Alexander Leonessa

Publication Activity (10 Years)

Years Active: 1999-2024
Publications (10 Years): 32

Top Topics

Feedback Control

Model Predictive Control

Top Venues

Publications

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) (2024)
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)
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Shared autonomy and positive power control for powered exoskeletons. Robotics Auton. Syst. 171 (2024)
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 (2024)
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) (2023)
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)
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) (2023)
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 (2023)
Benjamin Beiter, Connor Herron, Alexander Leonessa
Whole Body Control for Haptic Interaction with VR. ACC (2022)
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) (2022)
Roghaiyeh Ansari, Nicole Abaid, Alexander Leonessa
Reduced-Order Adaptive Output Predictors for a Class of Uncertain Dynamical Systems. ACC (2022)
Negin Nikafrooz, Zachary Fuge, Alexander Leonessa
Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor. CoRR (2022)
Negin Nikafrooz, Alexander Leonessa
A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps. Robotics 10 (4) (2021)
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 (2021)
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) (2020)
Daniel Budolak, Alexander Leonessa
Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation. IROS (2020)
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) (2019)
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA (2018)
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR (2017)
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)
Chuong H. Nguyen, Alexander Leonessa
Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems. J. Nonlinear Sci. 27 (4) (2017)
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)
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) (2017)
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 (2017)
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) (2017)
Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR (2017)
Robert J. Griffin, Alexander Leonessa
Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA (2016)
Chris Cain, Alexander Leonessa
Validation of Underwater Sensor Package Using Feature Based SLAM. Sensors 16 (3) (2016)
Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck
Disturbance compensation and step optimization for push recovery. IROS (2016)
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 (2016)
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) (2016)
Chris Cain, Alexander Leonessa
FastSLAM Using Compressed Occupancy Grids. J. Sensors 2016 (2016)
Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa
Compliant locomotion using whole-body control and Divergent Component of Motion tracking. ICRA (2015)
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)
Chuong H. Nguyen, Alexander Leonessa
Adaptive predictor-based output feedback control for a class of unknown MIMO systems: Experimental results. ACC (2015)
Adam Shoemaker, Alexander Leonessa
Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. J. Robotics 2015 (2015)
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) (2015)
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)
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)
Jacob Webb, Alexander Leonessa, Dennis W. Hong
Gait design and gain-scheduled balance controller of an under-actuated robotic platform. IROS (2015)
Michael A. Hopkins, Dennis W. Hong, Alexander Leonessa
Humanoid locomotion on uneven terrain using the time-varying divergent component of motion. Humanoids (2014)
Chris Cain, Alexander Leonessa
Laser based rangefinder for underwater applications. ACC (2012)
Veronica Medina-Garciadiego, Alexander Leonessa
Tracking control of a nonholonomic ground vehicle. ACC (2011)
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)
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)
Yannick Morel, Alexander Leonessa
Prediction-based observation of nonlinear systems non-affine in the unmeasured states. CDC (2009)
Dapeng Luo, Alexander Leonessa
Identification of MIMO Hammerstein systems with non-linear feedback. IMA J. Math. Control. Inf. 25 (3) (2008)
Alexander Leonessa, Tannen S. VanZwieten
Neural network model reference adaptive control of a surface vessel. CDC (2004)
Yannick Morel, Alexander Leonessa
Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness. CDC (2003)
Alexander Leonessa, VijaySekhar Chellaboina, Wassim M. Haddad, Tomohisa Hayakawa
Direct discrete-time adaptive control with guaranteed parameter error convergence. ACC (2003)
Dapeng Luo, Alexander Leonessa
A geometric proof for subspace tracking theorems. CDC (2003)
Dapeng Luo, Alexander Leonessa
Nonlinear system identification of a reaction wheel pendulum using subspace method. ACC (2003)
Wassim M. Haddad, Joseph R. Corrado, Alexander Leonessa
Fixed-order dynamic compensation for axial flow compression systems. IEEE Trans. Control. Syst. Technol. 10 (5) (2002)
Dapeng Luo, Alexander Leonessa
Identification of MIMO Hammerstein systems with nonlinear feedback. ACC (2002)
Wassim M. Haddad, Tomohisa Hayakawa, Alexander Leonessa
Direct adaptive control for discrete-time nonlinear uncertain dynamical systems. ACC (2002)
Alexander Leonessa, Wassim M. Haddad, Tomohisa Hayakawa
Adaptive tracking for nonlinear systems with control constraints. ACC (2001)
Alexander Leonessa, Wassim M. Haddad, VijaySekhar Chellaboina
Nonlinear system stabilization via hierarchical switching control. IEEE Trans. Autom. Control. 46 (1) (2001)
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) (2000)
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) (2000)
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) (1999)