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Noel Csomay-Shanklin
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A machine learning strategy for locomotion classification and parameter estimation using fusion of wearable sensors
J Camargo, W Flanagan, N Csomay-Shanklin, B Kanwar, A Young
IEEE Transactions on Biomedical Engineering 68 (5), 1569-1578, 2021
162021
Automated gap-filling for marker-based biomechanical motion capture data
J Camargo, A Ramanathan, N Csomay-Shanklin, A Young
Computer Methods in Biomechanics and Biomedical Engineering 23 (15), 1180-1189, 2020
162020
Online learning of unknown dynamics for model-based controllers in legged locomotion
Y Sun, WL Ubellacker, WL Ma, X Zhang, C Wang, NV Csomay-Shanklin, ...
IEEE Robotics and Automation Letters 6 (4), 8442-8449, 2021
142021
Interactive multi-modal motion planning with Branch Model Predictive Control
Y Chen, U Rosolia, W Ubellacker, N Csomay-Shanklin, AD Ames
IEEE Robotics and Automation Letters 7 (2), 5365-5372, 2022
102022
Verifying safe transitions between dynamic motion primitives on legged robots
W Ubellacker, N Csomay-Shanklin, TG Molnar, AD Ames
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
102021
Episodic learning for safe bipedal locomotion with control barrier functions and projection-to-state safety
N Csomay-Shanklin, RK Cosner, M Dai, AJ Taylor, AD Ames
Learning for Dynamics and Control, 1041-1053, 2021
92021
Coupled control systems: Periodic orbit generation with application to quadrupedal locomotion
WL Ma, N Csomay-Shanklin, AD Ames
IEEE Control Systems Letters 5 (3), 935-940, 2020
92020
Sampling tool concepts for Enceladus lander in-situ analysis
M Badescu, D Riccobono, S Ubellacker, P Backes, M Dotson, J Molaro, ...
2019 IEEE Aerospace Conference, 1-12, 2019
92019
Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion
WL Ma, N Csomay-Shanklin, S Kolathaya, KA Hamed, AD Ames
IEEE Robotics and Automation Letters 6 (2), 3761-3768, 2021
82021
Preference-based learning for user-guided hzd gait generation on bipedal walking robots
M Tucker, N Csomay-Shanklin, WL Ma, AD Ames
2021 IEEE International Conference on Robotics and Automation (ICRA), 2804-2810, 2021
72021
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics
MY Galliker, N Csomay-Shanklin, R Grandia, AJ Taylor, F Farshidian, ...
arXiv preprint arXiv:2203.07429, 2022
42022
Quadrupedal robotic walking on sloped terrains via exact decomposition into coupled bipedal robots
WL Ma, N Csomay-Shanklin, AD Ames
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
42020
Design and comparative analysis of 1d hopping robots
E Ambrose, N Csomay-Shanklin, Y Or, A Ames
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
42019
Learning controller gains on bipedal walking robots via user preferences
N Csomay-Shanklin, M Tucker, M Dai, J Reher, AD Ames
2022 International Conference on Robotics and Automation (ICRA), 10405-10411, 2022
32022
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions
N Csomay-Shanklin, AJ Taylor, U Rosolia, AD Ames
arXiv preprint arXiv:2204.00152, 2022
32022
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
IDJ Rodriguez, N Csomay-Shanklin, Y Yue, AD Ames
arXiv preprint arXiv:2204.08120, 2022
12022
Passive dynamic balancing and walking in actuated environments
J Reher, N Csomay-Shanklin, DL Christensen, B Bristow, AD Ames, ...
2020 IEEE International Conference on Robotics and Automation (ICRA), 9775-9781, 2020
12020
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
N Csomay-Shanklin, VD Dorobantu, AD Ames
arXiv preprint arXiv:2209.11808, 2022
2022
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
M Tucker, N Csomay-Shanklin, AD Ames
arXiv preprint arXiv:2209.10452, 2022
2022
Exosuit support systems and methods
J Li, B Kanwar, T Johnson, J Meditz, A Yang, N Csomay-Shanklin, ...
US Patent App. 17/604,271, 2022
2022
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