Aaron Ames
Bren Professor of Mechanical and Civil Engineering and Control and Dynamical Systems
B.S., University of St. Thomas, 2001; B.A., University of St. Thomas, 2001; M.A., University of California, Berkeley, 2006; Ph.D., 2006. Lecturer, Caltech, 2007; Professor, 2017; Bren Professor, 2017-.
Bipdal robotics, hybrid systems, Zeno behavior, prosthetic devices. Theoretical foundations with practical applications to human inspired bipedal walking.
Overview
Professor Ames' research interests center on robotics, nonlinear control, hybrid systems and cyber-physical systems, with special emphasis on foundational theory and experimental realization on robotic systems; his lab designs, builds and tests novel bipedal robots and prosthesis with the goal of achieving human-like bipedal robotic walking and translating these capabilities to robotic assistive devices.
Related News
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- Akella, Prithvi;Dixit, Anushri et al. (2024) Sample-based bounds for coherent risk measures: Applications to policy synthesis and verificationArtificial Intelligence
- Daş, Ersin;Ames, Aaron D. et al. (2024) Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State SafetyIEEE Control Systems Letters
- Cohen, Max H.;Cosner, Ryan K. et al. (2024) Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable SystemsIEEE Control Systems Letters
- Incer, Inigo;Csomay-Shanklin, Noel et al. (2024) Layered Control Systems Operating on Multiple ClocksIEEE Control Systems Letters
- Cosner, Ryan K.;Culbertson, Preston et al. (2024) Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier FunctionsIEEE Control Systems Letters
- Matni, Nikolai;Ames, Aaron D. et al. (2024) A Quantitative Framework for Layered Multirate Control: Toward a Theory of Control ArchitectureIEEE Control Systems
- Pandala, Abhishek;Ames, Aaron D. et al. (2024) 𝓗₂- and 𝓗∞-Optimal Model Predictive Controllers for Robust Legged LocomotionIEEE Open Journal of Control Systems
- Cohen, Max H.;Ong, Pio et al. (2023) Characterizing Smooth Safety Filters via the Implicit Function TheoremIEEE Control Systems Letters
- Molnar, Tamas G.;Ames, Aaron D. (2023) Composing Control Barrier Functions for Complex Safety SpecificationsIEEE Control Systems Letters
- Ghansah, Adrian B.;Kim, Jeeseop et al. (2023) Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Related Courses
2022-23
CDS 232 – Nonlinear Dynamics
CDS 233 – Nonlinear Control
2021-22
CDS 232 – Nonlinear Dynamics
CDS 233 – Nonlinear Control
2020-21
CDS 232 – Nonlinear Dynamics
CDS 233 – Nonlinear Control