and Computer Sciences,University of California at Berkeley, Berkeley CA, May, 2010.

[P18] Bipedal Robotic Walking: Motivating the Study of Hybrid Phenomena.Departmental Seminar, Department of Mechanical Engineering and Materials Science, Rice University,Houston TX, October, 2009.

[P17] Detection of Zeno Behavior and Completion of Hybrid Systems Applied to a Bipedal Walking Robot.Mini-Symposium on Analysis of Hybrid, Measure-Driven, and Linear Complementarity Dynamical Sys-tems (invited), SIAM Conference on Control and its Applications, Denver CO, July, 2009.

[P16] Bipedal Robotic Walking: Motivating the Study of Hybrid Phenomena.Departmental Seminar, Department of Mechanical Engineering, Northwestern University, March 2008.

[P15] Bipedal Robotic Walking: Motivating the Study of Hybrid Phenomena.Departmental Seminar, Department of Mechanical Engineering, Texas A&M University, March 2008.

[P14] Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions via Geometric Reduction.Controls Seminar, Department of Electrical Engineering, University of California at Los Angeles, May 2007.

[P13] Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions via Geometric Reduction.Systems Science Seminar, Department of Electrical Engineering & Computer Science, University of Michi-gan, December 2006.

[P12] Hybrid Model Category Structures and Homotopy Colimits.Topology Seminar, Department of Mathematics, University of Illinois at Urbana-Champaign, November2006.

[P11] Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions via Geometric Reduction.Decision and Control Seminar, Department of Electrical & Computer Engineering, University of Illinois atUrbana-Champaign, November 2006.

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Aaron D. Ames Curriculum Vitae

[P10] Hybrid Model Structures (or Hybrid Homotopy Theory).Workshop on Topology and Robotics, Forschungsinstitut für Mathematik, ETH Zürich, 2006.

[P9] A Categorical Theory of Hybrid Systems.Center for Hybrid and Embedded Software Systems Seminar, Department of EECS, UC Berkeley, 2006.

[P8] Diagrams in Model Categories.Noncommutative Geometry Seminar, Department of Mathematics, UC Berkeley, 2006.

[P7] Homogeneous Semantic Preserving Deployments of Heterogeneous Networks of Embedded Systems.Networked Embedded Systems Seminar, Department of EECS, UC Berkeley, 2006.

[P6] A Categorical Approach to the Hybrid Reduction of Hybrid Symplectic Manifolds withHybrid Symmetry.Departmental Seminar, Department of Electrical Engineering, University of Notre Dame, 2005.

[P5] A Categorical Theory of Dynamical and Hybrid Systems.Noncommutative Geometry Seminar, Department of Mathematics, UC Berkeley, 2005.

[P4] A Categorical Theory of Hybrid Systems.Center for Hybrid and Embedded Software Systems Seminar, Department of EECS, UC Berkeley, 2004.

[P3] An Introduction to Hybrid Systems.Center for Hybrid and Embedded Software Systems Seminar, Department of EECS, UC Berkeley, 2004.

[P2] Blowing Up Affine Hybrid Systems.Center for Hybrid and Embedded Software Systems Seminar, Department of EECS, UC Berkeley, 2004.

[P1] Scissors Congruences on Polytopes, Group Homology, and Some Questions in Algebraic K-Theory.Noncommutative Geometry Seminar, Department of Mathematics, UC Berkeley, 2003.

Patents

[Pt1] L. S. Smoot, G. D. Niemeyer, A. D. Ames and D. L. Christensen.Robotic bouncing ball.Filed: July 12, 2017. Date of Patent: October 9, 2018. Patent number: 10092850.

Publications

Students indicated with (*)

Theses

[T2] A. D. Ames.A Categorical Theory of Hybrid Systems.PhD Dissertation, Electrical Engineering and Computer Sciences, University of California, Berkeley, 2006.

[T1] A. D. Ames.Hybrid Model Structures.Master Thesis, Mathematics, University of California, Berkeley, 2006.

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Aaron D. Ames Curriculum Vitae

Journals

[J34] V. Azimi, T. Shu, H. Zhao*, D. Simon and A. D. AmesModel-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments.In: IEEE Transactions on Systems, Man and Cybernetics: Systems, 2019.

[J33] S. Kolathaya* and A. D. AmesInput-to-State Safety With Control Barrier Functions.In: IEEE Control Systems Letters, vol. 3, no. 1, pp. 108-113, 2019.

[J32] O. Harib, A. Hereid*, A. Agrawal, T. Gurriet*, S. Finet, G. Boéris, A. Duburcq, M. E. Mungai, M. Masselin,A. D. Ames, K. Sreenath, and J. W. GrizzleFeedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free DynamicWalking.In: IEEE Control Systems Magazine, vol. 38, no. 6, pp. 61-87, 2019.

[J31] S. Kolathaya*, W. Guffey, R. W. Sinnet*, and A. D. AmesDirect Collocation for Dynamic Behaviors With Nonprehensile Contacts:Application to Flipping BurgersIn: IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3677 - 3684, 2018.

[J30] A. Hereid*, C. M. Hubicki*, E. A. Cousineau*, and A. D. AmesDynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait OptimizationIn: IEEE Transactions on Robotics, vol. 34, no. 2, pp. 370-387, 2018.

[J29] X. Xu, J. W. Grizzle, P. Tabuada and A. D. AmesCorrectness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control.In: IEEE Transactions on Automation Science and Engineering, vol. 15, no. 3, pp. 1216-1229, 2018.

[J28] L. Wang*, A. D. Ames and M. EgerstedtSafety Barrier Certificates for Collisions-Free Multirobot Systems.In: IEEE Transactions on Robotics, vol. 33, no. 3, pp. 661-674, 2017.

[J27] O. Hussien, A. D. Ames and P. TabuadaAbstracting Partially Feedback Linearizable Systems Compositionally.In: IEEE Control Systems Letters, vol. 1, no. 2, pp. 227-232, 2017.

[J26] A. Ayush, O. Harib, A. Hereid, S. Finet, M. Masselin, L. Praly, A. D. Ames, K. Sreenath, and J. GrizzleFirst Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control ofExoskeletons.In IEEE Access, vol. 5, pp. 9919-9934, 2017.

[J25] S. Kolathaya* and A. D. AmesParameter to State Stability of Control Lyapunov Functions for Hybrid System Models of Robots.In: Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 174-191, 2017.

[J24] A. D. Ames, X. Xu, J. Grizzle, and P. TabuadaControl Barrier Function Based Quadratic Programs for Safety-Critical Systems.In: IEEE Transactions on Automatic Control, vol. 62, no 8, pp. 3861-3876, 2017.

[J23] A. D. Ames, P. Tabuada, W-L Ma*, M. Rungger, B. Schurman, S. Kolathay, and J. W. Grizzle.First Steps toward Formal Controller Synthesis for Bipedal Robots with Experimental Implementation.In: Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 155-173, 2017.

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Aaron D. Ames Curriculum Vitae

[J22] H. Zhao*, J. Horn*, J. Reher*, V. Paredes*, and A. D. Ames.First Steps Toward Translating Robotic Walking to Prostheses: A Nonlinear Optimization based ControlApproach.In: Autonomous Robots: Special Issue on Assistive and Rehabilitation Robotics, vol. 41, no. 3, pp. 725-742,2017.

[J21] H. Zhao*, A. Hereid*, W. Ma* and A. D. AmesMulti-Contact Bipedal Robotic Locomotion.In: Robotica, vol. 35, no. 2, pp. 1072-1106, 2017.

[J20] H. Zhao*, J. Horn*, J. Reher*, V. Paredes*, and A. D. Ames.Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control.In: IEEE Transactions on Automation Science and Engineering, vol. 13, no. 2, pp. 502-513, 2016.

[J19] P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D. Ames, J. Grizzle, N. Ozay, H. Peng and P. TabuadaCorrect-By-Construction Adaptive Cruise Control.In: IEEE Transactions on Control Systems Technology, vol. 24, no. 4, pp. 1294-1307, 2016.

[J18] M. Konecný, W. Taha, A. Duracz, J. Duracz and A. D. AmesEnclosing the Behavior of Hybrid Systems up to and Beyond a Zeno PointIn Nonlinear Analysis: Hybrid Systems, vol. 20, pp. 1-20, 2016.

[J17] K. Galloway, K. Sreenath, A. D. Ames, and J. W. GrizzleTorque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based QuadraticPrograms.In: IEEE Access, vol. 3, pp. 323-332, 2015.

[J16] N. A. Radford, P. Strawser, K. Hambuchen, J. S. Mehling, W. K. Berdyen, S. Donnan, J. Holley, J. Sanchez, V.Nguyen, L. Bridgwater, R. Berka, R. Ambrose, C. McQuin, J. D. Yamokoski, S. Hart, R. Guo, A. Parsons, B.Wightman, P. Dinh, B. Ames, C. Blakely, C. Edmonson, B. Sommers, R. Rea, C. Tobler, H. Bibby, B. Howard,L. Nui, A. Lee, M. Conover, L. Truong, D. Chesney, R. Platt Jr., G. Johnson, C. Fok, N. Paine, L. Sentis, E.Cousineau*, R. Sinnet*, J. Lack*, M. Powell*, B. Morris, A. D. Ames and J. AkinyodeValkyrie: NASA’s First Bipedal Humanoid Robot.In: Journal of Field Robotics, vol. 32, no. 3, pp. 397-419, 2015.

[J15] N. Dantam, D. M. Lofaro, A. Hereid*, P. Oh, A. D. Ames and M. StillmanThe Ach Library: A New Framework for Real-Time Communication.In: IEEE RAS Robotics and Automation Magazine (RAM), vol. 22, no. 1, pp. 75-85, 2015.

[J14] J. W. Grizzle, C. Chevallereau, R. Sinnet* and A. D. AmesModels, feedback control, and open problems of 3D bipedal robotic walking.In: Automatica, vol. 50, no. 8, pp. 1955-1988, 2014.

[J13] H. Zhao*, M. J. Powell* and A. D. AmesHuman-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain.In: Optimal Control, Applications and Methods, vol. 35, no. 6, pp. 730-755, 2014.

[J12] A. D. AmesHuman-Inspired Control of Bipedal Walking Robots.In: IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1115-1130, 2014.

[J11] A. D. Ames, K. Galloway, J. W. Grizzle, and K. SreenathRapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics.In: IEEE Transactions on Control, vol. 59, no. 4, pp. 876-891, 2014.

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Aaron D. Ames Curriculum Vitae

[J10] R. Sinnet* and S. Jiang*, A. D. AmesA Human-Inspired Framework for Bipedal Robotic Walking Design.In Int. J. of Biomechatronics and Biomedical Robotics, vol. 3, no. 1, pp. 20-41, 2014.

[J9] R. Vasudevan, A. D. Ames and R. Bajcsy.Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking.In Nonlinear Analysis: Hybrid Systems, vol. 7, no. 1, pp. 101-115, 2013.

[J8] A. Lamperski and A. D. Ames.Lyapunov Theory for Zeno Stability.In IEEE Transactions on Automatic Control, vol. 58, no. 1, pp. 100-112, 2013.

[J7] R. Sinnet* and A. D. Ames.Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots.In Journal of Robotics and Mechatronics, Special issue on Focused areas and future trends in bio-inspiredrobots, vol. 24, no. 4, pp. 595-601, 2012.

[J6] E. Wendel* and A. D. Ames.Rank deficiency and superstability of hybrid systems.In Nonlinear Analysis: Hybrid Systems, vol. 6, no. 2, pp. 787-805, 2012.

[J5] Y. Or and A. D. Ames.Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems.In IEEE Transactions on Automatic Control, vol. 56, no. 6, pp. 1322-1336, 2011.

[J4] W. Taha, P. Brauner, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot.A Core Language for Executable Models of Cyber Physical Systems: work in progress report.In SIGBED Review, vol. 8, no. 2, pp. 39-43, 2011.

[J3] P. Tabuada, A. D. Ames, A. Julius and G. J. Pappas.Approximate reduction of dynamical systems.In Systems and Control Letters, vol. 57, no. 7, pp. 538-545, July 2008.

[J2] A. D. Ames.Homotopy Meaningful Hybrid Model Structures.In Contemporary Mathematics, vol. 438, pp. 121-144. American Mathematical Society, 2007.

[J1] J. Sprinkle, A. D. Ames, J. M. Eklund, I. M. Mitchell and S. Sastry.Online Safety Calculations for Glide-Slope Recapture.In Innovations in Systems and Software Engineering, vol. 1, no. 2, pages 157-175, 2005.

Book Chapters (Peer-Reviewed in Full)All papers were peer-reviewed in their entirety

[B18] A. D. Ames and I. PoulakakisHybrid Zero Dynamics Control of Legged RobotsIn Bioinspired Legged Locomotion: Models, Concepts, Control and Applications, Editors: M.A. Sharbafi, A.Seyfarth, Elsevier, 2017.

[B17] J. Reher*, A. Hereid*, S. Kolathaya*, C. Hubicki and A. D. AmesAlgorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUSPresented at Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. To appear in AlgorithmicFoundations of Robotics, Springer, 2017.

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[B16] W. Taha, A. Duracz, Y. Zeng, K. Atkinson, F. A. Bartha, P. Brauner, J. Duracz, F. Xu, R. Cartwright, M. Kone?cnt’ y, E. Moggi, J. Masood, P. Andreasson, J. Inoue, A. SantŠAnna, R. Philippsen, A. Chapoutot, M. OŠMal-ley, A. Ames, V. Gaspes, L. Hvatum, S. Mehta, H. Eriksson, and C. GranteAcumen: An Open-Source Testbed for Cyber-Physical Systems ResearchIn Internet of Things. IoT Infastructures, volume 169 of Lecture Notes of the Institute for Computer Sciences,Social INformatics and Telecommunications Engineering, pages 118-130. Springer, 2016.

[B15] S. Kolathaya*, W. Ma* and A. D. AmesComposing Dynamical Systems to Realize Dynamic Robotic DancingPresented at Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. In Algorithmic Founda-tions of Robotics XI, pp. 425-442, Springer, 2015.

[B14] A. D. Ames and M. J. Powell*.Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions andQuadratic Programs.Paper accompanying invited talk for the Workshop on the Control of Cyber-Physical Systems. In LectureNotes in Control and Information Sciences, Volume 449, pages 219-240, Springer, 2013.

[B13] S. Nadubettu Yadukumar*, M. Pasupuleti* and A. D. Ames.From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots.Presented at the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.In Algorithmic Foundations of Robotics X, Springer Tracts in Advanced Robotics, vol. 86, 2013.

[B12] A. D. Ames.First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data.Paper accompanying Plenary Talk for 8th International Workshop on Robotic Motion and Control, Ro-MoCo’11. In Robotic Motion and Control, 2011, K. Kozlowski eds, Lecture Notes in Control and Informa-tion Sciences, Volume 422, pages 89-116, 2012.

[B11] A. D. Ames, R. Sinnet* and E. Wendel*.Three-dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach.In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 of Lec-ture Notes in Computer Science, pages 16-30. Springer-Verlag, 2010.

[B10] Y. Or and A. D. Ames.Existence of Periodic Orbits in Completed Lagrangian Hybrid Systems with Non-Plastic Impacts.In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 of Lec-ture Notes in Computer Science, pages 291-305. Springer-Verlag, 2009.

[B19] A. Lamperski and A. D. Ames.Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems.In Hybrid Systems: Computation and Control, volume 4981 of Lecture Notes in Computer Science, pages622-625. Springer-Verlag, 2008.

[B8] S. Ganesh, A. D. Ames and R. Bajcsy.Composition of Dynamical Systems for Estimation of Human Body Dynamics.In A. Bemporad, A. Bicchi, G. C. Buttazzo, editors, Hybrid Systems: Computation and Control, volume 4416of Lecture Notes in Computer Science, pages 702-705, Springer-Verlag, 2007.

[B7] A. D. Ames, R. D. Gregg, E. D. B. Wendel* and S. Sastry.On the Geometric Reduction of Controlled Three-Dimensional Robotic Bipedal Walkers.In F. Bullo and K. Fujimoto, editors, Lagrangian and Hamiltonian Methods for Nonlinear Control 2006,volume 366/2007 of Lecture Notes in Control and Information Sciences, pages 183-196. Springer-Verlag,2007.

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[B6] A. D. Ames, P. Tabuada and S. Sastry.On the Stability of Zeno Equilibria.In Hybrid Systems: Computation and Control, volume 3927 of Lecture Notes in Computer Science, pages34-48. Springer-Verlag, 2006.

[B5] H. Zheng, E. A. Lee and A. D. Ames.Beyond Zeno: Get on with it!In J. Hespanha and A. Tiwari, editors, Hybrid Systems: Computation and Control, volume 3927 of LectureNotes in Computer Science, pages 568-582. Springer-Verlag, 2006.

[B4] A. D. Ames, A. Sangiovanni-Vincentelli and S. Sastry.Homogenous Semantic Preserving Deployments of Heterogenous Networks of Embedded Systems.Workshop on Networked Embedded Sensing and Control, Notre Dame, IN, 2005. In volume 331 of LectureNotes in Control and Information Sciences, pages 127-156, Springer, 2006.

[B3] A. D. Ames and S. Sastry.A Homology Theory for Hybrid Systems: Hybrid Homology.In M. Morari and L. Thiele, editors, Hybrid Systems: Computation and Control, volume 3414 of LectureNotes in Computer Science, pages 86-102. Springer-Verlag, 2005.

[B2] A. D. Ames and S. Sastry.Affine Hybrid Systems.In R. Alur and G. J. Pappas, editors, Hybrid Systems: Computation and Control, volume 2993 of LectureNotes in Computer Science, pages 16-31. Springer-Verlag, 2004.

[B1] A. D. Ames, J. A. Jalkio and C. Shakiban.Three-Dimensional Object Recognition Using Invariant Euclidean Signature Curves.In T. X. He, J. S. Shive Peter and Z. Li, editors, Analysis, Combinatorics and Computing, pages 13-23. NovaScientific Publishing, Inc., 2002.

Conference (Peer-Reviewed in Full)All papers were peer-reviewed in their entirety (except a position paper on cyberphysical systems [C22], and anextended abstract accompanying the keynote presentation at HSCC 2013 [C49].)

[C136] G. Orosz, and A. D. AmesSafety Functionals for Time Delay Systems.To appear in: American Control Conference (ACC), 2019.

[C135] T. Gurriet, P. Nilsson, A. Singletary, and A. D. AmesRealizable Set Invariance Conditions for Cyber-Physical Systems.To appear in: American Control Conference (ACC), 2019.

[C134] K. A. Hamed, W. Ma, and A. D. AmesDynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and VirtualConstraint Controllers.To appear in: American Control Conference (ACC), 2019.

[C133] Y. Chen, J. Anderson, K. Kalsi, S. Low, and A. D. AmesCompositional Set Invariance in Network Systems with Assume-Guarantee Contracts.To appear in: American Control Conference (ACC), 2019.

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[C132] A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. TabuadaControl Barrier Functions: Theory and Applications.To appear in: European Control Conference (ECC), 2019.

[C131] J. Reher, W. Ma and A. D. AmesDynamic Walking with Compliance on a Cassie Bipedal Robot.To appear in: European Control Conference (ECC), 2019.

[C130] W. Ma, Y. Or and A. D. AmesDynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned GroundSlippage.To appear in: IEEE International Conference on Robotics and Automation (ICRA), 2019.

[C129] A. Chang, C. Hubicki, A. D. Ames and P. VelaEvery Hop Is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping.To appear in: IEEE International Conference on Robotics and Automation (ICRA), 2019.

[C128] T. Gurriet, M. Mote, A. D. Ames and E. FeronAn Online Approach to Set Invariance.In: IEEE Conference on Decision and Control (CDC), 2018.

[C127] P. Nilsson and A. D. AmesBarrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Con-trol.In: IEEE Conference on Decision and Control (CDC), 2018.

[C126] S. Kolathaya and A. D. AmesInput-to-State Safety with Control Barrier Functions.In: IEEE Conference on Decision and Control (CDC), 2018. (Also appearin in IEEE Control System Letters)

[C125] X. Xiong and A. D. AmesBipedal Hopping: Reduced-order Model Embedding via Optimization-based Control.In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

[C124] S. Kolathaya, R. Sinnet and A. D. AmesDirect Trajectory Optimization for Dynamic Object Manipulation: Application to Flipping Burgers.In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (Also appearing inIEEE Robotics and Automation Letters.)

[C123] X. Xiong and A. D. AmesCoupling Reduced Order Models Via Feedback Control for 3D Underactuated Bipedal Robotic Walk-ing.In: IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018.

[C122] J. Gosyne, C. Hubicki, X. Xiong, A. D. Ames and D. GoldmanBipedal Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods.In: IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018.

[C121] T. Gurriet, S. Finet, G. Boeris, A. Hereid, O. Harib, M. Masselin, J. W. Grizzle and A. D. AmesTowards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskele-tons.In: IEEE International Conference on Robotics and Automation (ICRA), 2018.

[C120] P. Nilsson, S. Haesaert, C. Vasile, R. Thakker, A. Agha-Mohammadi, R. Murray and A. D. AmesToward Specification-Guided Active Mars Exploration for Cooperative Robot Teams.In: Robotics: Science and Systems (RSS), 2018.

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[C119] S. Haesaert, P. Nilsson, C. Vasile, R. Thakker, A. Agha-Mohammadi, A. D. Ames and R. MurrayTemporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations.In: FAC Conference on Analysis and Design of Hybrid Systems (ADHS), 2018.

[C118] T. Gurriet and A. Singletary and J. Reher and L. Ciarletta and E. Feron and A. D. AmesTowards a framework for realizable safety critical control through active set invariance.In: Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2018.

Best Theory Paper Award Finalist of ICCPS.

[C117] S. Kaolathaya and A. D. AmesInput to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion.In: American Control Conference (ACC), 2018.

[C116] K. A. Hamed, R. D. Gregg and A. D. AmesExponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion.In: American Control Conference (ACC), 2018.

[C115] K. A. Hamed, A. D. Ames, and R. D. GreggObserver-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Appli-cation to Underactuated Bipedal Walking.In: American Control Conference (ACC), 2018.

[C114] P. Tabuada, W. Ma*, J. W. Grizzle and A. D. AmesData-driven Control for Feedback Linearizable Single-input Systems.In: IEEE Conference on Decision and Control (CDC), 2017.

[C113] O. Hussien, A. D. Ames and P. TabuadaAbstracting Partially Feedback Linearizable Systems Compositionally.In: IEEE Conference on Decision and Control (CDC), 2017.

[C112] X. Xiong*, A. D. Ames and D. GoldmanA Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain.In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

[C111] A. Hereid and A. D. AmesFROST: Fast Robot Optimization and Simulation Toolkit.In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

[C110] E. Ambrose, W. Ma, C. Hubicki and A. D. AmesToward Benchmarking Locomotion Economy Across Design Configurations on the Modular Robot:AMBER-3M.In: IEEE Conference on Control Technology and Applications (CCTA), 2017.

[C110] X. Xu, T. Waters, D. Pickem, P. Glotfelter, M. Egerstedt, P. Tabuada, J. W. Grizzle and A. D. AmesRealizing Simultaneous Lane Keeping and Adaptive Speed Regulation on Accessible Mobile RobotTestbeds.In: IEEE Conference on Control Technology and Applications (CCTA), 2017.

[C108] M. Grey, A. D. Ames and K. LiuProbabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments.In: Robotics: Science and Systems (RSS), 2017.

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[C107] H. Zhao*, E. Ambrose and A. D. AmesPreliminary Results on Energy Efficient 3D Prosthetic Walking with a Powered Compliant Trans-femoral Prosthesis.In: IEEE International Conference on Robotics and Automation (ICRA), 2017.

Best Medical Robotics Paper Award Finalist of ICRA 2017.

[C106] D. Pickem, P. Glotfelter, L. Wang*, M. Mote, A. D. Ames, E. Feron and M. EgerstedtThe Robotarium: A remotely accessible swarm robotics research testbed.In: IEEE International Conference on Robotics and Automation (ICRA), 2017.

Best Conference Paper Award Finalist of ICRA 2017.

Best Multi-Robot Systems Paper Award of ICRA 2017.

[C105] M. Grey* and A. D. Ames and K. LiuFootstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs.In: IEEE International Conference on Robotics and Automation (ICRA), 2017.

[C104] L. Wang*, A. D. Ames and Magnus EgerstedtSafe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness.In: IEEE International Conference on Robotics and Automation (ICRA), 2017.

[C103] A. Chang, C. Hubicki, J. Aguilar, D. Goldman, A. D. Ames and P. VelaLearning to Jump in Granular Media: Unifying Optimal Control Synthesis with Gaussian Process-Based Regression.In: IEEE International Conference on Robotics and Automation (ICRA), 2017.

[C102] V Azimi, T. Shu*, H. Zhao*, E. Ambrose*, A. D. Ames and D. SimonRobust Control of a Powered Transfemoral Prosthesis Device with Experimental Verification.In: American Control Conference (ACC), 2017.

Best Student Paper Award Finalist of ACC 2017.

[C101] Y. Shoukry, P. Tabuada, S. Tsuei, M. Milam, J. W. Grizzle, A. D. AmesClosed Form Controlled Invariant Sets for Pedestrian Avoidance.In: American Control Conference (ACC), 2017.

[C100] W. Ma*, S. Kolathaya*, E. Ambrose*, C. Hubicki* and A. D. AmesBipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment.In: Hybrid Systems: Computation and Control (HSCC), 2017.

[C99] Q. Nguyen, A. Hereid, K. Sreenath, J. W. Grizzle and A. D. Ames3D Dynamic Walking on Stepping Stones with Control Barrier Functions.In IEEE Conference on Decision and Control (CDC), 2016.

[C98] A. Hereid*, S. Kolathaya* and A. D. AmesOnline Hybrid Zero Dynamics Optimal Gait Generation Using Legendre Pseudospectral Optimiza-tion.In IEEE Conference on Decision and Control (CDC), 2016.

[C97] H. Zhao*, A. Hereid*, E. Ambrose* and A. D. Ames3D Multi-Contact Gait Design for Prostheses: Hybrid System Models, Virtual Constraints and Two-Step Direct Collocation.In IEEE Conference on Decision and Control (CDC), 2016.

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[C96] L. Wang*, M. Egerstedt and A. D. AmesMulti-objective Compositions for Collision-Free Connectivity Maintenance in Teams of MobileRobots.In IEEE Conference on Decision and Control (CDC), 2016.

[C95] M. Powell*, W. Ma*, E. Ambrose* and A. D. AmesMechanics-Based Design of Underactuated Robotic Walking Gaits: Initial Experimental Realization.In IEEE-RAS International Conmference on Humanoid Robotis (Humanoids), 2016.

[C94] W. Ma*, A. Hereid*, C. Hubicki* and A. D. AmesEfficient HZD Gait Generation for Three-Dimensional Underactuated Humanoid Running.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

[C93] C. Hubicki*, J. Aguilar, D. Goldman and A. D. AmesTractable Terrain-aware Motion Planning on Granular Media: An Impulsive Jumping Study.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

[C92] M. Grey*, C. Garrett, K. Liu A. D. Ames and A. L. ThomazHumanoid Manipulation Planning using Backward-Forward Search.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

[C91] M. Powell* and A. D. AmesMechanics-Based Control of Underactuated 3D Robotic Walking: Dynamic Gait Generation UnderTorque Constraints.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

[C90] Li Wang*, A. D. Ames, M. EgerstedtSafety Barrier Certificates for Heterogeneous Multi-Robot Systems.In American Control Conference (ACC), 2016.

[C89] M. Powell*, and A. D. AmesTowards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications toRobot Locomotion.In American Control Conference (ACC), 2016.

[C88] S. Kolathaya*, A. Hereid*, and A. D. AmesTime Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomo-tion.In American Control Conference (ACC), 2016.

[C87] K. Chao, M. Powell*, A. D. Ames, and P. HurUnification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Pro-grams.In American Control Conference (ACC), 2016.

[C86] J. Reher*, E. A. Cousineau*, A. Hereid*, C. M. Hubicki*, and A. D. AmesRealizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS.In International Conference on Robotics and Automation (ICRA), 2016.

[C85] A. Hereid*, E. A. Cousineau*, C. M. Hubicki* and A. D. Ames3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework forOptimizing Hybrid Zero Dynamics.In International Conference on Robotics and Automation (ICRA), 2016.

Best Paper Award Finalist of ICRA 2016.

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[C84] C. M. Hubicki*, A. Hereid*, M. X. Grey*, A. L. Thomaz and A. D. AmesWork those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion.In International Conference on Robotics and Automation (ICRA), 2016.

[C83] W. Taha, A. Duracz, Y. Zeng, K. Atkinson, F. A. Bartha, P. Brauner, J. Duracz, F. Xu, R. Cartwright, M. K. E.Moggi, J. Masood, P. Andreasson, J. Inoue, A. Sant’Anna, R. Philippsen, A. Chapoutot, M. O’Malley, A. D.Ames, V. Gaspes, L. Hvatum, S. Mehta, H. Eriksson and C. GranteAcumen: An Open-source Testbed for Cyber-Physical Systems Research.In EAI International Conference on Cyber PhysicaL systems, IoT and sensors Networks (CYCLONE), 2015.

[C82] H. Zhao*, J. Horn*, J. Reher*, V. Paredes* and A. D. AmesA Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotionon Transfemoral Prostheses.In Conference on Decision and Control (CDC), 2015.

[C81] B. Morris, M. Powell* and A. D. AmesContinuity and Smoothness Properties of Nonlinear Optimization-Based Feedback Controllers.In Conference on Decision and Control (CDC), 2015.

[C80] X. Xu, P. Tabuada, J. W. Grizzle, and A. D. AmesRobustness of Control Barrier Functions for Safety Critical Control.In Analysis and Design of Hybrid Systems (ADHS), 2015.

[C79] U. Borrmann, Li. Wang, A. D. Ames, and M. EgerstedtControl Barrier Certificates for Safe Swarm Behavior.In Analysis and Design of Hybrid Systems (ADHS), 2015.

[C78] S. Kolathaya*, and A. D. Ames.Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits.In Analysis and Design of Hybrid Systems (ADHS), 2015.

[C77] H. Zhao*, J. Reher*, J. Horn*, V. Paredes*, and A. D. Ames.Realization of stair ascent and motion transition on prostheses utilizing optimization-based controland intent recognition.In the International Conference on Rehabilitation Robot (ICORR), 2015.

[C76] M. Powell*, E. Cousineau* and A. D. AmesModel Predictive Control of Underactuated Bipedal Robotic Walking.In the International Conference on Robotics and Automation (ICRA), 2015.

[C75] E. Cousineau* and A. D. AmesRealizing Underactuated Bipedal Walking with Torque Controllers via the Ideal Model Resolved Mo-tion Method.In the International Conference on Robotics and Automation (ICRA), 2015.

[C74] A. Hereid*, C. Hubicki*, E. Cousineau*, J. Hurst and A. D. AmesHybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking.In the International Conference on Robotics and Automation (ICRA), 2015.

[C73] A. Mehra*, W. Ma*, F. Berg*, J. W. Grizzle, P. Tabuada and A. D. AmesAdaptive Cruise Control: Experimental Validation of Advanced Controller on Scale-Model CarsIn the American Control Conference (ACC), 2015.

[C72] R. Sinnet*, and A. D. AmesEnergy Shaping of Hybrid Systems via Control Lyapunov FunctionsIn the American Control Conference (ACC), 2015.

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Aaron D. Ames Curriculum Vitae

[C71] S-C. Hsu*, X. Xu and A. D. AmesControl Barrier Function based Quadratic Programs with Application to Bipedal Robotic WalkingIn the American Control Conference (ACC), 2015.

[C70] H. Zhao*, J. Reher*, J. Horn*, V. Paredes* and A. D. AmesRealization of Nonlinear Real-Time Optimization Based Controllers on Self-Contained TransfemoralProsthesisIn the International Conference on Cyber-Physical Systems (ICCPS), 2015.

[C69] A. D. Ames, P. Tabuada, B. Schuermann, W. Ma*, S. Kolathaya*, M. Rungger and J. W. GrizzleFirst Steps toward Formal Controller Synthesis for Bipedal RobotsIn Hybrid Systems: Computation and Control (HSCC), 2015.

[C68] H. Zhao*, J. Reher*, J. Horn*, V. Paredes* and A. D. AmesDemonstration of Locomotion with the Powered Prosthesis AMPRO utilizing Online Optimization-Based ControlIn Hybrid Systems: Computation and Control (HSCC), 2015.

[C67] P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P.TabuadaPreliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Con-trolIn the IEEE Conference on Decision and Control (CDC), 2014.

[C66] A. D. Ames, J. W. Grizzle and P. TabuadaControl Barrier Function based Quadratic Programs with Application to Adaptive Cruise ControlIn the IEEE Conference on Decision and Control (CDC), 2014.

[C65] A. D. Ames and J. Holley*Quadratic Program based Nonlinear Embedded Control of Series Elastic ActuatorsIn the IEEE Conference on Decision and Control (CDC), 2014.

[C64] A. Hereid*, M. J. Powell* and A. D. AmesEmbedding of SLIP Dynamics on Underactuated Bipedal Robots through Multi-Objective QuadraticProgram based ControlIn the IEEE Conference on Decision and Control (CDC), 2014.

[C63] M. J. Powell* and A. D. AmesHierarchical Control of Series Elastic Actuators through Control Lyapunov FunctionsIn the IEEE Conference on Decision and Control (CDC), 2014.

[C62] S. Kolathaya*, and A. D. AmesExponential Convergence of a Unified CLF Controller for Robotic Manipulators under Parameter Un-certaintyIn the American Control Conference (ACC), 2014.

[C61] H. Zhao*, and A. D. AmesQuadratic Program based Control of Fully-Actuated Transfemoral Prosthesis for Flat-Ground and Up-Slope LocomotionIn the American Control Conference (ACC), 2014.

[C60] W. Ma*, H. Zhao*, S. Kolathaya*, and A. D. AmesHuman-Inspired Walking via Unified PD and Impedance ControlIn the International Conference on Robotics and Automation (ICRA), 2014.

35

Aaron D. Ames Curriculum Vitae

[C59] J. Lack*, M. J. Powell* and A. D. AmesPlanar Mulit-Contact Bipedal Walking Using Hybrid Zero DynamicsIn the International Conference on Robotics and Automation (ICRA), 2014.

[C58] H. Zhao*, S. Kolathaya* and A. D. AmesQuadratic Programming and Impedance Control for Transfemoral ProsthesisIn the International Conference on Robotics and Automation (ICRA), 2014.

[C57] A. Hereid*, S. Kolathaya*, M. S. Jones, J. Van Why, J. W. Hurst and A. D. AmesDynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired ControlIn Hybrid Systems: Computation and Control (HSCC), 2014.

DENSO Best Student Paper Award of HSCC 2014.

[C56] H. Zhao*, W. Ma*, M. Zeagler* and A. D. AmesHuman-Inspired Multi-Contact Locomotion with AMBER2In International Conference on Cyber-Physical Systems (ICCPS), 2014.

Best Paper Award Finalist of ICCPS 2014.

[C55] N. Aghasadeghi, H. Zhao*, L. J. Hargrove, A. D. Ames, E. J. Perreault, and T. BretlLearning Impedance Controller Parameters for Lower-Limb ProsthesesIn International Conference on Intelligent Robots and Systems (IROS), 2013.

[C54] B. Morris, M. Powell*, and A. D. AmesSufficient Conditions for the Lipschitz Continuity of QP-based Multi-Objective Control of HumanoidRobotsIn Conference on Decision and Control (CDC), 2013.

[C53] A. R. Teel, R. Goebel, B. Morris, A D. Ames, and J. W. GrizzleA stabilization result with application to bipedal locomotionIn Conference on Decision and Control (CDC), 2013.

[C52] S. Kolathaya, R. Sinnet, W. Ma and A. D. AmesHuman-Inspired Walking in AMBER 1.0 and AMBER 2.0In Dynamic Walking, 2013.

[C51] M. Konecný, W. Taha, A. Duracz, J. Duracz and A. D. AmesEnclosing the Behavior of Hybrid Systems up to and Beyond a Zeno PointIn IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013.

Best Paper Award of CPSNA 2013.

[C50] N. Dantam, A. Hereid*, A. D. Ames, M. StilmanCorrect Software Synthesis for Stable Speed-Controlled WalkingIn Robotics Science and Systems (RSS), 2013.

[C49] A. D. AmesHuman-Inspired Control of Bipedal Robots via Control Lyapunov Functions and Quadratic ProgramsExtended abstract accompanying keynote presentation for HSCC 2013, in Hybrid Systems: Computationand Control, 2013.

[C48] M. Powell*, A. Hereid*, A. D. AmesSpeed Regulation in 3D Robotic Walking through Motion Transitions between Human-Inspired Par-tial Hybrid Zero DynamicsIn IEEE International Conference on Robotics and Automation, 2013.

36

Aaron D. Ames Curriculum Vitae

[C47] S. Nadubettu Yadukumar* and A. D. AmesAchieving Bipedal Locomotion on Rough Terrain through Human-Inspired ControlIn IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012.

[C46] S. Nadubettu Yadukumar*, M. Pasupuleti* and A. D. Ames.Human-Inspired Underactuated Bipedal Robotic Walking with AMBER on Flat-ground, Up-slope andUneven Terrain.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

[C45] H. Zhao*, S. Nadubettu Yadukumar*, and A. D. Ames.Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

[C44] A. D. Ames, K. Galloway and J. W. Grizzle.Control Lyapunov Functions and Hybrid Zero Dynamics.In IEEE Conference on Decision and Control (CDC), 2012.

[C43] W. Taha, P. Brauner, Y. Zeng, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot.A Core Language for Executable Models of Cyber Physical Systems (Preliminary Report).In 32nd International Conference on Distributed Computing Systems Workshops (ICDCS), Macau, China,2012.

[C42] S. Jiang*, S. Patrick*, H. Zhao* and A. D. Ames.Outputs of Human Walking for Bipedal Robotic Controller Design.In American Control Conference (ACC), 2012.

[C41] R. Sinnet* and A. D. Ames.Extending Two-Dimensional Human-Inspired Bipedal Robotic Walking to Three Dimensions throughGeometric Reduction.In American Control Conference (ACC), 2012.

[C40] S. N. Yadukumar*, B. Kothapalli* and A. D. Ames.Zeno Behavior in Electromechanical Hybrid Systems: From Theory to Experimental Validation.In American Control Conference (ACC), 2012.

[C39] A. D. Ames.First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking.In IEEE International Conference on Robotics and Automation (ICRA), 2012.

[C38] M. J. Powell*, H. Zhao*, and A. D. Ames.Motion Primitives for Human-Inspired Bipedal Robotic Locomotion.In IEEE International Conference on Robotics and Automation (ICRA), 2012.

[C37] A. D. Ames, E. A. Cousineau*, M. J. Powell*.Dynamically Stable Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics.In Hybrid Systems: Computation and Control (HSCC), 2012.

[C36] E. Wendel* and A. D. Ames.Rank Deficiency and Superstability of Hybrid Systems with Application to Bipedal Robots.In 50th IEEE Conference on Decision and Control (CDC), 2011.

[C35] R. Sinnet*, M. J. Powell*, S. Jiang* and A. D. Ames.Compass Gait Revisited: A Human Data Perspective and Extensions to Three Dimensions.In 50th IEEE Conference on Decision and Control (CDC), 2011.

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Aaron D. Ames Curriculum Vitae

[C34] R. Sinnet* H. Zhao* and A. D. Ames.Simulating Prosthetic Devices with Human-Inspired Control.In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011.

[C33] W. Taha, P. Brauner, R. Cartwright, V. Gaspes and A. D. Ames.A Core Language for Executable Models of Cyber Physical Systems (Work In Progress Report).In Proceedings of the 2nd ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS),Chicago, IL, 2011.

[C32] R. Sinnet*, M. J. Powell*, R. Shah* and A. D. Ames.A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking.In Proceedings of the 18th IFAC World Congress, Milano, Italy, 2011.

[C31] R. Vasudevan, A. D. Ames and R. Bajcsy.Using Persistent Homology to Determine a Human-Data Based Cost for Bipedal Walking.In Proceedings of the 18th IFAC World Congress, Milano, Italy, 2011.

[C30] A. D. Ames.Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach.In Hybrid Systems: Computation and Control (HSCC), Chicago, IL, 2011.

[C29] A. D. Ames, R. Vasudevan and R. Bajcsy.Human-Data Based Cost of Bipedal Robotic Walking.In Hybrid Systems: Computation and Control (HSCC), Chicago, IL, 2011.

[C28] J.W. Grizzle, C. Chevallereau, A.D. Ames and R. Sinnet*.3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems.In Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, 2010.

[C27] E. Wendel* and A. D. Ames.Rank Properties of Poincare Maps for Hybrid Systems with Applications to Bipedal Walking.In Hybrid Systems: Computation and Control, Stockholm, Sweden, 2010.

[C26] Y. Zhu, E. Westbrook, J. Inoue, A. Chapoutot, C. Salama, M. Peralta, T. Martin, W. Taha, M. O’Malley, R.Cartwright, A.D. Ames, and R. Bhattacharya.Mathematical Equations as Executable Models of Mechanical Systems.In the Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2010.

[C25] R. Sinnet* and A. D. Ames.2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach.In Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, December 2009.

[C24] R. Sinnet* and A. D. Ames.3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach.In Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, December 2009.

[C23] Y. Or and A. D. Ames.Formal and Practical Completion of Lagrangian Hybrid Systems.In Proceedings of the 28th American Control Conference, St. Louis, MO, 2009.

[C22] A. D. Ames, R. Murphy, D. Woods, J. Valasek and T. Zourntos.Human-Cyber-Physical Systems for Emergency Response.In IEEE/RSJ International Conference on Intelligent Robot Systems, special session on CPS, Nice, France,2008.

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Aaron D. Ames Curriculum Vitae

[C21] Y. Or and A. D. Ames.Stability of Zeno Equilibria in Lagrangian Hybrid Systems.In Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008.

[C20] A. Lamperski and A. D. Ames.On the Existence of Zeno Behavior in Hybrid Systems with Non-Isolated Zeno Equilibria.In Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008.

[C19] A. D. Ames and J. D. Doyle.Complexity and Fragility in Stability.In Proceedings of the 27th American Control Conference, Seattle, WA, 2008.

[C18] A. D. Ames, R. D. Gregg and M. W. Spong.A Geometric Approach to Three-Dimensional Hipped Bipedal Robotic Walking.In Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007.

[C17] A. D. Ames, A. Abate and S. Sastry.Sufficient Conditions for the Existence of Zeno Behavior in a Class of Nonlinear Hybrid Systems viaConstant Approximations.In Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007.

[C16] D. Pekarek, A. D. Ames and J. E. Marsden.Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped.In Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007.

[C15] A. Lamperski and A. D. Ames.Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Sys-tems.In Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007.

[C14] A. D. Ames and R. G. Gregg.Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions.In Proceedings of the 26th American Control Conference, New York, NY, 2007.

[C13] A. D. Ames and S. Sastry.Hybrid Geometric Reduction of Hybrid Systems.In Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, 2006.

[C12] P. Tabuada, A. D. Ames, A. Julius and G. Pappas.Approximate Reduction of Dynamical Systems.In Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, 2006.

[C11] A. D. Ames, R. D. Gregg, E. D. B. Wendel and S. Sastry.Towards the Geometric Reduction of Controlled Three-Dimensional Robotic Bipedal Walkers.In Proceedings of the Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control(LHMNLC’06), Nagoya, Japan, 2006. Later appeared, after a second review process, as a book chapter[B7].

[C10] A. D. Ames and S. Sastry.Hybrid Routhian Reduction of Lagrangian Hybrid Systems.In Proceedings of the 25th American Control Conference, Minneapolis, MN, 2006.

[C9] A. D. Ames and S. Sastry.Hybrid Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with Symmetry.In Proceedings of the 25th American Control Conference, Minneapolis, MN, 2006.

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Aaron D. Ames Curriculum Vitae

[C8] A. D. Ames, H. Zheng, R. D. Gregg and S. Sastry.Is There Life after Zeno? Taking Executions Past the Breaking (Zeno) Point.In Proceedings of the 25th American Control Conference, Minneapolis, MN, 2006.

[C7] A. Abate, A. D. Ames and S. Sastry.Error-Bounds Based Stochastic Approximations and Simulations of Hybrid Dynamical Systems.In Proceedings of the 25th American Control Conference, Minneapolis, MN, 2006.

[C6] A. Abate, A. D. Ames and S. Sastry.A Priori Detection of Zeno Behavior in Communication Networks Modeled as Hybrid Systems.In Proceedings of the 25th American Control Conference, Minneapolis, MN, 2006.

[C5] A. D. Ames, A. Abate and S. Sastry.Sufficient Conditions for the Existence of Zeno Behavior.In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference,Seville, Spain, 2005.

[C4] J. Sprinkle, A. D. Ames, A. Pinto, H. Zheng and S. Sastry.On the Partitioning of Syntax and Semantics for Hybrid Systems Tools.In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference,Seville, Spain, 2005.

[C3] A. D. Ames and S. Sastry.Characterization of Zeno Behavior in Hybrid Systems using Homological Methods.In Proceedings of the 24th American Control Conference, Portland, OR, 2005.

[C2] A. Abate, A. D. Ames and S. Sastry.Stochastic Approximations of Hybrid Systems.In Proceedings of the 24th American Control Conference, Portland, OR, 2005.

[C1] A. D. Ames and S. Sastry.Blowing Up Affine Hybrid Systems.In Proceedings of the 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, 2004.

Press

Note that this is not an exhaustive list, but rather a sampling of some of the news and press that my research group,and the robots we have worked on, have received.)

[N44] Inside the Mad Lab That’s Getting Robots to Walk and Jump Like UsWired, June 2018 [Online]https://www.wired.com/story/inside-the-mad-lab-thats-getting-robots-to-walk-and-jump-like-us/

[N43] AMBER Lab on CBSCBS National Local News, April 2018 [Television]https://youtu.be/vV0CXZ9fF78

[N42] Caltech opens a drone lab, with big ideas to improve how robots work with humansLA Times, October 2017 [Print Edition and Online]http://www.latimes.com/local/lanow/la-me-caltech-drone-lab-20171024-htmlstory.

html

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Aaron D. Ames Curriculum Vitae

[N41] One Step at a Time: A Conversation with Aaron Ames.Caltech, May 5, 2017 [Online]http://www.caltech.edu/news/one-step-time-conversation-aaron-ames-61163

[N40] This robot takes power walking to a new level.The Washington Post, July 13, 2016 [Online]https://www.washingtonpost.com/news/innovations/wp/2016/07/13/

this-robot-takes-power-walking-to-a-new-level/?utm_term=.51796b548810

[N39] Georgia Tech’s DURUS robot has a more natural human-like stride.Engadget, July 12, 2016 [Online]https://www.engadget.com/2016/07/12/georgia-tech-robot-durus-robot-human-walking/

[N38] This robot is designed to strut like a human.CNN, July 13, 2016 [Online]http://money.cnn.com/video/technology/2016/07/13/walking-robot-struts-like-human.

cnnmoney/

[N37] DURUS robot walks naturally while wearing sneakers.The Verge, July 18, 2016 [Online]https://www.theverge.com/circuitbreaker/2016/7/18/12211386/walking-robot-durus-shoes

[N36] DURUS robot walks naturally while wearing sneakers.Geek.com, July 21, 2016 [Online]http://www.geek.com/tech/durus-robot-walks-naturally-while-wearing-sneakers-1662621/

[N35] DURUS Brings Human-Like Gait (and Fancy Shoes) to Hyper-Efficient Robots.IEEE Spectrum, July 12, 2016 [Online]http://spectrum.ieee.org/automaton/robotics/humanoids/durus-brings-humanlike-gait-and-fancy-shoes-to-hyperefficient-robots

[N34] Shoe-Wearing Robot’s No Flatfoot–It Walks like a Person.Scientific American, July 18, 2016 [Online]https://www.scientificamerican.com/article/shoe-wearing-robot-s-no-flatfoot-it-walks-like-a-person/

[N33] Check Out This Robot’s Funky Walking Style.Gizmodo, July 12, 2016 [Online]http://gizmodo.com/check-out-this-robots-funky-walking-style-1783537665

[N32] The robot uprising has begun.WSB-TV, May 17, 2016 [Television]http://www.wsbtv.com/news/2-investigates/the-robot-uprising-has-begun/287553746

[N31] Robots Are Getting Really Good at Running.Gizmodo, March 20, 2016 [Online]http://gizmodo.com/first-we-built-robots-that-we-cant-push-over-now-you-w-1766059641

[N30] Watch AMBER Lab’s Thomping Robot Jog Like a Human: This robot’s gait matches imperfect humanswagger.Inverse, March 19, 2016 [Online]https://www.inverse.com/article/13068-watch-amber-lab-s-thomping-robot-jog-like-a-human

[N29] AMBER Lab robot jogs just like a human.Engadget, March 18, 2016 [Online]http://www.engadget.com/2016/03/18/amber-lab-bipedal-robot-runs-human/

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Aaron D. Ames Curriculum Vitae

[N28] Welcome to the Robot Zoo.Georgia Tech, College of Engineering Magazine, January 12, 2016 [Online]http://magazine.coe.gatech.edu/feature/welcome-robot-zoo

[N27] The Infinite Ways to Move a Robot.Georgia Tech, College of Engineering News, October 20, 2015 [Online]http://www.coe.gatech.edu/news/infinite-ways-move-robot

[N26] The Roundtable: Robotic Technology.Atlanta Tech Edge, NBC 11 Alive, September 24, 2015 [Television]http://www.atlantatechedge.com/ATLANTATECHEDGE/article/327424/554/

The-Roundtable-Robotic-Technology

[N25] Designing an Ultra-Efficient Walking Robot.Tested, June 17, 2015 [YouTube]https://youtu.be/jGnsH9ecCMg

[N24] SRI Durus humanoid walking robot is ultra-efficient.Slash Gear, June 17, 2015 [Online]http://www.slashgear.com/sri-durus-humanoid-walking-robot-is-ultra-efficient-17388822/

[N23] This ultra-efficient robot walks just like people do.Engadget, June 16, 2015 [Online]http://www.engadget.com/2015/06/16/ultra-efficient-robot-walks-like-people/

[N22] DURUS: SRI’s Ultra-Efficient Walking Humanoid Robot.IEEE Spectrum, June 16, 2015 [YouTube]https://youtu.be/HyqT9Bdamt8

[N21] DURUS: SRI’s Ultra-Efficient Walking Humanoid Robot.IEEE Spectrum, June 16, 2015 [Online]http://spectrum.ieee.org/automaton/robotics/humanoids/durus-sri-ultra-efficient-humanoid-robot

[N20] AMBER Lab develops smart prosthesis.The Battalion, September 17, 2014 [Print & Online]http://www.thebatt.com/news/view.php/848619/AMBER-Lab-develops-smart-prosthesis

[N19] First Steps: A&M researchers make strides in bipedal robotics.The Battalion, February 4, 2014 [Print & Online]http://issuu.com/markdore/docs/bat_02-04-14/1

[N18] AMBER Lab Featured on Daily Planet on Discovery Channel Canada.Daily Planet, January, 2014 [Television]http://youtu.be/gaOpUvWCHU4

[N17] NASA/Aggie team to test humanoid robot in Miami.The Eagle, December 20, 2013 [Print & Online]http://www.theeagle.com/news/local/article_23470474-51da-5685-89c7-083869a85356.

html

[N16] NASA Valkyrie humanoid robot walks thanks to Texas A&M mechanical engineering research.Texas A&M Engineering News, December 12, 2013 [Online]http://tinyurl.com/mfosrt3

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Aaron D. Ames Curriculum Vitae

[N15] AMBER 2 bipedal robot mimics humans for a more natural gait.Gizmag, November 3, 2013 [Online]http://www.gizmag.com/bipedal-robotic-locomotion-amber-2/29603/

[N14] This Fleet-Footed New Robot Walks Exactly Like You Do.Gizmodo, October 24, 2013 [Online]http://gizmodo.com/this-fleet-footed-new-robot-walks-exactly-like-you-do-1451400529

[N13] Amber 2 robot walks with a human gait.Phys.org, October 25, 2013 [Online]http://phys.org/news/2013-10-amber-robot-human-gait-video.html

[N12] AMBER Robot Gets Feet The Little Mermaid Would’ve Envied.übergizmo, October 24, 2013 [Online]http://www.ubergizmo.com/2013/10/amber-robot-gets-feet-the-little-mermaid-wouldve-envied/

[N11] AMBER robot walks on human-like feet but isn’t quite ready for British Knights.Engadget, October 24, 2013 [Online]http://www.engadget.com/2013/10/24/texas-am-robot-with-humanlike-feet/

[N10] National Science Foundation Announces Projects to Expand the Frontiers of Cyber-Physical Systems.National Science Foundation, Press Release 13-079, May 3, 2013 [Online]http://www.nsf.gov/news/news_summ.jsp?cntn_id=127647&WT.mc_id=USNSF_51

[N9] AMBER 2, il robot che cammina come un essere umano.Webnews, January 2013 [Online]http://www.webnews.it/2013/01/17/amber-2-il-robot-che-cammina-come-un-essere-umano/

[N8] Human-Like Bipedal Walking Robot.Design News, January 2013 [Print] Also available online at:http://www.designnews.com/document.asp?doc_id=256908

[N7] Walking Robots.Texas A&M Engineer Magazine, 2012 [Print]http://engineering.tamu.edu/research/2012/walking-robots

[N6] Robot Walks With Human-Like Gait.33rd Square, September 21, 2012 [Online]http://www.33rdsquare.com/2012/09/robot-walks-with-human-like-gait.html

[N5] Bipedal Robotic Motion Research at Texas A&M.Engineering TV, August 18, 2012 [Online]http://www.engineeringtv.com/video/Bipedal-Robotic-Motion-Research;NI-Week-2012

[N4] Achieving Human-Inspired Bipedal Robotic Walking With LabVIEW.National Instruments (NI), March 30, 2012 [Online]http://sine.ni.com/cs/app/doc/p/id/cs-14519

[N3] Accelerating robotic innovation.Engineering News, Texas A&M University, November 18, 2011 [Online]http://tinyurl.com/tamunews-nov-18-2011

[N2] Software will predict robot behavior before they are built.R&D Magazine, November 10, 2011 [Online]http://tinyurl.com/rdmag-nov-10-2011

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Aaron D. Ames Curriculum Vitae

[N1] Accelerating robotic innovation.Rice University, Office of Public Affairs, News & Media Relations, November 9, 2011 [Online]http://tinyurl.com/rice-nov-9-2011

44