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ORCIDAlexander Leonessa
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2020 – today
- 2024
[j24]Satyajit Upasani
, Divya Srinivasan, Qi Zhu, Jing Du, Alexander Leonessa:
Eye-Tracking in Physical Human-Robot Interaction: Mental Workload and Performance Prediction. Hum. Factors 66(8): 2104-2119 (2024)- [j23]Benjamin Beiter, Divya Srinivasan, Alexander Leonessa:
Shared autonomy and positive power control for powered exoskeletons. Robotics Auton. Syst. 171: 104555 (2024) - [j22]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:
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics 9(86) (2024) - [i8]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:
PANDORA: The Open-Source, Structurally Elastic Humanoid Robot. CoRR abs/2407.18558 (2024) - [i7]Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger:
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. CoRR abs/2409.12796 (2024) - 2023
- [j21]Alexander J. Fuge, Connor W. Herron, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa:
Design, development, and analysis of the lower body of next-generation 3D-printed humanoid research platform: PANDORA. Robotica 41(7): 2177-2206 (2023) - [j20]Connor W. Herron, Zachary J. Fuge, Madeline Kogelis, Nicholas J. Tremaroli, Bhaben Kalita, Alexander Leonessa:
Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons. Sensors 23(2): 1014 (2023) - [c29]Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa:
Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator. IROS 2023: 5645-5652 - [i6]Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Connor W. Herron, Alexander Leonessa:
Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator. CoRR abs/2304.04911 (2023) - 2022
- [j19]Ranjana K. Mehta, Jason Moats, Rohith Karthikeyan, Joseph L. Gabbard, Divya Srinivasan, Eric Jing Du, Alexander Leonessa, Garret Burks, Andrew Stephenson, Ron Fernandes:
Human-Centered Intelligent Training for Emergency Responders. AI Mag. 43(1): 83-92 (2022) - [c28]Benjamin Beiter, Connor W. Herron, Alexander Leonessa:
Whole Body Control for Haptic Interaction with VR. ACC 2022: 653-658 - [c27]Roghaiyeh Ansari, Nicole Abaid, Alexander Leonessa:
Reduced-Order Adaptive Output Predictors for a Class of Uncertain Dynamical Systems. ACC 2022: 3394-3399 - [i5]Negin Nikafrooz, Zachary J. Fuge, Alexander Leonessa:
Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor. CoRR abs/2202.06140 (2022) - 2021
- [j18]Sunwook Kim, Divya Srinivasan, Maury A. Nussbaum, Alexander Leonessa:
Human Gait During Level Walking With an Occupational Whole-Body Powered Exoskeleton: Not Yet a Walk in the Park. IEEE Access 9: 47901-47911 (2021) - [j17]Negin Nikafrooz, Alexander Leonessa:
A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps. Robotics 10(4): 109 (2021) - 2020
- [j16]Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames:
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics Autom. Lett. 5(1): 56-63 (2020) - [c26]Daniel Budolak, Alexander Leonessa:
Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation. IROS 2020: 7330-7335
2010 – 2019
- 2019
- [j15]Robert J. Griffin, Alexander Leonessa:
Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. Int. J. Humanoid Robotics 16(5): 1950025:1-1950025:37 (2019) - 2018
- [c25]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA 2018: 1-5 - 2017
- [j14]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:
Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. J. Field Robotics 34(5): 912-939 (2017) - [j13]Gordon A. Christie, Adam Shoemaker, Kevin Kochersberger, Pratap Tokekar, Lance McLean, Alexander Leonessa:
Radiation search operations using scene understanding with autonomous UAV and UGV. J. Field Robotics 34(8): 1450-1468 (2017) - [j12]Chuong H. Nguyen, Alexander Leonessa:
Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems. J. Nonlinear Sci. 27(4): 1257-1290 (2017) - [c24]Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt:
Capture point trajectories for reduced knee bend using step time optimization. Humanoids 2017: 25-30 - [c23]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas. IROS 2017: 667-673 - [i4]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas. CoRR abs/1703.00477 (2017) - [i3]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR abs/1709.03660 (2017) - [i2]Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt:
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR abs/1709.03669 (2017) - 2016
- [j11]Michael A. Hopkins, Alexander Leonessa, Brian Y. Lattimer, Dennis W. Hong:
Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot. Int. J. Humanoid Robotics 13(1): 1550034:1-1550034:34 (2016) - [j10]Chris Cain, Alexander Leonessa:
FastSLAM Using Compressed Occupancy Grids. J. Sensors 2016: 3891865:1-3891865:23 (2016) - [j9]Chris Cain, Alexander Leonessa:
Validation of Underwater Sensor Package Using Feature Based SLAM. Sensors 16(3): 380 (2016) - [c22]Robert J. Griffin, Alexander Leonessa:
Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA 2016: 1763-1768 - [c21]Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck:
Disturbance compensation and step optimization for push recovery. IROS 2016: 5385-5390 - [i1]Gordon A. Christie, Adam Shoemaker, Kevin Kochersberger, Pratap Tokekar, Lance McLean, Alexander Leonessa:
Radiation Search Operations using Scene Understanding with Autonomous UAV and UGV. CoRR abs/1609.00017 (2016) - 2015
- [j8]Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa:
Dynamic Walking on Uneven Terrain Using the Time-Varying Divergent Component of Motion. Int. J. Humanoid Robotics 12(3): 1550027:1-1550027:18 (2015) - [j7]Adam Shoemaker, Alexander Leonessa:
Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. J. Robotics 2015: 919073:1-919073:15 (2015) - [c20]Chuong H. Nguyen, Alexander Leonessa:
Adaptive predictor-based output feedback control for a class of unknown MIMO systems: Experimental results. ACC 2015: 3515-3521 - [c19]Coleman Knabe, John Seminatore, Jacob Webb, Michael A. Hopkins, Tomonari Furukawa, Alexander Leonessa, Brian Y. Lattimer:
Design of a series elastic humanoid for the DARPA Robotics Challenge. Humanoids 2015: 738-743 - [c18]Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa:
Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. Humanoids 2015: 831-837 - [c17]Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa:
Compliant locomotion using whole-body control and Divergent Component of Motion tracking. ICRA 2015: 5726-5733 - [c16]Michael A. Hopkins, Stephen A. Ressler, Derek F. Lahr, Alexander Leonessa, Dennis W. Hong:
Embedded joint-space control of a series elastic humanoid. IROS 2015: 3358-3365 - [c15]Jacob Webb, Alexander Leonessa, Dennis W. Hong:
Gait design and gain-scheduled balance controller of an under-actuated robotic platform. IROS 2015: 5148-5155 - 2014
- [c14]Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa:
Humanoid locomotion on uneven terrain using the time-varying divergent component of motion. Humanoids 2014: 266-272 - 2012
- [c13]Chris Cain, Alexander Leonessa:
Laser based rangefinder for underwater applications. ACC 2012: 6190-6195 - 2011
- [c12]Veronica Medina-Garciadiego, Alexander Leonessa:
Tracking control of a nonholonomic ground vehicle. ACC 2011: 1710-1713 - [c11]Yannick Morel, Mathieu Porez, Alexander Leonessa, Auke Jan Ijspeert:
Nonlinear motion control of CPG-based movement with applications to a class of swimming robots. CDC/ECC 2011: 6331-6336 - 2010
- [c10]Sang-Mook Lee, Jeong Joon Im, Bo-Hee Lee, Alexander Leonessa, Andrew Kurdila:
A real-time grid map generation and object classification for ground-based 3D LIDAR data using image analysis techniques. ICIP 2010: 2253-2256
2000 – 2009
- 2009
- [c9]Yannick Morel, Alexander Leonessa:
Prediction-based observation of nonlinear systems non-affine in the unmeasured states. CDC 2009: 7551-7556 - 2008
- [j6]Dapeng Luo, Alexander Leonessa:
Identification of MIMO Hammerstein systems with non-linear feedback. IMA J. Math. Control. Inf. 25(3): 367-392 (2008) - 2004
- [c8]Alexander Leonessa, Tannen S. VanZwieten:
Neural network model reference adaptive control of a surface vessel. CDC 2004: 662-667 - 2003
- [c7]Alexander Leonessa, VijaySekhar Chellaboina, Wassim M. Haddad, Tomohisa Hayakawa:
Direct discrete-time adaptive control with guaranteed parameter error convergence. ACC 2003: 2925-2930 - [c6]Dapeng Luo, Alexander Leonessa:
Nonlinear system identification of a reaction wheel pendulum using subspace method. ACC 2003: 4590-4595 - [c5]Yannick Morel, Alexander Leonessa:
Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness. CDC 2003: 3097-3102 - [c4]Dapeng Luo, Alexander Leonessa:
A geometric proof for subspace tracking theorems. CDC 2003: 4527-4532 - 2002
- [j5]Wassim M. Haddad, Joseph R. Corrado, Alexander Leonessa:
Fixed-order dynamic compensation for axial flow compression systems. IEEE Trans. Control. Syst. Technol. 10(5): 727-734 (2002) - [c3]Wassim M. Haddad, Tomohisa Hayakawa, Alexander Leonessa:
Direct adaptive control for discrete-time nonlinear uncertain dynamical systems. ACC 2002: 1773-1778 - [c2]Dapeng Luo, Alexander Leonessa:
Identification of MIMO Hammerstein systems with nonlinear feedback. ACC 2002: 3666-3671 - 2001
- [j4]Alexander Leonessa, Wassim M. Haddad, VijaySekhar Chellaboina:
Nonlinear system stabilization via hierarchical switching control. IEEE Trans. Autom. Control. 46(1): 17-28 (2001) - [c1]Alexander Leonessa, Wassim M. Haddad, Tomohisa Hayakawa:
Adaptive tracking for nonlinear systems with control constraints. ACC 2001: 1292-1297 - 2000
- [j3]Alexander Leonessa, VijaySekhar Chellaboina, Wassim M. Haddad:
Robust stabilization of axial flow compressors with uncertain pressure-flow maps. IEEE Trans. Control. Syst. Technol. 8(3): 466-473 (2000) - [j2]Alexander Leonessa, Wassim M. Haddad, Hua Li:
Globally stabilizing switching controllers for a centrifugal compressor model with spool dynamics. IEEE Trans. Control. Syst. Technol. 8(3): 474-482 (2000)
1990 – 1999
- 1999
- [j1]Wassim M. Haddad, Alexander Leonessa, VijaySekhar Chellaboina, Jerry L. Fausz:
Nonlinear robust disturbance rejection controllers for rotating stall and surge in axial flow compressors. IEEE Trans. Control. Syst. Technol. 7(3): 391-398 (1999)
Coauthor Index
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