Follow
Jenna Reher
Title
Cited by
Cited by
Year
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
J Reher, EA Cousineau, A Hereid, CM Hubicki, AD Ames
2016 IEEE International Conference on Robotics and Automation (ICRA), 1794-1801, 2016
1502016
Towards a framework for realizable safety critical control through active set invariance
T Gurriet, A Singletary, J Reher, L Ciarletta, E Feron, A Ames
2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS …, 2018
1382018
Dynamic walking with compliance on a cassie bipedal robot
J Reher, WL Ma, AD Ames
2019 18th European Control Conference (ECC), 2589-2595, 2019
962019
Dynamic walking: Toward agile and efficient bipedal robots
J Reher, AD Ames
Annual Review of Control, Robotics, and Autonomous Systems 4 (1), 535-572, 2021
682021
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
652020
First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach
H Zhao, J Horn, J Reher, V Paredes, AD Ames
Autonomous Robots 41, 725-742, 2017
632017
Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control
H Zhao, J Horn, J Reher, V Paredes, AD Ames
IEEE Transactions on Automation Science and Engineering 13 (2), 502-513, 2016
612016
Global position control on underactuated bipedal robots: Step-to-step dynamics approximation for step planning
X Xiong, J Reher, AD Ames
2021 IEEE International Conference on Robotics and Automation (ICRA), 2825-2831, 2021
412021
An inverse dynamics approach to control lyapunov functions
J Reher, C Kann, AD Ames
2020 American Control Conference (ACC), 2444-2451, 2020
412020
Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis
H Zhao, J Reher, J Horn, V Paredes, AD Ames
Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical …, 2015
322015
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
292018
Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition
H Zhao, J Reher, J Horn, V Paredes, AD Ames
2015 IEEE International Conference on Rehabilitation Robotics (ICORR), 265-270, 2015
282015
Inverse dynamics control of compliant hybrid zero dynamic walking
J Reher, AD Ames
2021 IEEE International Conference on Robotics and Automation (ICRA), 2040-2047, 2021
242021
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
142022
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses
H Zhao, J Horn, J Reher, V Paredes, AD Ames
2015 54th IEEE Conference on Decision and Control (CDC), 1607-1612, 2015
142015
Control lyapunov functions for compliant hybrid zero dynamic walking
J Reher, AD Ames
arXiv preprint arXiv:2107.04241, 2021
122021
Control of separable subsystems with application to prostheses
R Gehlhar, J Reher, AD Ames
arXiv preprint arXiv:1909.03102, 2019
82019
Dynamic Bipedal Locomotion: From Hybrid Zero Dynamics to Control Lyapunov Functions Via Experimentally Realizable Methods
J Reher
California Institute of Technology, 2021
52021
Input to state stability of bipedal walking robots: Application to durus
S Kolathaya, J Reher, AD Ames
arXiv preprint arXiv:1801.00618, 2018
32018
Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control
H Zhao, J Reher, J Horn, V Paredes, AD Ames
Proceedings of the 18th International Conference on Hybrid Systems …, 2015
32015
The system can't perform the operation now. Try again later.
Articles 1–20