Adrian B. Ghansah — accepted AI-conference papers

2025

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion

Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames

ICRA 2025

Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear hybrid dynamics. While reduced-order models like the Hybrid

Cited by 3 Source ↗Scholar ↗

2024

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP

Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames

IROS 2024poster

Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for r…

Cited by 2 Source ↗Scholar ↗