Alexander Leonessa

72 papers A* 5A 6B 1C 10Journal 40Unranked 10

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots. CoRR Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett, Alexander Leonessa, Kaveh Akbari Hamed
2025	A*	`conf`	A Novel Telelocomotion Framework with CoM Estimation for Scalable Locomotion on Humanoid Robots. ICRA An-Chi He, Junheng Li, Jungsoo Park, Omar Kolt, Benjamin Beiter, Alexander Leonessa, Quan Nguyen, Kaveh Akbari Hamed
2025	A*	`conf`	Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots. ICRA Connor W. Herron, Robert Schuller, Benjamin C. Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
2025	J	`jnl`	Design and Development of a Locomotion Interface for Virtual Reality Lower-Body Haptic Interaction. CoRR An-Chi He, Jungsoo Park, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa
2025	J	`jnl`	Design and development of a locomotion interface for virtual reality lower-body haptic interaction. Robotics Auton. Syst. An-Chi He, Jungsoo Park, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa
2025	J	`jnl`	Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots. CoRR Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
2025	J	`jnl`	Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots. IEEE Robotics Autom. Lett. Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Alexander Leonessa, Kaveh Akbari Hamed
2024	J	`jnl`	Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications. CoRR Zachary J. Fuge, Benjamin Beiter, Alexander Leonessa
2024	J	`jnl`	Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. CoRR Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
2024	J	`jnl`	Eye-Tracking in Physical Human-Robot Interaction: Mental Workload and Performance Prediction. Hum. Factors Satyajit Upasani, Divya Srinivasan, Qi Zhu, Jing Du, Alexander Leonessa
2024	J	`jnl`	Joint-Space Control of a Structurally Elastic Humanoid Robot. CoRR Connor W. Herron, Christian Runyon, Isaac Pressgrove, Benjamin C. Beiter, Bhaben Kalita, Alexander Leonessa
2024	—	`conf`	PANDORA: The Open-Source, Structurally Elastic Humanoid Robot. Humanoids Connor W. Herron, Alexander J. Fuge, Benjamin C. Beiter, Zachary J. Fuge, Nicholas J. Tremaroli, Stephen Welch, Maxwell Stelmack, Madeline Kogelis, Philip Hancock, Ivan Fischman Ekman Simões, Christian Runyon, Isaac Pressgrove, Alexander Leonessa
2024	J	`jnl`	PANDORA: The Open-Source, Structurally Elastic Humanoid Robot. CoRR Connor W. Herron, Alexander J. Fuge, Benjamin Beiter, Zachary J. Fuge, Nicholas J. Tremaroli, Stephen Welch, Maxwell Stelmack, Madeline Kogelis, Philip Hancock, Ivan Fischman Ekman Simões, Christian Runyon, Isaac Pressgrove, Alexander Leonessa
2024	J	`jnl`	Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots. IEEE Robotics Autom. Lett. Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett, Alexander Leonessa, Kaveh Akbari Hamed
2024	J	`jnl`	Shared autonomy and positive power control for powered exoskeletons. Robotics Auton. Syst. Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
2024	J	`jnl`	iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, Lorenzo Rapetti, Riccardo Grieco, Kourosh Darvish, Gianluca Milani, Enrico Valli, Ines Sorrentino, Paolo Maria Viceconte, Alessandro Scalzo, Silvio Traversaro, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci
2023	J	`jnl`	Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons. Sensors Connor W. Herron, Zachary J. Fuge, Madeline Kogelis, Nicholas J. Tremaroli, Bhaben Kalita, Alexander Leonessa
2023	J	`jnl`	Design, development, and analysis of the lower body of next-generation 3D-printed humanoid research platform: PANDORA. Robotica Alexander J. Fuge, Connor W. Herron, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa
2023	A	`conf`	Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator. IROS Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa
2023	J	`jnl`	Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator. CoRR Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa
2022	J	`jnl`	Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor. CoRR Negin Nikafrooz, Zachary J. Fuge, Alexander Leonessa
2022	J	`jnl`	Human-Centered Intelligent Training for Emergency Responders. AI Mag. Ranjana K. Mehta, Jason Moats, Rohith Karthikeyan, Joseph L. Gabbard, Divya Srinivasan, Eric Jing Du, Alexander Leonessa, Garret Burks, Andrew Stephenson, Ron Fernandes
2022	C	`conf`	Reduced-Order Adaptive Output Predictors for a Class of Uncertain Dynamical Systems. ACC Roghaiyeh Ansari, Nicole Abaid, Alexander Leonessa
2022	C	`conf`	Whole Body Control for Haptic Interaction with VR. ACC Benjamin Beiter, Connor W. Herron, Alexander Leonessa
2021	J	`jnl`	A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps. Robotics Negin Nikafrooz, Alexander Leonessa
2021	J	`jnl`	Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park. IEEE Access Sunwook Kim, Divya Srinivasan, Maury A. Nussbaum, Alexander Leonessa
2020	A	`conf`	Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation. IROS Daniel Budolak, Alexander Leonessa
2020	J	`jnl`	Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics Autom. Lett. Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames
2019	J	`jnl`	Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. Int. J. Humanoid Robotics Robert J. Griffin, Alexander Leonessa
2018	A*	`conf`	Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems. J. Nonlinear Sci. Chuong H. Nguyen, Alexander Leonessa
2017	J	`jnl`	Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
2017	—	`conf`	Capture point trajectories for reduced knee bend using step time optimization. Humanoids Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Radiation search operations using scene understanding with autonomous UAV and UGV. J. Field Robotics Gordon A. Christie, Adam Shoemaker, Kevin Kochersberger, Pratap Tokekar, Lance McLean, Alexander Leonessa
2017	J	`jnl`	Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. J. Field Robotics Coleman Knabe, Robert J. Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dantanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael A. Hopkins, Jordan Neal, Jackson Newton, Chris Nogales, Viktor L. Orekhov, John Peterson, Michael Rouleau, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa
2017	J	`jnl`	Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas. CoRR Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	A	`conf`	Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas. IROS Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2016	A	`conf`	Disturbance compensation and step optimization for push recovery. IROS Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck
2016	J	`jnl`	FastSLAM Using Compressed Occupancy Grids. J. Sensors Chris Cain, Alexander Leonessa
2016	A*	`conf`	Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA Robert J. Griffin, Alexander Leonessa
2016	J	`jnl`	Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot. Int. J. Humanoid Robotics Michael A. Hopkins, Alexander Leonessa, Brian Y. Lattimer, Dennis W. Hong
2016	J	`jnl`	Radiation Search Operations using Scene Understanding with Autonomous UAV and UGV. CoRR Gordon A. Christie, Adam Shoemaker, Kevin Kochersberger, Pratap Tokekar, Lance McLean, Alexander Leonessa
2016	J	`jnl`	Validation of Underwater Sensor Package Using Feature Based SLAM. Sensors Chris Cain, Alexander Leonessa
2015	C	`conf`	Adaptive predictor-based output feedback control for a class of unknown MIMO systems: Experimental results. ACC Chuong H. Nguyen, Alexander Leonessa
2015	J	`jnl`	Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. J. Robotics Adam Shoemaker, Alexander Leonessa
2015	A*	`conf`	Compliant locomotion using whole-body control and Divergent Component of Motion tracking. ICRA Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa
2015	—	`conf`	Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. Humanoids Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa
2015	—	`conf`	Design of a series elastic humanoid for the DARPA Robotics Challenge. Humanoids Coleman Knabe, John Seminatore, Jacob Webb, Michael A. Hopkins, Tomonari Furukawa, Alexander Leonessa, Brian Y. Lattimer
2015	J	`jnl`	Dynamic Walking on Uneven Terrain Using the Time-Varying Divergent Component of Motion. Int. J. Humanoid Robotics Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa
2015	A	`conf`	Embedded joint-space control of a series elastic humanoid. IROS Michael A. Hopkins, Stephen A. Ressler, Derek F. Lahr, Alexander Leonessa, Dennis W. Hong
2015	A	`conf`	Gait design and gain-scheduled balance controller of an under-actuated robotic platform. IROS Jacob Webb, Alexander Leonessa, Dennis W. Hong
2014	—	`conf`	Humanoid locomotion on uneven terrain using the time-varying divergent component of motion. Humanoids Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa
2012	C	`conf`	Laser based rangefinder for underwater applications. ACC Chris Cain, Alexander Leonessa
2011	—	`conf`	Nonlinear motion control of CPG-based movement with applications to a class of swimming robots. CDC/ECC Yannick Morel, Mathieu Porez, Alexander Leonessa, Auke Jan Ijspeert
2011	C	`conf`	Tracking control of a nonholonomic ground vehicle. ACC Veronica Medina-Garciadiego, Alexander Leonessa
2010	B	`conf`	A real-time grid map generation and object classification for ground-based 3D LIDAR data using image analysis techniques. ICIP Sang-Mook Lee, Jeong Joon Im, Bo-Hee Lee, Alexander Leonessa, Andrew Kurdila
2009	—	`conf`	Prediction-based observation of nonlinear systems non-affine in the unmeasured states. CDC Yannick Morel, Alexander Leonessa
2008	J	`jnl`	Identification of MIMO Hammerstein systems with non-linear feedback. IMA J. Math. Control. Inf. Dapeng Luo, Alexander Leonessa
2004	—	`conf`	Neural network model reference adaptive control of a surface vessel. CDC Alexander Leonessa, Tannen S. VanZwieten
2003	—	`conf`	A geometric proof for subspace tracking theorems. CDC Dapeng Luo, Alexander Leonessa
2003	—	`conf`	Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness. CDC Yannick Morel, Alexander Leonessa
2003	C	`conf`	Direct discrete-time adaptive control with guaranteed parameter error convergence. ACC Alexander Leonessa, Vijaysekhar Chellaboina, Wassim M. Haddad, Tomohisa Hayakawa
2003	C	`conf`	Nonlinear system identification of a reaction wheel pendulum using subspace method. ACC Dapeng Luo, Alexander Leonessa
2002	C	`conf`	Direct adaptive control for discrete-time nonlinear uncertain dynamical systems. ACC Wassim M. Haddad, Tomohisa Hayakawa, Alexander Leonessa
2002	J	`jnl`	Fixed-order dynamic compensation for axial flow compression systems. IEEE Trans. Control. Syst. Technol. Wassim M. Haddad, Joseph R. Corrado, Alexander Leonessa
2002	C	`conf`	Identification of MIMO Hammerstein systems with nonlinear feedback. ACC Dapeng Luo, Alexander Leonessa
2001	C	`conf`	Adaptive tracking for nonlinear systems with control constraints. ACC Alexander Leonessa, Wassim M. Haddad, Tomohisa Hayakawa
2001	J	`jnl`	Nonlinear system stabilization via hierarchical switching control. IEEE Trans. Autom. Control. Alexander Leonessa, Wassim M. Haddad, Vijaysekhar Chellaboina
2000	J	`jnl`	Globally stabilizing switching controllers for a centrifugal compressor model with spool dynamics. IEEE Trans. Control. Syst. Technol. Alexander Leonessa, Wassim M. Haddad, Hua Li
2000	J	`jnl`	Robust stabilization of axial flow compressors with uncertain pressure-flow maps. IEEE Trans. Control. Syst. Technol. Alexander Leonessa, Vijaysekhar Chellaboina, Wassim M. Haddad
1999	J	`jnl`	Nonlinear robust disturbance rejection controllers for rotating stall and surge in axial flow compressors. IEEE Trans. Control. Syst. Technol. Wassim M. Haddad, Alexander Leonessa, Vijaysekhar Chellaboina, Jerry L. Fausz