Aaron M. Johnson

Publication Activity (10 Years)

Years Active: 2007-2024
Publications (10 Years): 66

Top Topics

Predictive Control

Motion Planning

Top Venues

IEEE Robotics Autom. Lett.

Publications

James Zhu, J. Joe Payne, Aaron M. Johnson
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. ICRA (2024)
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning. ICRA (2024)
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving. ICRA (2024)
Justin K. Yim, Paul Nadan, James Zhu, Alexandra Stutt, J. Joe Payne, Catherine Pavlov, Aaron M. Johnson
Double-Anonymous Review for Robotics. CoRR (2024)
Paul Nadan, Spencer B. Backus, Aaron M. Johnson
LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration. ICRA (2024)
Nathan J. Kong, J. Joe Payne, James Zhu, Aaron M. Johnson
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems. CoRR (2023)
James Zhu, Anoushka Shrivastava, Aaron M. Johnson
Grounding Robot Navigation in Self-Defense Law. CoRR (2023)
Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots. IROS (2023)
Michael R. Turski, Joseph Norby, Aaron M. Johnson
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization. CoRR (2023)
Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson
Proprioception and Reaction for Walking Among Entanglements. IROS (2023)
Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots. CoRR (2023)
James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson
The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies. Humanoids (2023)
James Zhu, J. Joe Payne, Aaron M. Johnson
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. CoRR (2023)
Rory O'Keeffe, Seyed Yahya Shirazi, Sarmad Mehrdad, Tyler Crosby, Aaron M. Johnson, Seyed Farokh Atashzar
Perilaryngeal Functional Muscle Network in Patients with Vocal Hyperfunction - A Case Study. NER (2023)
Michael R. Turski, Joseph Norby, Aaron M. Johnson
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization. IROS (2023)
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving. CoRR (2023)
James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson
The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies. CoRR (2023)
Nathan J. Kong, Chuanzheng Li, George Council, Aaron M. Johnson
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots. IEEE Trans. Robotics 39 (6) (2023)
James Zhu, Anoushka Shrivastava, Aaron M. Johnson
Grounding Robot Navigation in Self-Defense Law. RO-MAN (2023)
Abdel Zaro, Ardalan Tajbakhsh, Aaron M. Johnson
Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping. CoRR (2023)
Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson
Proprioception and reaction for walking among entanglements. CoRR (2023)
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning. CoRR (2023)
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards. CoRR (2022)
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang, Wenshan Wang, Aaron M. Johnson, Sebastian A. Scherer
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models. CoRR (2022)
Stacey Shield, Aaron M. Johnson, Amir Patel
Contact-Implicit Direct Collocation With a Discontinuous Velocity State. IEEE Robotics Autom. Lett. 7 (2) (2022)
Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang, Aaron M. Johnson
Adaptive Complexity Model Predictive Control. CoRR (2022)
Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
Reacting to Contact: Transparency and Collision Reflex in Actuation. CoRR (2022)
Larry Matthies, Aaron M. Johnson, Monroe Kennedy, Cynthia Matuszek, Dilip Patel
Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program. Field Robotics 2 (1) (2022)
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang, Wenshan Wang, Aaron M. Johnson, Sebastian A. Scherer
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models. ICRA (2022)
Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots. CoRR (2022)
Sharfin Islam, Kamal Carter, Justin Yim, James Kyle, Sarah Bergbreiter, Aaron M. Johnson
Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics. ICRA (2022)
Hans Kumar, J. Joe Payne, Matthew J. Travers, Aaron M. Johnson, Howie Choset
Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots. ICRA (2022)
Paul Nadan, Dinesh K. Patel, Catherine Pavlov, Spencer Backus, Aaron M. Johnson
Microspine Design for Additive Manufacturing. IROS (2022)
James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits. ICRA (2022)
Hannah He, Joe Norby, Sean Wang, Natasha Sihota, Thomas P. Hoelen, Gregory V. Lowry, Aaron M. Johnson
Environmental Sampling with the Boustrophedon Decomposition Algorithm. CoRR (2022)
J. Joe Payne, Nathan J. Kong, Aaron M. Johnson
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards. IROS (2022)
Rory O'Keeffe, Seyed Yahya Shirazi, Sarmad Mehrdad, Tyler Crosby, Aaron M. Johnson, Seyed Farokh Atashzar
Perilaryngeal-Cranial Functional Muscle Network Differentiates Vocal Tasks: A Multi-Channel sEMG Approach. IEEE Trans. Biomed. Eng. 69 (12) (2022)
Nathan J. Kong, George Council, Aaron M. Johnson
iLQR for Piecewise-Smooth Hybrid Dynamical Systems. CoRR (2021)
Nathan J. Kong, George Council, Aaron M. Johnson
iLQR for Piecewise-Smooth Hybrid Dynamical Systems. CDC (2021)
Sean J. Wang, Samuel Triest, Wenshan Wang, Sebastian Scherer, Aaron M. Johnson
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning. CoRL (2021)
Joseph Norby, Jun Yang Li, Cameron Selby, Amir Patel, Aaron M. Johnson
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails. IEEE Trans. Robotics 37 (4) (2021)
Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson
The Salted Kalman Filter: Kalman filtering on hybrid dynamical systems. Autom. 131 (2021)
James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits. CoRR (2021)
Sean J. Wang, Aaron M. Johnson
Domain Adaptation Using System Invariant Dynamics Models. L4DC (2021)
Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson
Mapping Distributions through Hybrid Dynamical Systems and its Application to Kalman Filtering. CoRR (2020)
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
Autonomous Stairwell Ascent. Robotica 38 (1) (2020)
Joseph Norby, Aaron M. Johnson
Fast Global Motion Planning for Dynamic Legged Robots. IROS (2020)
Sean Wang, Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson
Contact Localization using Velocity Constraints. IROS (2020)
Ankit Bhatia, Aaron M. Johnson, Matthew T. Mason
Direct Drive Hands: Force-Motion Transparency in Gripper Design. Robotics: Science and Systems (2019)
Amir Patel, Stacey Leigh Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler
Contact-Implicit Trajectory Optimization Using Orthogonal Collocation. IEEE Robotics Autom. Lett. 4 (2) (2019)
Nathan J. Kong, Aaron M. Johnson
Optimally Convergent Trajectories for Navigation. ISRR (2019)
Catherine Pavlov, Aaron M. Johnson
Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover. ICRA (2019)
Shuo Yang, Zhaoyuan Gu, Ruohai Ge, Aaron M. Johnson, Matthew J. Travers, Howie Choset
Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller. CoRR (2019)
Wooshik Kim, Catherine Pavlov, Aaron M. Johnson
Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand. CoRR (2019)
Amir Patel, Stacey Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler
Contact-Implicit Trajectory Optimization using Orthogonal Collocation. CoRR (2018)
B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek
Autonomous legged hill ascent. J. Field Robotics 35 (5) (2018)
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew Bagnell, Matthew T. Mason
A Probabilistic Planning Framework for Planar Grasping Under Uncertainty. IEEE Robotics Autom. Lett. 2 (4) (2017)
Gilwoo Lee, Zita Marinho, Aaron M. Johnson, Geoffrey J. Gordon, Siddhartha S. Srinivasa, Matthew T. Mason
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems. CoRR (2017)
Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, Allison Thackston
A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments. ISER (2016)
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. IEEE Trans. Robotics 32 (6) (2016)
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
A hybrid systems model for simple manipulation and self-manipulation systems. Int. J. Robotics Res. 35 (11) (2016)
Aaron M. Johnson, Jennifer E. King, Siddhartha S. Srinivasa
Convergent Planning. IEEE Robotics Autom. Lett. 1 (2) (2016)
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, Matthew T. Mason
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces. WAFR (2016)
Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems. CoRR (2015)
Thomas Libby, Aaron M. Johnson, Evan Chang-Siu, Robert J. Full, Daniel E. Koditschek
Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation. CoRR (2015)
Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek
Tail-assisted rigid and compliant legged leaping. IROS (2015)
Aaron M. Johnson, Daniel E. Koditschek
Legged Self-Manipulation. IEEE Access 1 (2013)
Aaron M. Johnson, Daniel E. Koditschek
Toward a vocabulary of legged leaping. ICRA (2013)
Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek
Standing self-manipulation for a legged robot. IROS (2012)
Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
Disturbance detection, identification, and recovery by gait transition in legged robots. IROS (2010)
Cornell Wright III, Aaron M. Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross L. Hatton, Howie Choset
Design of a modular snake robot. IROS (2007)