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Kaveh Akbari Hamed
Kaveh Akbari Hamed
Associate Professor of ME, Virginia Tech
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Performance analysis and feedback control of ATRIAS, a 3D bipedal robot
A Ramezani, JW Hurst, KA Hamed, JW Grizzle
ASME Journal of Dynamic Systems, Measurement and Control 136 (2), 2013
231*2013
Event-based Stabilization of Periodic Orbits for Underactuated 3D Bipedal Robots with Left-Right Symmetry
KA Hamed, JW Grizzle
IEEE Transactions on Robotics 30 (2), 365-381, 2014
1002014
Exponentially Stabilizing Continuous-Time Controllers for Periodic Orbits of Hybrid Systems: Application to Bipedal Locomotion with Ground Height Variations
KA Hamed, BG Buss, JW Grizzle
The International Journal of Robotics Research, accepted to appear, 2015
992015
Preliminary walking experiments with underactuated 3D bipedal robot MARLO
BG Buss, A Ramezani, KA Hamed, BA Griffin, KS Galloway, JW Grizzle
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems ¡¦, 2014
972014
Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints
BG Buss, KA Hamed, BA Griffin, JW Grizzle
2016 American Control Conference (ACC), 4785-4792, 2016
532016
Decentralized feedback controllers for robust stabilization of periodic orbits of hybrid systems: Application to bipedal walking
KA Hamed, RD Gregg
IEEE Transactions on Control Systems Technology 25 (4), 1153-1167, 2016
462016
Quadrupedal locomotion via event-based predictive control and QP-based virtual constraints
KA Hamed, J Kim, A Pandala
IEEE Robotics and Automation Letters 5 (3), 4463-4470, 2020
422020
Continuous-Time Controllers for Stabilizing Periodic Orbits of Hybrid Systems: Application to an Underactuated 3D Bipedal Robot
KA Hamed, BG Buss, JW Grizzle
53rd IEEE CDC, accepted to appear, 2014
402014
Robust Event-based Stabilization of Periodic Orbits for Hybrid Systems: Application to an Underactuated 3D Bipedal Robot
KA Hamed, JW Grizzle
2013 American Control Conference, 6206 - 6212, 2013
302013
First steps towards full model based motion planning and control of quadrupeds: A hybrid zero dynamics approach
WL Ma, KA Hamed, AD Ames
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems ¡¦, 2019
292019
Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: Application to bipedal locomotion
KA Hamed, JW Grizzle
Nonlinear Analysis: Hybrid Systems 25, 227-245, 2017
292017
Stabilization of periodic orbits for planar walking with noninstantaneous double-support phase
KA Hamed, N Sadati, WA Gruver, GA Dumont
IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and ¡¦, 2012
282012
Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study
S Halder, K Afsari, E Chiou, R Patrick, KA Hamed
Journal of Building Engineering 65, 105814, 2023
252023
Nonholonomic hybrid zero dynamics for the stabilization of periodic orbits: Application to underactuated robotic walking
KA Hamed, AD Ames
IEEE Transactions on Control Systems Technology 28 (6), 2689-2696, 2019
242019
Decentralized event-based controllers for robust stabilization of hybrid periodic orbits: Application to underactuated 3-d bipedal walking
KA Hamed, RD Gregg
IEEE Transactions on Automatic Control 64 (6), 2266-2281, 2018
222018
Toward a data-driven template model for quadrupedal locomotion
RT Fawcett, K Afsari, AD Ames, KA Hamed
IEEE Robotics and Automation Letters 7 (3), 7636-7643, 2022
202022
Hierarchical and safe motion control for cooperative locomotion of robotic guide dogs and humans: A hybrid systems approach
KA Hamed, VR Kamidi, WL Ma, A Leonessa, AD Ames
IEEE Robotics and Automation Letters 5 (1), 56-63, 2019
192019
Nonholonomic virtual constraint design for variable-incline bipedal robotic walking
JC Horn, A Mohammadi, KA Hamed, RD Gregg
IEEE Robotics and Automation Letters 5 (2), 3691-3698, 2020
182020
Dynamically stable 3D quadrupedal walking with multi-domain hybrid system models and virtual constraint controllers
KA Hamed, WL Ma, AD Ames
2019 American Control Conference (ACC), 4588-4595, 2019
182019
Robust predictive control for quadrupedal locomotion: Learning to close the gap between reduced-and full-order models
A Pandala, RT Fawcett, U Rosolia, AD Ames, KA Hamed
IEEE Robotics and Automation Letters 7 (3), 6622-6629, 2022
172022
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