Papers
Submitted
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics, Manuel Y. Galliker*, Noel Csomay-Shanklin*, Ruben Grandia1, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames, submitted to IROS 2022. Available at: arXiv: 2203.07429.
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions, Noel Csomay-Shanklin*, Andrew J. Taylor*, Ugo Rosolia, Aaron D. Ames, submitted to CDC 2022. Available at: arXiv: 2204.00152.
Accepted
Neural Gaits: Learning Bipedal Locomotion via Control Barrier functions and Zero Dynamics Policies, Ivan Dario Jimenez Rodriguez*, Noel Csomay-Shanklin*, Yisong Yue, Aaron D. Ames, to appear at L4DC 2022.
Learning Controller Gains on Bipedal Walking Robots via User Preferences, Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron Ames, to appear at ICRA 2022. Available at: arXiv: 2102.13201
Published
Posters
Fast Trajectory Generation for Quadrupedal Walking on Slopes, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames, presented at 2020 Dynamic Walking Conference.