Variation-Based Linearization of Nonlinear Systems Evolving on <inline-formula> <tex-math notation="LaTeX">$SO(3)$ </tex-math></inline-formula> and <inline-formula> <tex-math notat...

by Guofan Wu, Koushil Sreenath
Published 2015-01-01

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs

by Kevin Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
Published 2015-01-01

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons

by Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
Published 2017-01-01