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ORCIDAaron M. Johnson 0001
Person information
- affiliation: Carnegie Mellon University, Pittsburgh, PA, USA
- affiliation (former): University of Pennsylvania, PA, USA
Other persons with the same name
- Aaron M. Johnson 0002
![[0000-0002-7577-0267]](https://dblp.uni-trier.de./img/orcid-mark.12x12.png "0000-0002-7577-0267")
— New York University, School of Medicine, NY, USA
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2020 – today
- 2024
[j16]Sukjun Kim, Aaron M. Johnson, Sarah Bergbreiter:
Picotaur: A 15 mg Hexapedal Robot with Electrostatically Driven, 3D-Printed Legs. Adv. Intell. Syst. 6(10) (2024)- [j15]Nathan J. Kong, J. Joe Payne, James Zhu, Aaron M. Johnson:
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems. Proc. IEEE 112(6): 585-608 (2024) - [j14]Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang, Aaron M. Johnson:
Adaptive Complexity Model Predictive Control. IEEE Trans. Robotics 40: 4615-4634 (2024) - [c30]James Zhu, J. Joe Payne, Aaron M. Johnson:
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. ICRA 2024: 8051-8057 - [c29]Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson:
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning. ICRA 2024: 14562-14568 - [c28]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: 16954-16960 - [c27]Paul Nadan, Spencer B. Backus, Aaron M. Johnson:
LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration. ICRA 2024: 18480-18486 - [i31]Justin K. Yim, Paul Nadan, James Zhu, Alexandra Stutt, J. Joe Payne, Catherine Pavlov, Aaron M. Johnson:
Double-Anonymous Review for Robotics. CoRR abs/2406.10059 (2024) - [i30]Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson, Yongxin Chen:
Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions. CoRR abs/2410.13222 (2024) - [i29]J. Joe Payne, James Zhu, Nathan J. Kong, Aaron M. Johnson:
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems. CoRR abs/2410.19958 (2024) - [i28]Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson, Yongxin Chen:
Path Integral Control for Hybrid Dynamical Systems. CoRR abs/2411.00659 (2024) - [i27]Shibo Zhao, Honghao Zhu, Yuanjun Gao, Beomsoo Kim, Yuheng Qiu, Aaron M. Johnson, Sebastian A. Scherer:
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks. CoRR abs/2412.02901 (2024) - [i26]J. Joe Payne, Daniel A. Hagen, Denis Garagic, Aaron M. Johnson:
Multi-Momentum Observer Contact Estimation for Bipedal Robots. CoRR abs/2412.03462 (2024) - 2023
- [j13]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): 4712-4727 (2023) - [c26]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: 1-7 - [c25]Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson:
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots. IROS 2023: 735-742 - [c24]Michael R. Turski, Joseph Norby, Aaron M. Johnson:
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization. IROS 2023: 2376-2383 - [c23]Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson:
Proprioception and Reaction for Walking Among Entanglements. IROS 2023: 2760-2767 - [c22]James Zhu, Anoushka Shrivastava, Aaron M. Johnson:
Grounding Robot Navigation in Self-Defense Law. RO-MAN 2023: 2470-2477 - [i25]Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson:
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning. CoRR abs/2303.01619 (2023) - [i24]Yanhao Yang, Joseph Norby, Justin K. Yim, Aaron M. Johnson:
Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots. CoRR abs/2303.04781 (2023) - [i23]James Zhu, J. Joe Payne, Aaron M. Johnson:
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. CoRR abs/2304.00346 (2023) - [i22]James Zhu, Anoushka Shrivastava, Aaron M. Johnson:
Grounding Robot Navigation in Self-Defense Law. CoRR abs/2304.00347 (2023) - [i21]Justin K. Yim, Jiming Ren, David Ologan, Selvin Garcia Gonzalez, Aaron M. Johnson:
Proprioception and reaction for walking among entanglements. CoRR abs/2304.02129 (2023) - [i20]Michael R. Turski, Joseph Norby, Aaron M. Johnson:
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization. CoRR abs/2304.04923 (2023) - [i19]Nathan J. Kong, J. Joe Payne, James Zhu, Aaron M. Johnson:
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems. CoRR abs/2306.06862 (2023) - [i18]Abdel Zaro, Ardalan Tajbakhsh, Aaron M. Johnson:
Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping. CoRR abs/2307.07602 (2023) - [i17]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 abs/2308.08401 (2023) - [i16]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 abs/2310.08674 (2023) - 2022
- [j12]Larry H. Matthies, Aaron M. Johnson, Monroe Kennedy, Cynthia Matuszek, Dilip Patel:
Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program. Field Robotics 2(1): 1943-1946 (2022) - [j11]Stacey Shield, Aaron M. Johnson, Amir Patel:
Contact-Implicit Direct Collocation With a Discontinuous Velocity State. IEEE Robotics Autom. Lett. 7(2): 5779-5786 (2022) - [c21]James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson:
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits. ICRA 2022: 1-7 - [c20]Sharfin Islam, Kamal Carter, Justin K. Yim, James Kyle, Sarah Bergbreiter, Aaron M. Johnson:
Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics. ICRA 2022: 207-213 - [c19]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: 2546-2552 - [c18]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: 9477-9483 - [c17]Paul Nadan, Dinesh K. Patel, Catherine Pavlov, Spencer B. Backus, Aaron M. Johnson:
Microspine Design for Additive Manufacturing. IROS 2022: 5640-5647 - [c16]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: 8821-8828 - [i15]J. Joe Payne, Nathan J. Kong, Aaron M. Johnson:
The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards. CoRR abs/2202.12729 (2022) - [i14]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 abs/2205.01791 (2022) - [i13]Nathan J. Kong, Chuanzheng Li, Aaron M. Johnson:
Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots. CoRR abs/2207.04591 (2022) - [i12]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 abs/2207.06209 (2022) - [i11]Joseph Norby, Ardalan Tajbakhsh, Yanhao Yang, Aaron M. Johnson:
Adaptive Complexity Model Predictive Control. CoRR abs/2209.02849 (2022) - [i10]Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson:
Reacting to Contact: Transparency and Collision Reflex in Actuation. CoRR abs/2212.03469 (2022) - 2021
- [j10]Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson:
The Salted Kalman Filter: Kalman filtering on hybrid dynamical systems. Autom. 131: 109752 (2021) - [j9]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): 1144-1153 (2021) - [c15]Nathan J. Kong, George Council, Aaron M. Johnson:
iLQR for Piecewise-Smooth Hybrid Dynamical Systems. CDC 2021: 5374-5381 - [c14]Sean J. Wang, Samuel Triest, Wenshan Wang, Sebastian A. Scherer, Aaron M. Johnson:
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning. CoRL 2021: 224-233 - [c13]Sean J. Wang, Aaron M. Johnson:
Domain Adaptation Using System Invariant Dynamics Models. L4DC 2021: 1130-1141 - [i9]Nathan J. Kong, George Council, Aaron M. Johnson:
iLQR for Piecewise-Smooth Hybrid Dynamical Systems. CoRR abs/2103.14584 (2021) - [i8]James Zhu, Nathan J. Kong, George Council, Aaron M. Johnson:
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits. CoRR abs/2110.01123 (2021) - 2020
- [j8]B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek:
Autonomous Stairwell Ascent. Robotica 38(1): 159-170 (2020) - [c12]Joseph Norby, Aaron M. Johnson:
Fast Global Motion Planning for Dynamic Legged Robots. IROS 2020: 3829-3836 - [c11]Sean Wang, Ankit Bhatia, Matthew T. Mason, Aaron M. Johnson:
Contact Localization using Velocity Constraints. IROS 2020: 7351-7358 - [i7]Nathan J. Kong, J. Joe Payne, George Council, Aaron M. Johnson:
Mapping Distributions through Hybrid Dynamical Systems and its Application to Kalman Filtering. CoRR abs/2007.12233 (2020)
2010 – 2019
- 2019
- [j7]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): 2242-2249 (2019) - [c10]Catherine Pavlov, Aaron M. Johnson:
Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover. ICRA 2019: 4760-4766 - [c9]Nathan J. Kong, Aaron M. Johnson:
Optimally Convergent Trajectories for Navigation. ISRR 2019: 69-84 - [c8]Ankit Bhatia, Aaron M. Johnson, Matthew T. Mason:
Direct Drive Hands: Force-Motion Transparency in Gripper Design. Robotics: Science and Systems 2019 - [i6]Wooshik Kim, Catherine Pavlov, Aaron M. Johnson:
Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand. CoRR abs/1908.02745 (2019) - [i5]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 abs/1911.05168 (2019) - 2018
- [j6]B. Deniz Ilhan, Aaron M. Johnson, Daniel E. Koditschek:
Autonomous legged hill ascent. J. Field Robotics 35(5): 802-832 (2018) - [i4]Amir Patel, Stacey Shield, Saif R. Kazi, Aaron M. Johnson, Lorenz T. Biegler:
Contact-Implicit Trajectory Optimization using Orthogonal Collocation. CoRR abs/1809.06436 (2018) - 2017
- [j5]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): 2111-2118 (2017) - [i3]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 abs/1710.00440 (2017) - 2016
- [j4]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): 1354-1392 (2016) - [j3]Aaron M. Johnson, Jennifer E. King, Siddhartha S. Srinivasa:
Convergent Planning. IEEE Robotics Autom. Lett. 1(2): 1044-1051 (2016) - [j2]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): 1380-1398 (2016) - [c7]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: 254-265 - [c6]Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, Matthew T. Mason:
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces. WAFR 2016: 464-479 - 2015
- [c5]Anna L. Brill, Avik De, Aaron M. Johnson, Daniel E. Koditschek:
Tail-assisted rigid and compliant legged leaping. IROS 2015: 6304-6311 - [i2]Aaron M. Johnson, Samuel A. Burden, Daniel E. Koditschek:
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems. CoRR abs/1502.01538 (2015) - [i1]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 abs/1511.05958 (2015) - 2013
- [j1]Aaron M. Johnson, Daniel E. Koditschek:
Legged Self-Manipulation. IEEE Access 1: 310-334 (2013) - [c4]Aaron M. Johnson, Daniel E. Koditschek:
Toward a vocabulary of legged leaping. ICRA 2013: 2568-2575 - 2012
- [c3]Aaron M. Johnson, G. Clark Haynes, Daniel E. Koditschek:
Standing self-manipulation for a legged robot. IROS 2012: 272-279 - 2010
- [c2]Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek:
Disturbance detection, identification, and recovery by gait transition in legged robots. IROS 2010: 5347-5353
2000 – 2009
- 2007
- [c1]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: 2609-2614
Coauthor Index
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