Hybrid Dynamic Systems and Robot Locomotion Laboratory

Department of Mechanical Engineering

Virginia Tech

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Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.

Disclaimer and Copyright Notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders.

 
  • K. Akbari Hamed, V. R. Kamidi, A. Pandala, W. Ma, and A. D. Ames, “Distributed feedback controllers for stable cooperative locomotion of quadrupedal robots: A virtual constraint approach,” American Control Conference (ACC), Under Review, September 2019 (see arXiv version) (animation)

  • A. Pandala, V. R. Kamidi, and K. Akbari Hamed, “Decentralized control schemes for stable quadrupedal locomotion: A decomposition approach from centralized controllers,” American Control Conference (ACC), Under Review, September 2019

  • K. Akbari Hamed, V. R. Kamidi, W. Ma, A. Leonessaand A. D. Ames, “Hierarchical and safe motion control for cooperative locomotion of robotic guide dogs and humans: A hybrid systems approach,” IEEE Robotics and Automation Letters, In Press, September 2019, (see) (animation)

  • K. Akbari Hamed and A. D. Ames, “Nonholonomic hybrid zero dynamics for the stabilization of periodic orbits: Application to underactuated robotic walking,” IEEE Transactions on Control Systems Technology, In Press, October 2019 (see) (animation)

  • K. Akbari Hamed, B. Safaee, and R. D. Gregg, "Dynamic output controllers for exponential stabilization of periodic orbits for multi-domain hybrid models of robotic locomotion," ASME Journal of Dynamic Systems, Measurement, and Control, In Press, July 2019 (see) (animation)

  • K. Akbari Hamed, W. Ma, and A. D. Ames, “Dynamically stable 3D quadruped walking with multi-domain hybrid system models and virtual constraint controllers,” American Control Conference (ACC), pp. 4588-4595, July 2019 (see) (supplementary document) (animation)

  • W-L. Ma, K. Akbari Hamed, and A. D. Ames, “First steps towards full model-based motion planning and control of quadrupeds: A hybrid zero dynamics approach,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Accepted to Appear, June 2019 (see arXiv version) (video)

  • J. C. Horn, A. Mohammadi, K. Akbari Hamed, and R. D. Gregg, “Hybrid zero dynamics of bipedal robots under nonholonomic constraints," IEEE Control Systems Letters, vol. 3, no. 2, April 2019 (see)

2019

  • K. Akbari Hamed and R. D. Gregg, "Decentralized event-based controllers for robust stabilization of hybrid periodic orbits: Application to underactuated 3D bipedal walking," IEEE Transactions on Automatic Control, vol. 64, no. 6, pp. 2266-2281, June 2019 (see), (animation)

 

  • K. Akbari Hamed, A. D. Ames, and R. D. Gregg, "Observer-based feedback controllers for exponential stabilization of hybrid periodic orbits: Application to underactuated bipedal walking," American Control Conference (ACC), pp. 1438-1445, Milwaukee, WI, June 2018 (see), (animation)

 

  • K. Akbari Hamed, R. D. Gregg, and A. D. Ames, "Exponentially stabilizing controllers for multi-contact 3D bipedal locomotion," American Control Conference (ACC), pp. 2210-2217, Milwaukee, WI, June 2018 (see), (animation)

2018

  • K. Akbari Hamed and R. D. Gregg, "Decentralized feedback controllers for robust stabilization of periodic orbits of hybrid systems: Application to bipedal walking," IEEE Transactions on Control Systems Technology, vol. 25, issue 4, pp. 1153-1167, July 2017 (see), (animation)

  • K. Akbari Hamed and J. W. Grizzle, "Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion," Nonlinear Analysis: Hybrid Systems, vol. 25, pp. 227-245, August 2017 (see), (animation)

 

 

2017

  • K. Akbari Hamed, B. G. Buss, and J. W. Grizzle, "Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations," The International Journal of Robotics Research, vol. 35, no. 8, pp. 977-999, August 2016 (see), (animation), (video)

 

  • K. Akbari Hamed, A. D. Ames, and R. D. Gregg, "Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking," American Control Conference (ACC), pp. 4793-4800, Boston, MA, July 2016 (see), (animation)

  • B. G. Buss, K. Akbari Hamed, B. A. Griffin, and J. W. Grizzle, "Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints," American Control Conferences (ACC), pp. 4785-4792, Boston, MA, July 2016 (see), (video)

2016

  • K. Akbari Hamed and J. W. Grizzle, "Iterative robust stabilization algorithm for periodic orbits of hybrid dynamical systems: Application to bipedal running," IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), vol. 48, no. 27, pp. 161-168, Atlanta GA, October 2015 (see)

 

 

2015

  • K. Akbari Hamed and J. W. Grizzle, "Event-based stabilization of periodic orbits for underactuated 3D bipedal robots with left-right symmetry," IEEE Transactions on Robotics, vol. 30, issue 2, pp. 365-381, April 2014 (see), (animation)

 

  • K. Akbari Hamed, B. G. Buss, and J. W. Grizzle, "Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot," IEEE Conference on Decision and Control (CDC), pp. 1507 - 1513, Los Angeles, CA, December 2014 (see), (animation)

 

  • B. G. Buss, A. Ramezani, K. Akbari Hamed, B. A. Griffin, K. S. Galloway, and J. W. Grizzle, "Preliminary walking experiments with underactuated 3D bipedal robot MARLO," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2529-2536, Chicago, IL, September 2014 (see), (video)

2014

  • A. Ramezani, J. W. Hurst, K. Akbari Hamed, and J. W. Grizzle, "Performance analysis and feedback control of ATRIAS, a 3D bipedal robot," ASME Journal of Dynamic Systems, Measurement and Control, 136(2), 021012, December 2013 (see)

 

  • K. Akbari Hamed and J. W. Grizzle, "Robust event-based stabilization of periodic orbits for hybrid systems: Application to an underactuated 3D bipedal robot," American Control Conference (ACC), Washington, DC, USA, pp. 6206-6212, June 2013 (see)

 

 

2013

  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, "Stabilization of periodic orbits for planar walking with non-instantaneous double support phase," IEEE Transactions on Systems, Man, and Cybernetics, Part A, vol. 42, issue 3, pp. 685-706, May 2012 (see)

 

  • N. Sadati, G. A. Dumont, K. Akbari Hamed, and W. A. Gruver, Hybrid Control and Motion Planning of Dynamical Legged Locomotion, Series on Systems Science and Engineering, Wiley-IEEE Press, ISBN: 978-1-118-31707-5, 272 pages, Hoboken, NJ, USA, October 2012 (see)

2012

  • K. Akbari Hamed, Design of Continuous Time-Invariant Controllers for Exponential Stabilization of Periodic Walking and Running Locomotion in Planar Bipedal Robots, Ph.D. dissertation, Sharif University of Technology, June 2011 (see)

  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, “Exponential stabilization of periodic orbits for running of a three-dimensional monopedal robot,” IET Control Theory and Applications, vol. 5, issue 11, pp. 1304-1320, July 2011 (see)

  • N. Sadati, G. A. Dumont, K. Akbari Hamed, and W. A. Gruver, “Two-level control scheme for stabilization of periodic orbits for planar monopedal running,” IET Control Theory and Applications, vol. 5, issue 13, pp. 1528-1543, August 2011 (see)

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  • R. Ansari, M. R. Feyzi, K. Akbari Hamed, N. Sadati, Y. Yasaei and S. Ouni, “Input-output linearization of a fourth-order input-affine system describing the evolution of a three-phase/switch/level (Vienna) rectifier,” IET Power Electronics, vol.4, issue 8, pp. 867-883, September 2011 (see)

 

  • N. Sadati, K. Akbari Hamed, W. A. Gruver, and G. A. Dumont, “Radial basis function network for exponential stabilization of periodic orbits for planar bipedal walking,” IET Electronics Letters, vol. 47, issue 12, June 2011 (see)

 

  • N. Sadati, K. Akbari Hamed, G. A. Dumont, and W. A. Gruver, “Nonholonomic motion planning based on optimal control for flight phases of planar bipedal running,” IET Electronics Letters, vol. 47, issue 20, September 2011 (see)

2011

  • K. Akbari Hamed, N. Sadati, W. A. Gruver, and G. A. Dumont, “Continuous-time update laws with radial basis step length for control of bipedal locomotion,” IET Electronics Letters, vol. 46, issue 21, October 2010 (see)

  • N. Sadati, G. A. Dumont, and K. Akbari Hamed, Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization, Human-Robot Interaction, Daisuke Chugo (Ed.), ISBN: 978-953-307-051-3, InTech, pp. 267-288, February 2010

2010

  • N. Sadati and K. Akbari Hamed, “CPG based controller for a 5-link planar biped robot,” IEEE International Conference on Mechatronics, Kumamoto, Japan, pp. 1-6, May 2007

2007

  • K. Akbari Hamed, Simulation and Intelligent Control of Central Pattern Generators in Spinal Cord for Bipedal Robots, M.S. dissertation, Sharif University of Technology, September 2006

  • N. Sadati and K. Akbari Hamed, “Neural control of a fully actuated biped robot,” IEEE International Conference on Robotics and Biomimetics, Kunming, China, pp. 1299-1304, December 2006

  • N. Sadati and K. Akbari Hamed, “Neural control of an underactuated biped robot,” IEEE-RAS International Conference on Humanoid Robot, Genova, Italy, pp. 593-598, December 2006

2006