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Matthew J. Powell
Matthew J. Powell
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MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot
G Bledt, MJ Powell, B Katz, J Di Carlo, PM Wensing, S Kim
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
3122018
Valkyrie: Nasa's first bipedal humanoid robot
NA Radford, P Strawser, K Hambuchen, JS Mehling, WK Verdeyen, ...
Journal of Field Robotics 32 (3), 397-419, 2015
2542015
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
AD Ames, EA Cousineau, MJ Powell
Proceedings of the 15th ACM international conference on Hybrid Systems …, 2012
1182012
Towards the unification of locomotion and manipulation through control lyapunov functions and quadratic programs
AD Ames, M Powell
Control of Cyber-Physical Systems, 219-240, 2013
902013
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing
MJ Powell, H Zhao, AD Ames
2012 IEEE International Conference on Robotics and Automation, 543-549, 2012
632012
A human-inspired hybrid control approach to bipedal robotic walking
RW Sinnet, MJ Powell, RP Shah, AD Ames
IFAC Proceedings Volumes 44 (1), 6904-6911, 2011
592011
Sufficient conditions for the lipschitz continuity of qp-based multi-objective control of humanoid robots
B Morris, MJ Powell, AD Ames
52nd IEEE Conference on Decision and Control, 2920-2926, 2013
542013
Optimized jumping on the mit cheetah 3 robot
Q Nguyen, MJ Powell, B Katz, J Di Carlo, S Kim
2019 International Conference on Robotics and Automation (ICRA), 7448-7454, 2019
522019
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics
MJ Powell, A Hereid, AD Ames
2013 IEEE international conference on robotics and automation, 4803-4810, 2013
432013
Continuity and smoothness properties of nonlinear optimization-based feedback controllers
BJ Morris, MJ Powell, AD Ames
2015 54th IEEE Conference on Decision and Control (CDC), 151-158, 2015
382015
Planar multi-contact bipedal walking using hybrid zero dynamics
J Lack, MJ Powell, AD Ames
2014 IEEE International Conference on Robotics and Automation (ICRA), 2582-2588, 2014
332014
Model predictive control of underactuated bipedal robotic walking
MJ Powell, EA Cousineau, AD Ames
2015 IEEE International Conference on Robotics and Automation (ICRA), 5121-5126, 2015
322015
Human‐inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
H Zhao, MJ Powell, AD Ames
Optimal Control Applications and Methods 35 (6), 730-755, 2014
292014
Online gait transitions and disturbance recovery for legged robots via the feasible impulse set
C Boussema, MJ Powell, G Bledt, AJ Ijspeert, PM Wensing, S Kim
IEEE Robotics and automation letters 4 (2), 1611-1618, 2019
262019
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
A Hereid, MJ Powell, AD Ames
53rd IEEE Conference on Decision and Control, 2950-2957, 2014
212014
Compass gait revisited: A human data perspective with extensions to three dimensions
RW Sinnet, MJ Powell, S Jiang, AD Ames
2011 50th IEEE Conference on Decision and Control and European Control …, 2011
142011
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization
MJ Powell, WL Ma, ER Ambrose, AD Ames
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016
102016
Mechanics-Based Control of Underactuated 3D Robotic Walking: Dynamic Gait Generation Under Torque Constraints
MJ Powell, AD Ames
to appear in the IEEE International Conference on Intelligent Robots and …, 2016
92016
Unification of locomotion pattern generation and control lyapunov function-based quadratic programs
KY Chao, MJ Powell, AD Ames, P Hur
2016 American Control Conference (ACC), 3910-3915, 2016
62016
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion
MJ Powell, AD Ames
2016 American Control Conference (ACC), 3922-3927, 2016
32016
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