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ORCIDAdrian B. Ghansah
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2020 – today
- 2025
[c6]Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames:
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics. CDC 2025: 3065-3072- [c5]Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames:
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots. Humanoids 2025: 1-8 - [c4]Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames:
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. Humanoids 2025: 728-735 - [c3]Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames:
Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. ICRA 2025: 14735-14741 - [i6]Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames:
Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. CoRR abs/2502.15630 (2025) - [i5]Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames:
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. CoRR abs/2505.11495 (2025) - [i4]Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames:
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics. CoRR abs/2509.00294 (2025) - [i3]Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames:
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots. CoRR abs/2509.04722 (2025) - 2024
- [c2]Adrian B. Ghansah, Jeeseop Kim
, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. IROS 2024: 12686-12693 - [i2]Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. CoRR abs/2406.13115 (2024) - 2023
- [c1]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CDC 2023: 1879-1885 - [i1]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CoRR abs/2308.10962 (2023)
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