| Input-to-state safety with control barrier functions S Kolathaya, AD Ames IEEE control systems letters 3 (1), 108-113, 2018 | 219 | 2018 |
| Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control A Hereid, S Kolathaya, MS Jones, J Van Why, JW Hurst, AD Ames Proceedings of the 17th international conference on Hybrid systems …, 2014 | 81 | 2014 |
| Safety-critical kinematic control of robotic systems A Singletary, S Kolathaya, AD Ames IEEE Control Systems Letters 6, 139-144, 2021 | 67 | 2021 |
| Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS JP Reher, A Hereid, S Kolathaya, CM Hubicki, AD Ames Algorithmic Foundations of Robotics XII: Proceedings of the Twelfth Workshop …, 2020 | 60 | 2020 |
| Bipedal robotic running with DURUS-2D: Bridging the gap between theory and experiment WL Ma, S Kolathaya, ER Ambrose, CM Hubicki, AD Ames Proceedings of the 20th international conference on hybrid systems …, 2017 | 60 | 2017 |
| From formal methods to algorithmic implementation of human inspired control on bipedal robots SN Yadukumar, M Pasupuleti, AD Ames Algorithmic Foundations of Robotics X, 511-526, 2013 | 45 | 2013 |
| Parameter to state stability of control Lyapunov functions for hybrid system models of robots S Kolathaya, AD Ames Nonlinear Analysis: Hybrid Systems 25, 174-191, 2017 | 44 | 2017 |
| Human-Inspired Underactuated Bipedal Robotic Walking with AMBER on Flat-ground, Up-slope and Uneven Terrain SN Yadukumar, M Pasupuleti, AD Ames | 44 | 2012 |
| Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization A Hereid, S Kolathaya, AD Ames 2016 IEEE 55th Conference on Decision and Control (CDC), 6173-6179, 2016 | 35* | 2016 |
| Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots S Bhattacharya, A Singla, D Dholakiya, S Bhatnagar, B Amrutur, A Ghosal, ... 2019 28th IEEE International Conference on Robot and Human Interactive …, 2019 | 31 | 2019 |
| Human-inspired walking via unified pd and impedance control WL Ma, HH Zhao, S Kolathaya, AD Ames 2014 IEEE International Conference on Robotics and Automation (ICRA), 5088-5094, 2014 | 31 | 2014 |
| Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion S Kolathaya, J Reher, A Hereid, AD Ames 2018 Annual American Control Conference (ACC), 2224-2230, 2018 | 30 | 2018 |
| First steps toward formal controller synthesis for bipedal robots with experimental implementation AD Ames, P Tabuada, A Jones, WL Ma, M Rungger, B Schürmann, ... Nonlinear Analysis: Hybrid Systems 25, 155-173, 2017 | 30 | 2017 |
| Local stability of PD controlled bipedal walking robots S Kolathaya Automatica 114, 108841, 2020 | 29 | 2020 |
| Quadratic programming and impedance control for transfemoral prosthesis H Zhao, S Kolathaya, AD Ames 2014 IEEE International Conference on Robotics and Automation (ICRA), 1341-1347, 2014 | 28 | 2014 |
| Realizing learned quadruped locomotion behaviors through kinematic motion primitives A Singla, S Bhattacharya, D Dholakiya, S Bhatnagar, A Ghosal, B Amrutur, ... 2019 International Conference on Robotics and Automation (ICRA), 7434-7440, 2019 | 26 | 2019 |
| Achieving Bipedal Locomotion on Rough Terrain through Human-Inspired Control S Kolathaya, AD Ames IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012 | 26 | 2012 |
| Imitation learning for high precision peg-in-hole tasks S Gubbi, S Kolathaya, B Amrutur 2020 6th International Conference on Control, Automation and Robotics (ICCAR …, 2020 | 24 | 2020 |
| Design, development and experimental realization of a quadrupedal research platform: Stoch D Dholakiya, S Bhattacharya, A Gunalan, A Singla, S Bhatnagar, ... 2019 5th International conference on control, automation and robotics (ICCAR …, 2019 | 24 | 2019 |
| Linear policies are sufficient to realize robust bipedal walking on challenging terrains L Krishna, GA Castillo, UA Mishra, A Hereid, S Kolathaya IEEE Robotics and Automation Letters 7 (2), 2047-2054, 2022 | 23 | 2022 |
Aaron D. AmesBren Professor, Mechanical and Civil Engineering, Control and Dynamical Systems, CaltechVerified email at cds.caltech.edu
