Cassie Biped.

Reher, Jenna and Aaron D. Ames. “Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking.” Submitted to 2021 IEEE ICRA and Robotics and Automation Letters (RA-L), 2021. (pdf) (source code - available soon)

Reher, Jenna, Claudia Kann, and Aaron D. Ames. "An inverse dynamics approach to control Lyapunov functions." 2020 American Control Conference (ACC). IEEE, 2020. (pdf) (source code)

Reher, Jenna, Wen-Loong Ma, and Aaron D. Ames. "Dynamic Walking with Compliance on a Cassie Bipedal Robot." In European Control Conference (ECC), 2019. (pdf)

* The Cassie bipedal robot was designed and built by Agility Robotics.

DURUS Humanoid.

Kolathaya, Shishir, Reher, Jenna, Ayonga Hereid, and Aaron D. Ames. “Input to state stabilizing control Lyapunov functions for robust bipedal robotic locomotion”. In 2018 Annual American Control Conference (ACC) (pp. 2224-2230), 2018. (pdf)

Reher, Jenna, Ayonga Hereid, Shishir Kolathaya, Christian Hubicki, and Aaron D. Ames. "Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS." The International Workshop on the Algorithmic Foundations of Robotics (WAFR). 2016. (pdf)

Reher, Jenna, Eric Cousineau, Ayonga Hereid, Christian Hubicki, and Aaron D. Ames. "Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS." 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016. (pdf)

*The DURUS humanoid was designed by SRI International as part of joint funding received through the DARPA M3A program. Special thanks to Eric Cousineau for his great documentation and software development, Stephen Morfey for lending me his valuable time to talk me through several large mechanical repairs, Zachary Shivers for walking me through electrical issues, and to Eric Ambrose for designing the narrow human-like feet in our multicontact work.

AMPRO Powered Prosthetic.

Gehlhar, Rachel, Jenna Reher, and Aaron D. Ames. "Control of Separable Subsystems with Application to Prostheses." arXiv preprint arXiv:1909.03102 (2019). (pdf)

Zhao, Huihua, Jonathan Horn, Jenna Reher, Victor Parades, and Aaron D. Ames. "Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control." IEEE Transactions on Automation Science and Engineering 13.2 (2016): 502-513. (pdf)

Zhao, Huihua, Jonathan Horn, Jenna Reher, Victor Parades, and Aaron D. Ames. "A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses." 2015 54th IEEE Conference on Decision and Control (CDC). IEEE, 2015. (pdf)

Zhao, Huihua, Jenna Reher, Jonathan Horn, Victor Parades, and Aaron D. Ames. "Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition." 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). IEEE, 2015. (pdf)

Zhao, Huihua, Jenna Reher, Jonathan Horn, Victor Parades, and Aaron D. Ames. "Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control." Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control. ACM, 2015. (pdf)

Zhao, Huihua, Jenna Reher, Jonathan Horn, Victor Parades, and Aaron D. Ames. "Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis." Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems. ACM, 2015. (pdf)

Miscellaneous.

Reher, Jenna and Aaron D. Ames. “Dynamic Walking: Toward Agile and Efficient Bipedal Robots.” To appear in 2021 Annual Review of Control, Robotics, and Autonomous Systems. (pdf)

Reher, Jenna, Noel Csomay-Shanklin, David L. Christensen, Bobby Bristow, Aaron D. Ames, and Lanny Smoot. “Passive Dynamic Balancing and Walking in Actuated Environments.” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. (pdf)

Gurriet, Thomas, Andrew Singletary, Jenna Reher, Laurent Ciarletta, Eric Feron, and Aaron Ames. "Towards a framework for realizable safety critical control through active set invariance." Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems. IEEE Press, 2018. (pdf)

Reher, Jenna, Wenlong Ma. “Dynamic Path Planning for the Humanoid Robot ATLAS via D* Lite.” Course project report for ME 132b. 2017. (pdf)