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issn = "1063-6536", doi = "10.1109/tcst.2019.2947874", volume = "28" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20200706-130358309, title = "Safety-Critical Control of Active Interventions for COVID-19 Mitigation", journal = "IEEE Access", year = "2020", url = "https://resolver.caltech.edu/CaltechAUTHORS:20200706-130358309", id = "record", issn = "2169-3536", doi = "10.1109/ACCESS.2020.3029558", volume = "8", pmcid = "PMC8545284" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20200527-124525913, title = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses", year = "2020", url = "https://resolver.caltech.edu/CaltechAUTHORS:20200527-124525913", id = "record", isbn = "978-1-7281-6212-6", doi = "10.1109/IROS45743.2020.9341388" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20200528-143228870, title = "Distributed Collision-Free 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doi = "10.48550/arXiv.1608.02683v3" } @other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756, title = "Traversing Environments Using Possibility Graphs with Multiple Action Types", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756", id = "record", doi = "10.48550/arXiv.1610.00701" } @other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491, title = "Input to State Stability of Bipedal Walking Robots: Application to DURUS", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491", id = "record", doi = "10.48550/arXiv.1801.00618" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279, title = "Input-to-State Safety with Control Barrier Functions", journal = "IEEE Control Systems Letters", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20180711-153433279", id = "record", issn = "2475-1456", doi = "10.1109/LCSYS.2018.2853698", volume = "3" } 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id = "record", issn = "1552-3098", doi = "10.1109/TRO.2017.2783371", volume = "34" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20180423-111212976, chapter = "Towards a Framework for Realizable Safety Critical Control through Active Set Invariance", year = "2018", url = "https://resolver.caltech.edu/CaltechAUTHORS:20180423-111212976", id = "record", doi = "10.1109/ICCPS.2018.00018" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117, title = "2017 IEEE 56th Annual Conference on Decision and Control (CDC)", chapter = "Data-driven control for feedback linearizable single-input systems", year = "2017", url = "https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117", id = "record", isbn = "978-1-5090-2874-0", doi = "10.1109/CDC.2017.8264603" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20170621-160327032, title = "Abstracting Partially Feedback Linearizable Systems Compositionally", journal = "IEEE Control Systems Letters", year = "2017", url 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doi = "10.1145/3049797.3049823" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20190722-151625943, title = "First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach", journal = "Autonomous Robots", year = "2017", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-151625943", id = "record", issn = "0929-5593", doi = "10.1007/s10514-016-9565-1", volume = "41" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786, title = "2016 IEEE 55th Conference on Decision and Control (CDC)", chapter = "3D dynamic walking on stepping stones with control barrier functions", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786", id = "record", isbn = "978-1-5090-1837-6", doi = "10.1109/CDC.2016.7798370" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405, title = "2016 IEEE 55th Conference on Decision and Control (CDC)", chapter = "Online optimal gait generation 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"https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490", id = "record", isbn = "978-1-5090-1837-6", doi = "10.1109/CDC.2016.7798821" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067, title = "2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)", chapter = "Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067", id = "record", isbn = "978-1-5090-4718-5", doi = "10.1109/humanoids.2016.7803391" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129, title = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Humanoid manipulation planning using backward-forward search", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129", id = "record", isbn = "978-1-5090-3762-9", doi = "10.1109/IROS.2016.7759804" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395, title = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Tractable terrain-aware motion planning on granular media: An impulsive jumping study", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395", id = "record", isbn = "978-1-5090-3762-9", doi = "10.1109/IROS.2016.7759572" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190205-143905644, title = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Efficient HZD gait generation for three-dimensional underactuated humanoid running", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-143905644", id = "record", isbn = "978-1-5090-3762-9", doi = "10.1109/IROS.2016.7759856" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119, title = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119", id = "record", isbn = "978-1-5090-3762-9", doi = "10.1109/IROS.2016.7759108" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-084137891, title = "2016 American Control Conference (ACC)", chapter = "Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084137891", id = "record", isbn = "978-1-4673-8682-1", doi = "10.1109/ACC.2016.7525525" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751, title = "2016 American Control Conference (ACC)", chapter = "Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751", id = "record", isbn = "978-1-4673-8682-1", doi = "10.1109/ACC.2016.7525523" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683, title = "2016 American Control Conference (ACC)", chapter = "Safety barrier certificates for heterogeneous multi-robot systems", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683", id = "record", isbn = "978-1-4673-8682-1", doi = "10.1109/ACC.2016.7526486" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-084733458, title = "2016 American Control Conference (ACC)", chapter = "Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084733458", id = "record", isbn = "978-1-4673-8682-1", doi = "10.1109/ACC.2016.7525524" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20190208-100755503, title = "Correct-by-Construction Adaptive Cruise Control: Two Approaches", journal = "IEEE Transactions on Control Systems Technology", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-100755503", id = "record", issn = "1063-6536", doi = "10.1109/tcst.2015.2501351", volume = "24" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999, title = "2016 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999", id = "record", isbn = "978-1-4673-8026-3", doi = "10.1109/ICRA.2016.7487279" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649, title = "2016 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649", id = "record", isbn = "978-1-4673-8026-3", doi = "10.1109/ICRA.2016.7487293" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775, title = "2016 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775", id = "record", isbn = "978-1-4673-8026-3", doi = "10.1109/ICRA.2016.7487325" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699, title = "Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control", journal = "IEEE Transactions on Automation Science and Engineering", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699", id = "record", issn = "1545-5955", doi = "10.1109/tase.2016.2524528", volume = "13" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166, title = "2015 54th IEEE Conference on Decision and Control (CDC)", chapter = "A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166", id = "record", isbn = "978-1-4799-7886-1", doi = "10.1109/CDC.2015.7402440" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644, title = "2015 54th IEEE Conference on Decision and Control (CDC)", chapter = "Continuity and smoothness properties of nonlinear optimization-based feedback controllers", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644", id = "record", isbn = "978-1-4799-7886-1", doi = "10.1109/CDC.2015.7402101" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151, title = "Robustness of Control Barrier Functions for Safety Critical Control", journal = "IFAC-PapersOnLine", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190130-162010151", id = "record", issn = "2405-8963", doi = "10.1016/j.ifacol.2015.11.152", volume = "48" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181, title = "2015 IEEE International Conference on Rehabilitation Robotics (ICORR)", chapter = "Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181", id = "record", isbn = "978-1-4799-1808-9", doi = "10.1109/icorr.2015.7281210" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836, title = "2015 American Control Conference (ACC)", chapter = "Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836", id = "record", isbn = "978-1-4799-8684-2", doi = "10.1109/acc.2015.7170931" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163, title = "2015 American Control Conference (ACC)", chapter = "Control barrier function based quadratic programs with application to bipedal robotic walking", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163", id = "record", isbn = "978-1-4799-8684-2", doi = "10.1109/ACC.2015.7172044" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-110812085, title = "2015 American Control Conference (ACC)", chapter = "Energy shaping of hybrid systems via control Lyapunov functions", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-110812085", id = "record", isbn = "978-1-4799-8684-2", doi = "10.1109/ACC.2015.7172280" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-150734255, title = "Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control", chapter = "First steps toward formal controller synthesis for bipedal robots", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-150734255", id = "record", isbn = "978-1-4503-3433-4", doi = "10.1145/2728606.2728611" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852, title = "2015 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Model predictive control of underactuated bipedal robotic walking", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852", id = "record", isbn = "978-1-4799-6923-4", doi = "10.1109/ICRA.2015.7139912" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057, title = "2015 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057", id = "record", isbn = "978-1-4799-6923-4", doi = "10.1109/ICRA.2015.7140004" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458, title = "2015 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458", id = "record", isbn = "978-1-4799-6923-4", doi = "10.1109/icra.2015.7140002" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288, title = "Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics", chapter = "Composing Dynamical Systems to Realize Dynamic Robotic Dancing", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288", id = "record", isbn = "978-3-319-16594-3", doi = "10.1007/978-3-319-16595-0\_25" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429, title = "Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control", chapter = "Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control", year = "2015", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429", id = "record", isbn = "9781450334334", doi = "10.1145/2728606.2728638" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821, title = "53rd IEEE Conference on Decision and Control", chapter = "Hierarchical control of series elastic actuators through control Lyapunov functions", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7039848" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153, title = "53rd IEEE Conference on Decision and Control", chapter = "Control barrier function based quadratic programs with application to adaptive cruise control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7040372" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190212-080911317, title = "53rd IEEE Conference on Decision and Control", chapter = "Preliminary results on correct-by-construction control software synthesis for adaptive cruise control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190212-080911317", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/cdc.2014.7039482" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390, title = "53rd IEEE Conference on Decision and Control", chapter = "Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7039843" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190208-144246388, title = "53rd IEEE Conference on Decision and Control", chapter = "Quadratic program based nonlinear embedded control of series elastic actuators", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-144246388", id = "record", isbn = "978-1-4673-6090-6", doi = "10.1109/CDC.2014.7040375" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175, title = "2014 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Human-inspired walking via unified PD and impedance control", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175", id = "record", isbn = "978-1-4799-3685-4", doi = "10.1109/icra.2014.6907605" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984, title = "2014 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Planar multi-contact bipedal walking using hybrid zero dynamics", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984", id = "record", isbn = "978-1-4799-3685-4", doi = "10.1109/ICRA.2014.6907229" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788, title = "2014 American Control Conference", chapter = "Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788", id = "record", isbn = "9781479932726", doi = "10.1109/ACC.2014.6859014" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852, title = "2014 IEEE International Conference on Robotics and Automation (ICRA)", chapter = "Quadratic programming and impedance control for transfemoral prosthesis", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852", id = "record", isbn = "978-1-4799-3685-4", doi = "10.1109/ICRA.2014.6907026" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499, title = "2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)", chapter = "Human-inspired multi-contact locomotion with AMBER2", year = "2014", url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499", id = "record", isbn = "978-1-4799-4930-4", doi = "10.1109/iccps.2014.6843723" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084, title = "2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)", chapter = "Learning impedance controller parameters for lower-limb prostheses", year = "2013", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084", id = "record", isbn = "9781467363587", doi = "10.1109/IROS.2013.6696968" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850, title = "2013 IEEE International Conference on Robotics and Automation", chapter = "Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics", year = "2013", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850", id = "record", isbn = "978-1-4673-5643-5", doi = "10.1109/ICRA.2013.6631262" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450, title = "51st IEEE Conference on Decision and Control", chapter = "Control Lyapunov functions and hybrid zero dynamics", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450", id = "record", isbn = "978-1-4673-2066-5", doi = "10.1109/CDC.2012.6426229" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671, title = "2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)", chapter = "Achieving bipedal locomotion on rough terrain through human-inspired control", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671", id = "record", isbn = "978-1-4799-0165-4", doi = "10.1109/SSRR.2012.6523897" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190215-142949580, title = "32nd International Conference on Distributed Computing Systems Workshops", chapter = "A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report)", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-142949580", id = "record", isbn = "9781467314237", doi = "10.1109/icdcsw.2012.72" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208, title = "2012 American Control Conference (ACC)", chapter = "Outputs of human walking for bipedal robotic controller design", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208", id = "record", isbn = "978-1-4577-1096-4", doi = "10.1109/ACC.2012.6315648" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-095536575, title = "2012 American Control Conference (ACC)", chapter = "Zeno behavior in electromechanical hybrid systems: From theory to experimental validation", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-095536575", id = "record", isbn = "978-1-4577-1096-4", doi = "10.1109/ACC.2012.6315696" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950, title = "2012 American Control Conference (ACC)", chapter = "Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction", year = "2012", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950", id = "record", isbn = "978-1-4577-1096-4", doi = "10.1109/ACC.2012.6315667" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416, title = "2011 50th IEEE Conference on Decision and Control and European Control Conference", chapter = "Compass gait revisited: A human data perspective with extensions to three dimensions", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416", id = "record", isbn = "978-1-61284-801-3", doi = "10.1109/CDC.2011.6161473" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216, title = "2011 50th IEEE Conference on Decision and Control and European Control Conference", chapter = "Rank deficiency and superstability of hybrid systems with application to bipedal robots", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216", id = "record", isbn = "978-1-61284-801-3", doi = "10.1109/CDC.2011.6160972" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398, title = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems", chapter = "Simulating prosthetic devices with human-inspired hybrid control", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398", id = "record", isbn = "978-1-61284-456-5", doi = "10.1109/IROS.2011.6095186" } @article{https://resolver.caltech.edu/CaltechAUTHORS:20190204-092954756, title = "Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems", journal = "IEEE Transactions on Automatic Control", year = "2011", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190204-092954756", id = "record", issn = "0018-9286", doi = "10.1109/TAC.2010.2080790", volume = "56" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804, title = "Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference", chapter = "3D bipedal walking with knees and feet: A hybrid geometric approach", year = "2009", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804", id = "record", isbn = "978-1-4244-3872-3", doi = "10.1109/CDC.2009.5400457" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190226-091428821, title = "Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference", chapter = "2D bipedal walking with knees and feet: A hybrid control approach", year = "2009", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-091428821", id = "record", isbn = "978-1-4244-3872-3", doi = "10.1109/CDC.2009.5400503" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335, title = "American Control Conference, 2009", chapter = "Formal and practical completion of Lagrangian hybrid systems", year = "2009", url = "https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335", id = "record", isbn = "978-1-4244-4523-3", doi = "10.1109/ACC.2009.5159852" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20100614-134937637, title = "Hybrid Systems: Computation and Control 2009", chapter = "Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems", year = "2009", url = "https://resolver.caltech.edu/CaltechAUTHORS:20100614-134937637", id = "record", isbn = "978-3-642-00601-2", doi = "10.1007/978-3-642-00602-9\_21" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190301-113954983, title = "47th IEEE Conference on Decision and Control", chapter = "On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria", year = "2008", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190301-113954983", id = "record", isbn = "978-1-4244-3124-3", doi = "10.1109/CDC.2008.4739100" } @inbook{https://resolver.caltech.edu/CaltechAUTHORS:20190226-103320953, title = "47th IEEE Conference on Decision and Control", chapter = "Stability of Zeno equilibria in Lagrangian hybrid systems", year = "2008", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-103320953", id = "record", isbn = "978-1-4244-3124-3", doi = "10.1109/CDC.2008.4739235" } @other{https://resolver.caltech.edu/CaltechCDSTR:2008.002, title = "Stability of Zeno 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