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Kaveh Akbari Hamed
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Journal Articles

A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach

Basit Muhammad Imran, Randall T. Fawcett, Jeeseop Kim, Alexander Leonessa, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2025, 147(3): 031006.
Paper No: DS-24-1028
https://doi.org/10.1115/1.4066632
Published Online: October 23, 2024
View Article titled, A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
Open the PDF for A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach in another window
Topics: Collisions (Physics), Predictive control, Robots, Uncertainty, Control equipment, Simulation, Robustness, Control algorithms
Journal Articles

Cooperative Locomotion Via Supervisory Predictive Control and Distributed Nonlinear Controllers

Jeeseop Kim, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2022, 144(3): 031005.
Paper No: DS-21-1157
https://doi.org/10.1115/1.4052917
Published Online: December 27, 2021
View Article titled, Cooperative Locomotion Via Supervisory Predictive Control and Distributed Nonlinear Controllers
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Topics: Control algorithms, Control equipment, Dynamics (Mechanics), Predictive control, Robots, Computer simulation, Robustness, Uncertainty, Algorithms, Teams
Journal Articles

Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails

Randall T. Fawcett, Abhishek Pandala, Jeeseop Kim, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2021, 143(7): 071004.
Paper No: DS-20-1377
https://doi.org/10.1115/1.4049555
Published Online: February 8, 2021
View Article titled, Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails
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Topics: Control equipment, Dynamics (Mechanics), Pendulums, Quadratic programming, Robots, Simulation, Robustness, Robotics, Yaw, Design
Journal Articles

Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion

Kaveh Akbari Hamed, Bita Safaee, Robert D. Gregg
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2019, 141(12): 121011.
Paper No: DS-18-1497
https://doi.org/10.1115/1.4044618
Published Online: September 24, 2019
View Article titled, Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion
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Topics: Algorithms, Control equipment, Feedback, Stability, Yaw, Design, Jacobian matrices, Robots, State feedback, Separation (Technology)
Journal Articles

Performance Analysis and Feedback Control of ATRIAS, A Three-Dimensional Bipedal Robot

Alireza Ramezani, Jonathan W. Hurst, Kaveh Akbari Hamed, J. W. Grizzle
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2014, 136(2): 021012.
Paper No: DS-12-1421
https://doi.org/10.1115/1.4025693
Published Online: December 9, 2013
View Article titled, Performance Analysis and Feedback Control of ATRIAS, A Three-Dimensional Bipedal Robot
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Topics: Dynamics (Mechanics), Feedback, Robots, Actuators, Dynamic models, Design, Optimization, Springs, Control equipment