Publications

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Submitted Manuscripts

  • Hereid A., Hubicki C.M., Cousineau E., Ames A.D., 2017. “Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization.” IEEE Transactions on Robotics (under review).
  • Chang A., Hubicki C.M., Aguilar J.J., Goldman D.I., Ames A.D., Vela P.A., 2017. `` Learning to Jump in Granular Media: Unifying Optimal Control Synthesis with Gaussian Process-Based Regression.'' IEEE International Conference on Robotics and Automation (ICRA) (under review).
  • Ambrose E., Ma W., Hubicki C.M., Ames A.D., 2016. ``Towards Benchmarking Locomotion Economy Across Design Configurations on the Modular Robot: AMBER3M.'' IEEE International Conference on Robotics and Automation (ICRA) (under review).

Peer-Reviewed Journal Papers

  • Hubicki C.M.*, Abate A.*, Clary P.*, Rezazadeh S., Jones M., Peekema A., Van Why J., Domres R., Wu A., Martin W., Geyer H., Hurst J.W., 2016. “Walking and Running with Passive Compliance: Lessons from Engineering a Live Demonstration of the ATRIAS Biped.” IEEE Robotics and Automation Magazine (accepted). (*equal contribution)
  • Hubicki C.M., Grimes J.A., Jones M., Renjewski D., Spröwitz A., Abate A., Hurst J.W., 2016. “ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot.” International Journal of Robotics Research. Vol. 35(12), 1497–1521. [url]
  • Birn-Jeffery A.V.*, Hubicki C.M.*, Blum Y., Renjewski D., Hurst J.W., Daley M.A., 2014, “Don’t break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain.” Journal of Experimental Biology. 217(21), 3786-3796. (*equal contribution) JEB featured article. Ranked Top 1% of all articles ever tracked by quality and quantity of online attention by Altmetric.
  • Blum Y., Vejdani H.R., Birn-Jeffery A.V., Hubicki C.M., Hurst J.W., Daley M.A., 2014, “Swing-leg trajectory of running guinea fowl suggests task-level priority of force regulation rather than disturbance rejection.” PLoS one, 9(6), e100399.

PEER-REVIEWED CONFERENCE PAPERS

  • Reher J.P., Hereid A., Kolathaya S., Hubicki C.M., Ames A.D., 2016. "Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS."  The 12th International Workshop on the Algorithmic Foundations of Robotics (accepted).
  • Hubicki C.M., Aguilar J.J., Goldman D.I., Ames A.D., 2016. “Tractable Terrain-aware Motion Planning on Granular Media: An Impulsive Jumping Study.” IEEE International Conference on Intelligent Robots and Systems (IROS) (accepted).
  • Ma W., Hereid A., Hubicki C.M., Ames A.D., 2016. “Efficient HZD Gait Generation for Three-Dimensional Underactuated Humanoid Running.” IEEE International Conference on Intelligent Robots and Systems (IROS) (accepted).
  • Hubicki C.M., Hereid A., Grey M.X., Thomaz A.L., Ames A.D., 2016. “Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion.” IEEE International Conference on Robotics and Automation (ICRA). [pdf]
  • Hereid A., Cousineau E., Hubicki C.M., Ames A.D., 2016. “3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics.” IEEE International Conference on Robotics and Automation (ICRA). Best Conference Paper Finalist. [pdf]
  • Reher J., Cousineau E., Hereid A., Hubicki C.M., Ames A.D., 2016. “Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS.” IEEE International Conference on Robotics and Automation (ICRA). [pdf]
  • Rezazadeh S., Hubicki C.M., Jones M., Peekema A., Abate A., Van Why J.R., Hurst J.W., 2015, “Spring-mass Walking with ATRIAS in 3D: Robust Gait Control Spanning Zero to 4.3 KPH on a Heavily Underactuated Bipedal Robot.” ASME Dynamic Systems and Control Conference (DSCC). [pdf]
  • Hubicki C.M., Jones M., Daley M.A., Hurst J.W., 2015, “Do Limit Cycles Matter in the Long Run? Stable Orbits and Sliding-Mass Dynamics Emerge in Task-Optimal Locomotion.” IEEE International Conference on Robotics and Automation (ICRA). [pdf]
  • Hereid A., Hubicki C.M., Cousineau E., Hurst J.W., Ames A.D., 2015, “Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking.” IEEE International Conference on Robotics and Automation (ICRA). [pdf]
  • Van Why J., Hubicki C.M., Jones M., Daley M.A., Hurst J.W., 2014, “Running into a Trap: Numerical Design of Task-optimal Preflex Behaviors for Delayed Disturbance Responses.” IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 2537-2542. [pdf]
  • Hubicki C.M., Hurst J.W., 2012, “Running on Soft Ground: Simple, Energy-Optimal Disturbance Rejection,” International Conference on Climbing and Walking Robots (CLAWAR), July 2012. [pdf]
  • Buffinton K.W., Schwab J.A., Hubicki C.M., Freeman S.A., and Berg M.C., 2007, “Adaptive Tabular Pulse-Width Control of a Prismatically Jointed Manipulator.” Proceedings of the 13th IASTED International Conference on Robotics and Applications. [pdf]
  • Buffinton K.W., Hubicki C.M., and Berg M.C., 2006, “Tabular Pulse-Width control of a Two Degree-of-Freedom Manipulator.” Proceedings of the 4th International Federation of Automatic Control Symposium on Mechatronic Systems. [pdf]

Theses

  • Hubicki, C.M., 2014, “From Running Birds to Walking Robots: Optimization as a Unifying Framework for Dynamic Bipedal Locomotion,” PhD thesis, Oregon State University, Corvallis, Oregon. [pdf] [url]
  • Hubicki, C.M., 2011, “Energy-Economical Heuristically Based Control of Compass Gait Walking on Stochastically Varying Terrain,” Master’s thesis, Bucknell University, Lewisburg, Pennsylvania. [pdf]
  • Hubicki, C.M., 2007, “Simulation of Blanketing Adaptation of Tabular Pulse-Width Control in Two Degree-of-Freedom Robots,” Honors thesis, Bucknell University, Lewisburg, Pennsylvania. [pdf

Conference Presentation Abstracts

  • Hubicki C.M., Aguilar J.J., Goldman D.I., Ames A.D., 2016, “Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming,” American Physical Society (APS) March Meeting 2016 in Baltimore, Maryland. Oral Presentation.
  • Hubicki C.M., Jones M., Birn-Jeffery A.V., Daley M.A., Hurst J.W., 2015, “Toward Controlling a Bipedal Robot to Run like a Bird: Combining Robot mechanics and Animal Objectives,” Int. Symposium on Adaptive Motion of Animals and Machines (AMAM) in Boston, Massachusetts. Oral Presentation.
  • Hubicki C.M., Jones M., Birn-Jeffery A.V., Daley M.A., Hurst J.W., 2015, “Task-level Priorities in Ground-running Bird Locomotion: Experiments to Math Models to Robots by Way of Optimization,” Annual Meeting of the Society for Integrative and Comparative Biology (SICB) in West Palm Beach, Florida. Oral Presentation.
  • Hubicki C.M., Birn-Jeffery A.V., Sprowitz A., Hurst J.W., Daley M.A., 2014, “Interfacing Obstacle Experiments and Optimization to Uncover Task-Level Objectives in Running Birds,” Dynamic Walking Meeting in Zurich, Switzerland. Oral Presentation.
  • Hubicki C.M., Sprowitz A., Hurst J.W., Daley M.A., 2014, “Ground-Bird Running on Non-Rigid Terrain: Deducing Task-level Priorities in Locomotion,” Annual Meeting of the Society for Integrative and Comparative Biology (SICB) in Austin, Texas. Oral Presentation.
  • Hubicki C.M., Birn-Jeffery A.V., Daley M.A., Hurst J.W., 2013, “From Ostrich to Quail: A Simple Unified Model of Ground-Bird Running,” Dynamic Walking Meeting 2013 in Pittsburgh, Pennsylvania. Oral Presentation.
  • Hubicki C.M., Hurst J.W., 2012, “Experimental Demonstration of Force Control in Spring-Mass Hopping,” Dynamic Walking Meeting 2012 in Pensacola, Florida. Poster Presentation.
  • Hubicki C.M., Hurst J.W., 2011, “Optimization-Inspired Control Policies for Analytically and Computationally Intractable Systems,” Dynamic Walking Meeting 2011 in Jena, Germany. Winner Best Poster Presentation.
  • Hubicki C.M., Hurst J.W., 2010, “Efficient and Robust Compass-gait Walking on Rough Terrain with Dynamic Programming and Optimization-inspired Control,” Dynamic Walking Meeting 2010 in Boston, MA. Poster Presentation.

 

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