Interactive multi-modal motion planning with branch model predictive control Y Chen, U Rosolia, W Ubellacker, N Csomay-Shanklin, AD Ames IEEE Robotics and Automation Letters 7 (2), 5365-5372, 2022 | 71 | 2022 |
A machine learning strategy for locomotion classification and parameter estimation using fusion of wearable sensors J Camargo, W Flanagan, N Csomay-Shanklin, B Kanwar, A Young IEEE Transactions on Biomedical Engineering 68 (5), 1569-1578, 2021 | 54 | 2021 |
Online learning of unknown dynamics for model-based controllers in legged locomotion Y Sun, WL Ubellacker, WL Ma, X Zhang, C Wang, NV Csomay-Shanklin, ... IEEE Robotics and Automation Letters 6 (4), 8442-8449, 2021 | 51 | 2021 |
Automated gap-filling for marker-based biomechanical motion capture data J Camargo, A Ramanathan, N Csomay-Shanklin, A Young Computer Methods in Biomechanics and Biomedical Engineering 23 (15), 1180-1189, 2020 | 29 | 2020 |
Episodic learning for safe bipedal locomotion with control barrier functions and projection-to-state safety N Csomay-Shanklin, RK Cosner, M Dai, AJ Taylor, AD Ames Learning for Dynamics and Control, 1041-1053, 2021 | 27 | 2021 |
Preference-based learning for user-guided hzd gait generation on bipedal walking robots M Tucker, N Csomay-Shanklin, WL Ma, AD Ames 2021 IEEE International Conference on Robotics and Automation (ICRA), 2804-2810, 2021 | 26 | 2021 |
Multi-rate planning and control of uncertain nonlinear systems: Model predictive control and control lyapunov functions N Csomay-Shanklin, AJ Taylor, U Rosolia, AD Ames 2022 IEEE 61st Conference on Decision and Control (CDC), 3732-3739, 2022 | 25 | 2022 |
Planar bipedal locomotion with nonlinear model predictive control: Online gait generation using whole-body dynamics MY Galliker, N Csomay-Shanklin, R Grandia, AJ Taylor, F Farshidian, ... 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022 | 19* | 2022 |
Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion WL Ma, N Csomay-Shanklin, S Kolathaya, KA Hamed, AD Ames IEEE Robotics and Automation Letters 6 (2), 3761-3768, 2021 | 19 | 2021 |
Verifying safe transitions between dynamic motion primitives on legged robots W Ubellacker, N Csomay-Shanklin, TG Molnar, AD Ames 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 17 | 2021 |
Learning controller gains on bipedal walking robots via user preferences N Csomay-Shanklin, M Tucker, M Dai, J Reher, AD Ames 2022 International Conference on Robotics and Automation (ICRA), 10405-10411, 2022 | 14 | 2022 |
Sampling tool concepts for Enceladus lander in-situ analysis M Badescu, D Riccobono, S Ubellacker, P Backes, M Dotson, J Molaro, ... 2019 IEEE Aerospace Conference, 1-12, 2019 | 12 | 2019 |
Coupled control systems: Periodic orbit generation with application to quadrupedal locomotion WL Ma, N Csomay-Shanklin, AD Ames IEEE Control Systems Letters 5 (3), 935-940, 2020 | 11 | 2020 |
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors N Csomay-Shanklin, VD Dorobantu, AD Ames 2023 IEEE International Conference on Robotics and Automation (ICRA), 12106 …, 2023 | 10 | 2023 |
Neural gaits: Learning bipedal locomotion via control barrier functions and zero dynamics policies IDJ Rodriguez, N Csomay-Shanklin, Y Yue, AD Ames arXiv preprint arXiv:2204.08120, 2022 | 9 | 2022 |
Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots WL Ma, N Csomay-Shanklin, AD Ames 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 8 | 2020 |
Design and comparative analysis of 1d hopping robots E Ambrose, N Csomay-Shanklin, Y Or, A Ames 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019 | 6 | 2019 |
Robust bipedal locomotion: Leveraging saltation matrices for gait optimization M Tucker, N Csomay-Shanklin, AD Ames 2023 IEEE International Conference on Robotics and Automation (ICRA), 12218 …, 2023 | 5 | 2023 |
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies W Compton, IDJ Rodriguez, N Csomay-Shanklin, Y Yue, AD Ames arXiv preprint arXiv:2408.14749, 2024 | 1 | 2024 |
Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion W Ubellacker, N Csomay-Shanklin, AD Ames 2024 American Control Conference (ACC), 3383-3390, 2024 | 1 | 2024 |