Research Overview

Posted on October 21, 2024

2024

Snow
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bézier Polytopes

Noel Csomay-Shanklin, William D. Compton, and Aaron D. Ames

Submitted to ICRA 2025

Video Paper Blog
Snow
Efficient Certificates for Robust Motion Planning with Layered Architectures

Noel Csomay-Shanklin, and Aaron D. Ames

Submitted to ACC 2025

Paper Blog
Snow
Safety-Critical Controller Synthesis with Reduced-Order Models

Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamas G. Molnar, and Aaron D. Ames

Submitted to LCSS 2025

Paper Blog
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Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice

William D. Compton, Noel Csomay-Shanklin, Cole Johnson, and Aaron D. Ames

Submitted to ICRA 2025

VideoPaper Blog
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Robust Agility via Learned Zero Dynamics Policies

Noel Csomay-Shanklin*, William D. Compton*, Ivan Dario Jimenez Rodriguez*, Eric R. Ambrose, Yisong Yue, and Aaron D. Ames

IROS 2025

VideoPaper Blog
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Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies

William D. Compton*, Ivan Dario Jimenez Rodriguez*, Noel Csomay-Shanklin*, Yisong Yue, and Aaron D. Ames

CDC 2024

Paper Blog
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Layered Control Systems Operating on Multiple Clocks

Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, and Richard M. Murray

LCSS 2024

Paper Blog
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Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion

Wyatt Ubellacker, Noel Csomay-Shanklin, and Aaron D. Ames

ACC 2024

Paper Blog

2023

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Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

Noel Csomay-Shanklin, Victor D. Dorobantu, and Aaron D. Ames

ICRA 2023

VideoPaper Blog
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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

Maegan Tucker, Noel Csomay-Shanklin, and Aaron D. Ames

ICRA 2023

VideoPaper Blog

2022

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Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions

Noel Csomay-Shanklin*, Andrew J. Taylor∗, Ugo Rosolia, and Aaron D. Ames

CDC 2022

Paper Blog
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Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

Manuel Y. Galliker*, Noel Csomay-Shanklin*, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, and Aaron D. Ames

Humanoids 2022

VideoPaper Blog
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Exosuit Support Systems and Methods

Jared Li, Bharat Kanwar, Theodore Johnson, Jonathan Meditz, Avery Yang, Noel Csomay-Shanklin, Joshua Bishop, Dean Molinaro, and Aaron J. Young

2022

VideoPatent
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Learning Controller Gains on Bipedal Walking Robots via User Preferences

Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, and Aaron D. Ames

ICRA 2022

VideoPaper Blog
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Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

Ivan Dario Jimenez Rodriguez*, Noel Csomay-Shanklin*, Yisong Yue, and Aaron D. Ames

L4DC 2022

VideoPaper Blog
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Interactive multi-modal motion planning with Branch Model Predictive Control

Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, and Aaron D. Ames

RA-L 2022

VideoPaper Blog

2021

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Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion

Yu Sun, Wyatt L. Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, and Aaron D. Ames

RA-L 2021

VideoPaper Blog
Snow
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Wyatt L. Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar, and Aaron D. Ames

IROS 2021

VideoPaper Blog
Snow
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots

Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, and Aaron D. Ames

ICRA 2021

VideoPaper Blog
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Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

Noel Csomay-Shanklin*, Ryan K. Cosner*, Min Dai*, Andrew J. Taylor, and Aaron D. Ames

L4DC 2021

VideoPaper Blog
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A Machine Learning Strategy for Locomotion Classification and Parameter Estimation Using Fusion of Wearable Sensors

Jonathan Camargo, Will Flanagan, Noel Csomay-Shanklin, Bharat Kanwar, and Aaron Young

Transactions on Biomedical Engineering 2021

Paper Blog
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Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion

Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, and Aaron D. Ames

RA-L 2021

VideoPaper Blog

2020

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Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots

Wen-Loong Ma, Noel Csomay-Shanklin, and Aaron D. Ames

IROS 2020

VideoPaper Blog
Snow
Automated Gap-Filling for Marker-Based Biomechanical Motion Capture Data

Jonathan Camargo, Aditya Ramanathan, Noel Csomay-Shanklin, and Aaron Young

Computer Methods in Biomechanics and Biomedical Engineering 2020

Blog
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Passive Dynamic Balancing and Walking in Actuated Environments

Jenna Reher*, Noel Csomay-Shanklin*, David L. Christensen, Bobby Bristow, Aaron D. Ames, and Lanny Smoot

ICRA 2020

VideoPaper Blog
Snow
Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion

Wen-Loong Ma, Noel Csomay-Shanklin, and Aaron D. Ames

L-CSS 2020

VideoPaper Blog

2019

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Design and Comparative Analysis of 1D Hopping Robots

Eric Ambrose, Noel Csomay-Shanklin, Yizhar Or, and Aaron D. Ames

IROS 2019

Paper Blog
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Sampling Tool Concepts for Enceladus Lander In-Situ Analysis

Mircea Badescu, Paul Backes, Scott Moreland, Alexander Brinkman, Dario Riccobono, Matthew Dotson, Noel Csomay-Shanklin, Samuel Ubellacker, Jamie Molaro, Mathieu Choukroun, and Giancarlo Genta

Aerospace Conference 2019

Blog