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Kaveh Akbari Hamed
Kaveh Akbari Hamed
Associate Professor of ME, Virginia Tech
Verified email at vt.edu - Homepage
Title
Cited by
Cited by
Year
Performance analysis and feedback control of ATRIAS, a 3D bipedal robot
A Ramezani, JW Hurst, KA Hamed, JW Grizzle
ASME Journal of Dynamic Systems, Measurement and Control 136 (2), 2013
235*2013
Exponentially Stabilizing Continuous-Time Controllers for Periodic Orbits of Hybrid Systems: Application to Bipedal Locomotion with Ground Height Variations
KA Hamed, BG Buss, JW Grizzle
The International Journal of Robotics Research, accepted to appear, 2015
1002015
Event-based Stabilization of Periodic Orbits for Underactuated 3D Bipedal Robots with Left-Right Symmetry
KA Hamed, JW Grizzle
IEEE Transactions on Robotics 30 (2), 365-381, 2014
1002014
Preliminary walking experiments with underactuated 3D bipedal robot MARLO
BG Buss, A Ramezani, KA Hamed, BA Griffin, KS Galloway, JW Grizzle
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
982014
Quadrupedal locomotion via event-based predictive control and QP-based virtual constraints
KA Hamed, J Kim, A Pandala
IEEE Robotics and Automation Letters 5 (3), 4463-4470, 2020
512020
Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints
BG Buss, KA Hamed, BA Griffin, JW Grizzle
2016 American Control Conference (ACC), 4785-4792, 2016
512016
Decentralized feedback controllers for robust stabilization of periodic orbits of hybrid systems: Application to bipedal walking
KA Hamed, RD Gregg
IEEE Transactions on Control Systems Technology 25 (4), 1153-1167, 2016
452016
Continuous-Time Controllers for Stabilizing Periodic Orbits of Hybrid Systems: Application to an Underactuated 3D Bipedal Robot
KA Hamed, BG Buss, JW Grizzle
53rd IEEE CDC, accepted to appear, 2014
402014
Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study
S Halder, K Afsari, E Chiou, R Patrick, KA Hamed
Journal of Building Engineering 65, 105814, 2023
392023
Robust Event-based Stabilization of Periodic Orbits for Hybrid Systems: Application to an Underactuated 3D Bipedal Robot
KA Hamed, JW Grizzle
2013 American Control Conference, 6206 - 6212, 2013
322013
First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach
WL Ma, KA Hamed, AD Ames
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
312019
Stabilization of periodic orbits for planar walking with noninstantaneous double-support phase
KA Hamed, N Sadati, WA Gruver, GA Dumont
IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and …, 2012
302012
Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion
KA Hamed, JW Grizzle
Nonlinear Analysis: Hybrid Systems 25, 227-245, 2017
292017
Robust predictive control for quadrupedal locomotion: Learning to close the gap between reduced-and full-order models
A Pandala, RT Fawcett, U Rosolia, AD Ames, KA Hamed
IEEE Robotics and Automation Letters 7 (3), 6622-6629, 2022
252022
Decentralized event-based controllers for robust stabilization of hybrid periodic orbits: Application to underactuated 3-d bipedal walking
KA Hamed, RD Gregg
IEEE Transactions on Automatic Control 64 (6), 2266-2281, 2018
252018
Nonholonomic hybrid zero dynamics for the stabilization of periodic orbits: Application to underactuated robotic walking
KA Hamed, AD Ames
IEEE Transactions on Control Systems Technology 28 (6), 2689-2696, 2019
242019
Toward a data-driven template model for quadrupedal locomotion
RT Fawcett, K Afsari, AD Ames, KA Hamed
IEEE Robotics and Automation Letters 7 (3), 7636-7643, 2022
232022
Hierarchical and safe motion control for cooperative locomotion of robotic guide dogs and humans: A hybrid systems approach
KA Hamed, VR Kamidi, WL Ma, A Leonessa, AD Ames
IEEE Robotics and Automation Letters 5 (1), 56-63, 2019
212019
Dynamically stable 3D quadrupedal walking with multi-domain hybrid system models and virtual constraint controllers
KA Hamed, WL Ma, AD Ames
2019 American Control Conference (ACC), 4588-4595, 2019
202019
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
182021
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