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Christian Hubicki

Christian M. Hubicki

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2020 – today

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2024
[c27]
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  - conf/icra/ManeH24
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Adwait Mane, Christian Hubicki:
Rolling with Planar Parametric Curves for Real-time Robot Locomotion Algorithms. ICRA 2024: 11356-11362
2023
[c26]
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Tianze Wang, Jason White, Christian Hubicki:
Real-time Dynamic Bipedal Avoidance. IROS 2023: 8566-8573
[c25]
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Jacob Hackett, Christian Hubicki:
Real-Time Failure-Adaptive Control for Dynamic Robots. IROS 2023: 10535-10542
[i1]
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  - journals/corr/abs-2312-10647
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Muhammad Saud Ul Hassan, Christian Hubicki:
Single-Stage Optimization of Open-loop Stable Limit Cycles with Smooth, Symbolic Derivatives. CoRR abs/2312.10647 (2023)
2022
[j6]
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Jay Jasper, Ara Kourchians, Mark Gonzalez, Blair Emanuel, John V. Nicholson, Greg McCutcheon, Max P. Austin, Matt Kozlowski, Emma Holmes, Rachel Hegeman, Stephen McCrory, Michael Zeher, David Handelman, Robert J. Griffin, Sisir Karumanchi, Christian Hubicki, Brett Kennedy, Jonathan E. Clark, Jerry E. Pratt, Dilip Patel, Jason L. Pusey:
Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot. Field Robotics 2(1): 325-355 (2022)
[c24]
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  - conf/aimech/AustinNWGCPHC22
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Max P. Austin, John V. Nicholson, Jason White, Sean W. Gart, Ashley Chase, Jason L. Pusey, Christian Hubicki, Jonathan E. Clark:
Optimizing Dynamic Legged Locomotion in Mixed, Resistive Media. AIM 2022: 1482-1488
[c23]
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Jacob Hackett, Dylan Epstein-Gross, Monica A. Daley, Christian Hubicki:
Locomotion as a Risk-mitigating Behavior in Uncertain Environments: A Rapid Planning and Few-shot Failure Adaptation Approach. ICRA 2022: 1911-1917
[c22]
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Adwait Mane, Dylan Swart, Jason White, Christian Hubicki:
Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots. ICRA 2022: 5762-5768
[c21]
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Camilo Ordonez, David Jay, Christian Hubicki:
Trajectory Planning for Sensors and Payloads Moving Through Mixed and Uncertain Media. ICRA 2022: 8171-8177
[c20]
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Jason White, David Jay, Tianze Wang, Christian Hubicki:
Avoiding Dynamic Obstacles with Real-time Motion Planning using Quadratic Programming for Varied Locomotion Modes. IROS 2022: 13626-13633
2021
[j5]
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  - journals/tcst/ChangHAGAV21
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Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. IEEE Trans. Control. Syst. Technol. 29(4): 1581-1596 (2021)
2020
[c19]
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Wei Gao, Charles Young, John V. Nicholson, Christian Hubicki, Jonathan E. Clark:
Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing using Model-based Optimization. ICRA 2020: 483-489
[c18]
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Jason White, Dylan Swart, Christian Hubicki:
Force-based Control of Bipedal Balancing on Dynamic Terrain with the "Tallahassee Cassie" Robotic Platform. ICRA 2020: 6618-6624
[c17]
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Jacob Hackett, Wei Gao, Monica A. Daley, Jonathan E. Clark, Christian Hubicki:
Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration. IROS 2020: 3633-3640
[c16]
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  - conf/iros/NicholsonJKMAGP20
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John V. Nicholson, Jay Jasper, Ara Kourchians, Greg McCutcheon, Max P. Austin, Mark Gonzalez, Jason L. Pusey, Sisir Karumanchi, Christian Hubicki, Jonathan E. Clark:
LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot. IROS 2020: 3951-3958

2010 – 2019

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2019
[j4]
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  - journals/ral/FisherHP19
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Callen Fisher, Christian Hubicki, Amir Patel:
Do Intermediate Gaits Matter When Rapidly Accelerating? IEEE Robotics Autom. Lett. 4(4): 3418-3424 (2019)
[c15]
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  - conf/icra/ChangHAV19
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Alexander H. Chang, Christian Hubicki, Aaron D. Ames, Patricio A. Vela:
Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. ICRA 2019: 3188-3194
2018
[j3]
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Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail S. Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William C. Martin, Hartmut Geyer, Jonathan W. Hurst:
Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. IEEE Robotics Autom. Mag. 25(3): 23-39 (2018)
[j2]
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Ayonga Hereid, Christian M. Hubicki, Eric A. Cousineau, Aaron D. Ames:
Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Trans. Robotics 34(2): 370-387 (2018)
[c14]
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  - conf/humanoids/GosyneHXAG18
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Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman:
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Humanoids 2018: 994-1001
[c13]
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Nicholas D. Naclerio, Christian M. Hubicki, Yasemin Ozkan Aydin, Daniel I. Goldman, Elliot W. Hawkes:
Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization. IROS 2018: 5918-5923
2017
[c12]
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  - conf/ccta/AmbroseMHA17
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Eric R. Ambrose, Wen-Loong Ma, Christian Hubicki, Aaron D. Ames:
Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. CCTA 2017: 1270-1276
[c11]
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  - conf/hybrid/MaKAHA17
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Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames:
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. HSCC 2017: 265-274
[c10]
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Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. ICRA 2017: 2154-2160
2016
[j1]
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  - journals/ijrr/HubickiGJRSAH16
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Christian Hubicki, Jesse Grimes, Mikhail S. Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan W. Hurst:
ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. Int. J. Robotics Res. 35(12): 1497-1521 (2016)
[c9]
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Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames:
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. ICRA 2016: 1447-1454
[c8]
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  - conf/icra/HubickiHGTA16
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Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames:
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. ICRA 2016: 1552-1559
[c7]
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  - conf/icra/ReherCHHA16
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Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames:
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. ICRA 2016: 1794-1801
[c6]
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Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames:
Tractable terrain-aware motion planning on granular media: An impulsive jumping study. IROS 2016: 3887-3892
[c5]
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  - conf/iros/MaHHA16
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Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames:
Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS 2016: 5819-5825
[c4]
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  - conf/wafr/ReherHKHA16
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Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames:
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR 2016: 400-415
2015
[c3]
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Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst:
Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. ICRA 2015: 5113-5120
[c2]
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Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames:
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA 2015: 5734-5740
2014
[c1]
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  - conf/iros/WhyHJDH14
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Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst:
Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. IROS 2014: 2537-2542

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