Kaveh Akbari Hamed
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View article: Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots Open
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigating cluttered environments. Conventional shared-control appro…
View article: Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots Open
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent q…
View article: Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Data-Driven Predictive Control for Robust Exoskeleton Locomotion Open
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for lo…
View article: $\mathcal {H}_{2}$- and $\mathcal {H}_\infty$-Optimal Model Predictive Controllers for Robust Legged Locomotion
$\mathcal {H}_{2}$- and $\mathcal {H}_\infty$-Optimal Model Predictive Controllers for Robust Legged Locomotion Open
This paper formally develops robust optimal predictive control solutions that can accommodate disturbances and stabilize periodic legged locomotion. To this end, we build upon existing optimization-based control paradigms, particularly qua…
View article: Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches Open
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, base…
View article: Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study
Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study Open
View article: Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach Open
This work aims to provide a computationally effective and distributed trajectory planner at the intersection of physics-based and data-driven techniques for the collaborative locomotion of holonomically constrained quadrupedal robots that …
View article: Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches Open
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, base…
View article: Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion Open
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems …
View article: Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails
Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails Open
The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of external disturbances…
View article: Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach Open
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulatio…
View article: Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints Open
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for dy…
View article: Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based\n Virtual Constraints
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based\n Virtual Constraints Open
This paper aims to develop a hierarchical nonlinear control algorithm, based\non model predictive control (MPC), quadratic programming (QP), and virtual\nconstraints, to generate and stabilize locomotion patterns in a real-time\nmanner for…
View article: First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach Open
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We…
View article: Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach Open
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensi…
View article: Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers Open
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-doma…
View article: Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers Open
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-doma…
View article: Hierarchical and Safe Motion Control for Cooperative Locomotion of\n Robotic Guide Dogs and Humans: A Hybrid Systems Approach
Hierarchical and Safe Motion Control for Cooperative Locomotion of\n Robotic Guide Dogs and Humans: A Hybrid Systems Approach Open
This paper presents a hierarchical control strategy based on hybrid systems\ntheory, nonlinear control, and safety-critical systems to enable cooperative\nlocomotion of robotic guide dogs and visually impaired people. We address\nhigh-dime…
View article: Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems
Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems Open
View article: Distributed Feedback Controllers for Stable Cooperative Locomotion of\n Quadrupedal Robots: A Virtual Constraint Approach
Distributed Feedback Controllers for Stable Cooperative Locomotion of\n Quadrupedal Robots: A Virtual Constraint Approach Open
This paper aims to develop distributed feedback control algorithms that allow\ncooperative locomotion of quadrupedal robots which are coupled to each other by\nholonomic constraints. These constraints can arise from collaborative\nmanipula…
View article: Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid\n System Models and Virtual Constraint Controllers
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid\n System Models and Virtual Constraint Controllers Open
Hybrid systems theory has become a powerful approach for designing feedback\ncontrollers that achieve dynamically stable bipedal locomotion, both formally\nand in practice. This paper presents an analytical framework 1) to address\nmulti-d…
View article: Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking
Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking Open
This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time pha…
View article: Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking Open
This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a…
View article: Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running**The work of K. Akbari Hamed was partially supported by the Center for Sensorimotor Neural Engineering (CSNE) that is an NSF Engineering Research Center. The work of J. W. Grizzle was supported by NSF Grants ECCS-1343720 and ECCS-1231171.
Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running**The work of K. Akbari Hamed was partially supported by the Center for Sensorimotor Neural Engineering (CSNE) that is an NSF Engineering Research Center. The work of J. W. Grizzle was supported by NSF Grants ECCS-1343720 and ECCS-1231171. Open
This paper presents a systematic numerical algorithm to design optimal Hoo continuous-time controllers to robustly stabilize periodic orbits for hybrid dynamical systems in the presence of discrete-time uncertainties. A parameterized set o…