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Kaveh Akbari Hamed

16 accepted papers

2026

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics

Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala +3
RA-L 2026

Model predictive control (MPC) with reduced-order template models has proven effective for dynamic legged locomotion, but loco-manipulation introduces additional complexity requiring efficient algorithms for high-degree-of-freedom (DoF) systems. This letter presents a computationally efficient nonli

Cited by 3Source ↗Scholar ↗
2026

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots

Basit Muhammad Imran, Jeeseop Kim, Taizoon Aliasgar Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
ICRA 2026poster

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent quadrupedal robots in complex environments. While NMPC-based m…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

A Novel Telelocomotion Framework with CoM Estimation for Scalable Locomotion on Humanoid Robots

An-Chi He, Junheng Li, Jungsoo Park, Omar Kolt, Benjamin Beiter, Alexander Leonessa +2
ICRA 2025

Teleoperated humanoid robot systems have made substantial advancements in recent years, offering a physical avatar that harnesses human skills and decision-making while safeguarding users from hazardous environments. However, current telelocomotion interfaces often fail to accurately represent the r

Cited by 2Source ↗Scholar ↗
2025

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots

Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
RA-L 2025

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent quadrupedal robots in complex environments. While NMPC-based m

Cited by 4Source ↗Scholar ↗
2024

Data-Driven Predictive Control for Robust Exoskeleton Locomotion

Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
IROS 2024poster

Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for lower-body exoskeletons, employing Hankel matrices and a state…

Cited by 3Source ↗Scholar ↗
2024

Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots

Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett, Alexander Leonessa, Kaveh Akbari Hamed
RA-L 2024

This letter formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating law. At the framework's high level, an indirect adaptive l

Cited by 13Source ↗Scholar ↗
2023

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion

Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
ICRA 2023poster

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems theory to model the sophisticated and high-dimensional struct…

Cited by 23Source ↗Scholar ↗
2022

Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models

Abhishek Pandala, Randall T. Fawcett, Ugo Rosolia, Aaron D. Ames, Kaveh Akbari Hamed
RA-L 2022

Template-based reduced-order models have provided a popular methodology for real-time trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and unmodeled dynamics in template models significantly increase the gap between reduced- and full-order models. This letter presents

Cited by 44Source ↗Scholar ↗
2022

Toward a Data-Driven Template Model for Quadrupedal Locomotion

Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed
RA-L 2022

This work investigates a data-driven template model for trajectory planning of dynamic quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model, primarily due to computational tractability. The spirit of the trajectory planning approach in this work draws on recent ad

Cited by 29Source ↗Scholar ↗
2021

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

Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames
RA-L 2021

This letter addresses the problem of formally guaranteeing the stability of interconnected systems with local controllers with a view toward stabilizing quadrupeds viewed as coupled bipeds. In particular, we present a novel framework that views general rigid-body systems as a collection of lower-dim

Cited by 14Source ↗Scholar ↗
2020

Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers

Abhishek Pandala, Vinay R. Kamidi, Kaveh Akbari Hamed
IROS 2020poster

Although legged robots are becoming more nonlinear with higher degrees of freedom (DOFs), the centralized nonlinear control methods required to achieve stable locomotion cannot scale with the dimensionality of these robots. This paper investigates time-varying decentralized feedback control architec…

Cited by 8Source ↗Scholar ↗
2020

Exponentially Stabilizing and Time-Varying Virtual Constraint Controllers for Dynamic Quadrupedal Bounding

Joseph B. Martin V, Vinay R. Kamidi, Abhishek Pandala, Randall T. Fawcett, Kaveh Akbari Hamed
IROS 2020poster

This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controllers can initiate locomotion from zero velocity. Mo…

Cited by 3Source ↗Scholar ↗
2020

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames
RA-L 2020

This letter presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensional and complex hybrid dynamical models that represent coll

Cited by 35Source ↗Scholar ↗
2020

Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking

Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg
RA-L 2020

This letter presents a method of designing relative-degree-two nonholonomic virtual constraints (NHVCs) that allow for stable bipedal robotic walking across variable terrain slopes. Relative-degree-two NHVCs are virtual constraints that encode velocity-dependent walking gaits via momenta conjugate t

Cited by 17Source ↗Scholar ↗
2020

Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints

Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
RA-L 2020

This letter aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for dynamical models of quadrupedal robots. The higher level of th

Cited by 42Source ↗Scholar ↗
2019

First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach

Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
IROS 2019poster

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a framework that systematically generates a wide ran…

Cited by 34Source ↗Scholar ↗