Aaron M. Johnson

85 papers A* 12A 11B 1C 2Misc 1Journal 53Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
Allometric Scaling Laws for Bipedal Robots.
CoRR
Naomi Oke, Aja Carter, Ben Gu, Steven Man, Cordelia Pride, Sarah Bergbreiter, Aaron M. Johnson
2026 J jnl
SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization.
CoRR
Zhuocheng Zhang, Haizhou Zhao, Xudong Sun, Aaron M. Johnson, Majid Khadiv
2025 J jnl
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication.
CoRR
Ardalan Tajbakhsh, Augustinos D. Saravanos, James Zhu, Evangelos A. Theodorou, Lorenz T. Biegler, Aaron M. Johnson
2025 J jnl
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints.
CoRR
Kensuke Nakamura, Arun L. Bishop, Steven Man, Aaron M. Johnson, Zachary Manchester, Andrea Bajcsy
2025 J jnl
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems.
IEEE Robotics Autom. Lett.
J. Joe Payne, James Zhu, Nathan J. Kong, Aaron M. Johnson
2025 A* conf
SuperLoc: The Key to Robust Lidar-Inertial Localization Lies in Predicting Alignment Risks Superodometry.Com/SuperLoc.
ICRA
Shibo Zhao, Honghao Zhu, Yuanjun Gao, Beomsoo Kim, Yuheng Qiu, Aaron M. Johnson, Sebastian A. Scherer
2025 A* conf
Zippy: The Smallest Power-Autonomous Bipedal Robot.
ICRA
Steven Man, Soma Narita, Josef Macera, Naomi Oke, Aaron M. Johnson, Sarah Bergbreiter
2025 J jnl
Zippy: The smallest power-autonomous bipedal robot.
CoRR
Steven Man, Soma Narita, Josef Macera, Naomi Oke, Aaron M. Johnson, Sarah Bergbreiter
2024 J jnl
Adaptive Complexity Model Predictive Control.
IEEE Trans. Robotics
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang, Aaron M. Johnson
2024 A* conf
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning.
ICRA
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
2024 A* conf
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots.
ICRA
James Zhu, J. Joe Payne, Aaron M. Johnson
2024 J jnl
Double-Anonymous Review for Robotics.
CoRR
Justin K. Yim, Paul Nadan, James Zhu, Alexandra Stutt, J. Joe Payne, Catherine Pavlov, Aaron M. Johnson
2024 J jnl
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems.
CoRR
J. Joe Payne, James Zhu, Nathan J. Kong, Aaron M. Johnson
2024 A* conf
LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration.
ICRA
Paul Nadan, Spencer B. Backus, Aaron M. Johnson
2024 J jnl
Multi-Momentum Observer Contact Estimation for Bipedal Robots.
CoRR
J. Joe Payne, Daniel A. Hagen, Denis Garagic, Aaron M. Johnson
2024 J jnl
Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions.
CoRR
Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson, Yongxin Chen
2024 J jnl
Path Integral Control for Hybrid Dynamical Systems.
CoRR
Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson, Yongxin Chen
2024 A* conf
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving.
ICRA
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
2024 J jnl
Picotaur: A 15 mg Hexapedal Robot with Electrostatically Driven, 3D-Printed Legs.
Adv. Intell. Syst.
Sukjun Kim, Aaron M. Johnson, Sarah Bergbreiter
2024 J jnl
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems.
Proc. IEEE
Nathan J. Kong, J. Joe Payne, James Zhu, Aaron M. Johnson
2024 J jnl
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks.
CoRR
Shibo Zhao, Honghao Zhu, Yuanjun Gao, Beomsoo Kim, Yuheng Qiu, Aaron M. Johnson, Sebastian A. Scherer
2023 J jnl
Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping.
CoRR
Abdel Zaro, Ardalan Tajbakhsh, Aaron M. Johnson
2023 J jnl
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning.
CoRR
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
2023 J jnl
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots.
CoRR
James Zhu, J. Joe Payne, Aaron M. Johnson
2023 B conf
Grounding Robot Navigation in Self-Defense Law.
RO-MAN
James Zhu, Anoushka Shrivastava, Aaron M. Johnson
2023 J jnl
Grounding Robot Navigation in Self-Defense Law.
CoRR
James Zhu, Anoushka Shrivastava, Aaron M. Johnson
2023 J jnl
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots.
IEEE Trans. Robotics
Nathan J. Kong, Chuanzheng Li, George Council, Aaron M. Johnson
2023 J jnl
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving.
CoRR
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
2023 A conf
Proprioception and Reaction for Walking Among Entanglements.
IROS
Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson
2023 A conf
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots.
IROS
Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson
2023 J jnl
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots.
CoRR
Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson
2023 J jnl
Proprioception and reaction for walking among entanglements.
CoRR
Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson
2023 J jnl
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems.
CoRR
Nathan J. Kong, J. Joe Payne, James Zhu, Aaron M. Johnson
2023 A conf
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization.
IROS
Michael R. Turski, Joseph Norby, Aaron M. Johnson
2023 J jnl
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization.
CoRR
Michael R. Turski, Joseph Norby, Aaron M. Johnson
2023 — conf
The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies.
Humanoids
James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson
2023 J jnl
The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies.
CoRR
James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson
2022 J jnl
Adaptive Complexity Model Predictive Control.
CoRR
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang, Aaron M. Johnson
2022 J jnl
Contact-Implicit Direct Collocation With a Discontinuous Velocity State.
IEEE Robotics Autom. Lett.
Stacey Shield, Aaron M. Johnson, Amir Patel
2022 J jnl
Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program.
Field Robotics
Larry H. Matthies, Aaron M. Johnson, Monroe Kennedy, Cynthia Matuszek, Dilip Patel
2022 J jnl
Environmental Sampling with the Boustrophedon Decomposition Algorithm.
CoRR
Hannah He, Joe Norby, Sean Wang, Natasha Sihota, Thomas P. Hoelen, Gregory V. Lowry, Aaron M. Johnson
2022 A* conf
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits.
ICRA
James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson
2022 J jnl
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots.
CoRR
Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson
2022 A conf
Microspine Design for Additive Manufacturing.
IROS
Paul Nadan, Dinesh K. Patel, Catherine Pavlov, Spencer B. Backus, Aaron M. Johnson
2022 A* conf
Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots.
ICRA
Hans Kumar, J. Joe Payne, Matthew J. Travers, Aaron M. Johnson, Howie Choset
2022 J jnl
Reacting to Contact: Transparency and Collision Reflex in Actuation.
CoRR
Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
2022 A* conf
Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics.
ICRA
Sharfin Islam, Kamal Carter, Justin K. Yim, James Kyle, Sarah Bergbreiter, Aaron M. Johnson
2022 A* conf
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models.
ICRA
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang, Wenshan Wang, Aaron M. Johnson, Sebastian A. Scherer
2022 J jnl
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models.
CoRR
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang, Wenshan Wang, Aaron M. Johnson, Sebastian A. Scherer
2022 A conf
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards.
IROS
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
2022 J jnl
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards.
CoRR
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
2021 — conf
Domain Adaptation Using System Invariant Dynamics Models.
L4DC
Sean J. Wang, Aaron M. Johnson
2021 J jnl
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails.
IEEE Trans. Robotics
Joseph Norby, Jun Yang Li, Cameron Selby, Amir Patel, Aaron M. Johnson
2021 J jnl
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits.
CoRR
James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson
2021 Misc conf
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning.
CoRL
Sean J. Wang, Samuel Triest, Wenshan Wang, Sebastian A. Scherer, Aaron M. Johnson
2021 J jnl
The Salted Kalman Filter: Kalman filtering on hybrid dynamical systems.
Autom.
Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson
2021 — conf
iLQR for Piecewise-Smooth Hybrid Dynamical Systems.
CDC
Nathan J. Kong, George Council, Aaron M. Johnson
2021 J jnl
iLQR for Piecewise-Smooth Hybrid Dynamical Systems.
CoRR
Nathan J. Kong, George Council, Aaron M. Johnson
2020 J jnl
Autonomous Stairwell Ascent.
Robotica
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
2020 A conf
Contact Localization using Velocity Constraints.
IROS
Sean Wang, Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
2020 A conf
Fast Global Motion Planning for Dynamic Legged Robots.
IROS
Joseph Norby, Aaron M. Johnson
2020 J jnl
Mapping Distributions through Hybrid Dynamical Systems and its Application to Kalman Filtering.
CoRR
Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson
2019 J jnl
Contact-Implicit Trajectory Optimization Using Orthogonal Collocation.
IEEE Robotics Autom. Lett.
Amir Patel, Stacey Leigh Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler
2019 J jnl
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller.
CoRR
Shuo Yang, Zhaoyuan Gu, Ruohai Ge, Aaron M. Johnson, Matthew J. Travers, Howie Choset
2019 J jnl
Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand.
CoRR
Wooshik Kim, Catherine Pavlov, Aaron M. Johnson
2019 — conf
Direct Drive Hands: Force-Motion Transparency in Gripper Design.
Robotics: Science and Systems
Ankit Bhatia, Aaron M. Johnson, Matthew T. Mason
2019 C conf
Optimally Convergent Trajectories for Navigation.
ISRR
Nathan J. Kong, Aaron M. Johnson
2019 A* conf
Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover.
ICRA
Catherine Pavlov, Aaron M. Johnson
2018 J jnl
Autonomous legged hill ascent.
J. Field Robotics
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
2018 J jnl
Contact-Implicit Trajectory Optimization using Orthogonal Collocation.
CoRR
Amir Patel, Stacey Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler
2017 J jnl
A Probabilistic Planning Framework for Planar Grasping Under Uncertainty.
IEEE Robotics Autom. Lett.
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew Bagnell, Matthew T. Mason
2017 J jnl
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems.
CoRR
Gilwoo Lee, Zita Marinho, Aaron M. Johnson, Geoffrey J. Gordon, Siddhartha S. Srinivasa, Matthew T. Mason
2016 — conf
A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments.
ISER
Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, Allison Thackston
2016 J jnl
A hybrid systems model for simple manipulation and self-manipulation systems.
Int. J. Robotics Res.
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
2016 J jnl
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation.
IEEE Trans. Robotics
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
2016 J jnl
Convergent Planning.
IEEE Robotics Autom. Lett.
Aaron M. Johnson, Jennifer E. King, Siddhartha S. Srinivasa
2016 C conf
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces.
WAFR
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, Matthew T. Mason
2015 J jnl
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems.
CoRR
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
2015 J jnl
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation.
CoRR
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
2015 A conf
Tail-assisted rigid and compliant legged leaping.
IROS
Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek
2013 J jnl
Legged Self-Manipulation.
IEEE Access
Aaron M. Johnson, Daniel E. Koditschek
2013 A* conf
Toward a vocabulary of legged leaping.
ICRA
Aaron M. Johnson, Daniel E. Koditschek
2012 A conf
Standing self-manipulation for a legged robot.
IROS
Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek
2010 A conf
Disturbance detection, identification, and recovery by gait transition in legged robots.
IROS
Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
2007 A conf
Design of a modular snake robot.
IROS
Cornell Wright III, Aaron M. Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel González-Rivero, Ross L. Hatton, Howie Choset