Kaveh Akbari Hamed

51 papers A* 2A 5B 1C 8Journal 31Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots With Non-Negligible Manipulator Dynamics.
IEEE Robotics Autom. Lett.
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Vittorio Pastore, Sujith Vijayan, Kaveh Akbari Hamed
2026 J jnl
ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion.
CoRR
Yicheng Zeng, Ruturaj Sambhus, Basit Muhammad Imran, Jeeseop Kim, Vittorio Pastore, Kaveh Akbari Hamed
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 J jnl
A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics.
CoRR
Ruturaj Sambhus, Kapi Ketan Mehta, Ali MirMohammad Sadeghi, Basit Muhammad Imran, Jeeseop Kim, Taizoon Chunawala, Vittorio Pastore, Sujith Vijayan, 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 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
2025 J jnl
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots.
CoRR
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran, Sujith Vijayan, Dylan P. Losey, Kaveh Akbari Hamed
2024 A conf
Data-Driven Predictive Control for Robust Exoskeleton Locomotion.
IROS
Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
2024 J jnl
Data-Driven Predictive Control for Robust Exoskeleton Locomotion.
CoRR
Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
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
2023 A* conf
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion.
ICRA
Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
2023 J jnl
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach.
IEEE Access
Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed
2023 J jnl
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches.
IEEE Trans. Robotics
Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion.
CoRR
Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots.
IEEE Control. Syst. Lett.
Vinay R. Kamidi, Jeeseop Kim, Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches.
CoRR
Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models.
IEEE Robotics Autom. Lett.
Abhishek Pandala, Randall T. Fawcett, Ugo Rosolia, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers.
IEEE Control. Syst. Lett.
Randall T. Fawcett, Abhishek Pandala, Aaron D. Ames, Kaveh Akbari Hamed
2022 J jnl
Toward a Data-Driven Template Model for Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed
2021 J jnl
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion.
IEEE Robotics Autom. Lett.
Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames
2021 C conf
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics.
ACC
Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed
2021 J jnl
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics.
IEEE Control. Syst. Lett.
Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed
2020 A conf
Decentralized Control Schemes for Stable Quadrupedal Locomotion: A Decomposition Approach from Centralized Controllers.
IROS
Abhishek Pandala, Vinay R. Kamidi, Kaveh Akbari Hamed
2020 C conf
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach.
ACC
Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala, Wen-Loong Ma, Aaron D. Ames
2020 A conf
Exponentially Stabilizing and Time-Varying Virtual Constraint Controllers for Dynamic Quadrupedal Bounding
IROS
Joseph B. Martin V, Vinay R. Kamidi, Abhishek Pandala, Randall T. Fawcett, Kaveh Akbari Hamed
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
2020 J jnl
Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking.
IEEE Trans. Control. Syst. Technol.
Kaveh Akbari Hamed, Aaron D. Ames
2020 J jnl
Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking.
IEEE Robotics Autom. Lett.
Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg
2020 J jnl
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints.
CoRR
Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
2020 J jnl
Quadrupedal Locomotion via Event-Based Predictive Control and QP-Based Virtual Constraints.
IEEE Robotics Autom. Lett.
Kaveh Akbari Hamed, Jeeseop Kim, Abhishek Pandala
2019 J jnl
Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking.
IEEE Trans. Autom. Control.
Kaveh Akbari Hamed, Robert D. Gregg IV
2019 C conf
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers.
ACC
Kaveh Akbari Hamed, Wen-Loong Ma, Aaron D. Ames
2019 A conf
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach.
IROS
Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
2019 J jnl
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach.
CoRR
Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
2019 J jnl
Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints.
IEEE Control. Syst. Lett.
Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg
2018 C conf
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion.
ACC
Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames
2018 C conf
Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking.
ACC
Kaveh Akbari Hamed, Aaron D. Ames, Robert D. Gregg
2017 J jnl
Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.
IEEE Trans. Control. Syst. Technol.
Kaveh Akbari Hamed, Robert D. Gregg
2016 C conf
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking.
ACC
Kaveh Akbari Hamed, Robert D. Gregg
2016 C conf
Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints.
ACC
Brian G. Buss, Kaveh Akbari Hamed, Brent A. Griffin, Jessy W. Grizzle
2016 J jnl
Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations.
Int. J. Robotics Res.
Kaveh Akbari Hamed, Brian G. Buss, Jessy W. Grizzle
2015 — conf
Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running.
ADHS
Kaveh Akbari Hamed, Jessy W. Grizzle
2014 — conf
Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot.
CDC
Kaveh Akbari Hamed, Brian G. Buss, Jessy W. Grizzle
2014 J jnl
Event-Based Stabilization of Periodic Orbits for Underactuated 3-D Bipedal Robots With Left-Right Symmetry.
IEEE Trans. Robotics
Kaveh Akbari Hamed, Jessy W. Grizzle
2014 A conf
Preliminary walking experiments with underactuated 3D bipedal robot MARLO.
IROS
Brian G. Buss, Alireza Ramezani, Kaveh Akbari Hamed, Brent A. Griffin, Kevin S. Galloway, Jessy W. Grizzle
2013 C conf
Robust event-based stabilization of periodic orbits for hybrid systems: Application to an underactuated 3D bipedal robot.
ACC
Kaveh Akbari Hamed, Jessy W. Grizzle
2012 J jnl
Stabilization of Periodic Orbits for Planar Walking With Noninstantaneous Double-Support Phase.
IEEE Trans. Syst. Man Cybern. Part A
Kaveh Akbari Hamed, Nasser Sadati, William A. Gruver, Guy Albert Dumont
2007 B conf
Neural Controller for a 5-Link Planar Biped Robot.
RO-MAN
Nasser Sadati, Kaveh Akbari Hamed
2006 — conf
Neural Control of a Fully Actuated Biped Robot.
ROBIO
Nasser Sadati, Kaveh Akbari Hamed
2006 — conf
Neural Control of an Underactuated Biped Robot.
Humanoids
Nasser Sadati, Kaveh Akbari Hamed