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Matthew J. Powell

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2010 – 2019

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2019
[j2]
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Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim:
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. IEEE Robotics Autom. Lett. 4(2): 1611-1618 (2019)
[c17]
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  - conf/icra/NguyenPKCK19
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Quan Nguyen, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Sangbae Kim:
Optimized Jumping on the MIT Cheetah 3 Robot. ICRA 2019: 7448-7454
2018
[c16]
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Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim:
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. IROS 2018: 2245-2252
2016
[c15]
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  - conf/amcc/ChaoPAH16
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Kenneth Y. Chao, Matthew J. Powell, Aaron D. Ames, Pilwon Hur:
Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. ACC 2016: 3910-3915
[c14]
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  - conf/amcc/PowellA16
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Matthew J. Powell, Aaron D. Ames:
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. ACC 2016: 3922-3927
[c13]
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  - conf/humanoids/PowellMAA16
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Matthew J. Powell, Wen-Loong Ma, Eric R. Ambrose, Aaron D. Ames:
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. Humanoids 2016: 981-986
[c12]
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Matthew J. Powell, Aaron D. Ames:
Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. IROS 2016: 555-560
2015
[j1]
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  - journals/jfr/RadfordSHMVDHSN15
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Nicolaus A. Radford, Philip Strawser, Kimberly A. Hambuchen, Joshua S. Mehling, William K. Verdeyen, A. Stuart Donnan, James Holley, Jairo Sanchez, Vienny Nguyen, Lyndon B. Bridgwater, Reginald Berka, Robert O. Ambrose, Mason Myles Markee, N. J. Fraser-Chanpong, Christopher McQuin, John D. Yamokoski, Stephen Hart, Raymond Guo, Adam Parsons, Brian Wightman, Paul Dinh, Barrett Ames, Charles Blakely, Courtney Edmondson, Brett Sommers, Rochelle Rea, Chad Tobler, Heather Bibby, Brice Howard, Lei Niu, Andrew Lee, Michael Conover, Lily Truong, Ryan Reed, David Chesney, Robert Platt Jr., Gwendolyn Johnson, Chien-Liang Fok, Nicholas Paine, Luis Sentis, Eric A. Cousineau, Ryan W. Sinnet, Jordan Lack, Matthew J. Powell, Benjamin Morris, Aaron D. Ames, Jide Akinyode:
Valkyrie: NASA's First Bipedal Humanoid Robot. J. Field Robotics 32(3): 397-419 (2015)
[c11]
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  - conf/cdc/MorrisPA15
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Benjamin J. Morris, Matthew J. Powell, Aaron D. Ames:
Continuity and smoothness properties of nonlinear optimization-based feedback controllers. CDC 2015: 151-158
[c10]
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Matthew J. Powell, Eric A. Cousineau, Aaron D. Ames:
Model predictive control of underactuated bipedal robotic walking. ICRA 2015: 5121-5126
2014
[c9]
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  - conf/cdc/HereidPA14
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Ayonga Hereid, Matthew J. Powell, Aaron D. Ames:
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. CDC 2014: 2950-2957
[c8]
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Matthew J. Powell, Aaron D. Ames:
Hierarchical control of series elastic actuators through control Lyapunov functions. CDC 2014: 2986-2992
[c7]
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  - conf/icra/LackPA14
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Jordan Lack, Matthew J. Powell, Aaron D. Ames:
Planar multi-contact bipedal walking using hybrid zero dynamics. ICRA 2014: 2582-2588
2013
[c6]
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Benjamin Morris, Matthew J. Powell, Aaron D. Ames:
Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. CDC 2013: 2920-2926
[c5]
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  - conf/ciss/AmesP13
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Aaron D. Ames, Matthew J. Powell:
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. CPSW@CISS 2013: 219-240
[c4]
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  - conf/icra/PowellHA13
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Matthew J. Powell, Ayonga Hereid, Aaron D. Ames:
Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. ICRA 2013: 4803-4810
2012
[c3]
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  - conf/hybrid/AmesCP12
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Aaron D. Ames, Eric A. Cousineau, Matthew J. Powell:
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. HSCC 2012: 135-144
[c2]
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  - conf/icra/PowellZA12
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Matthew J. Powell, Huihua Zhao, Aaron D. Ames:
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. ICRA 2012: 543-549
2011
[c1]
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  - conf/cdc/SinnetPJA11
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Ryan W. Sinnet, Matthew J. Powell, Shu Jiang, Aaron D. Ames:
Compass gait revisited: A human data perspective with extensions to three dimensions. CDC/ECC 2011: 682-689

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