Adrian B. Ghansah

12 papers A* 1A 1Journal 6Unranked 4
YearRankTypeTitle / Venue / Authors
2025 — conf
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics.
CDC
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames
2025 J jnl
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics.
CoRR
Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames
2025 — conf
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models.
Humanoids
Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames
2025 J jnl
Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models.
CoRR
Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames
2025 — conf
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots.
Humanoids
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
2025 J jnl
Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots.
CoRR
Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
2025 A* conf
Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion.
ICRA
Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames
2025 J jnl
Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion.
CoRR
Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames
2024 A conf
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP.
IROS
Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
2024 J jnl
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP.
CoRR
Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
2023 — conf
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics.
CDC
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
2023 J jnl
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics.
CoRR
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames