Articles & Proceedings of Technical Meetings

[2022] E. Sihite, X. Hu, B. Li, A. Salagame, P. Ghanem, A. Ramezani, “Bang-Bang Control Of A Tail-less Morphing Wing Flight,” Conference on Decision and Control (CDC), Cancun, Mexico, Dec 6-9 2022 [submitted].

[2022] E. Sihite, B. Mottis, P. Ghanem, A. Ramezani, M. Gharib, “Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG),” Conference on Decision and Control (CDC), Cancun, Mexico, Dec 6-9 2022 [submitted].

[2022] J. Wanner, E. Sihite, A. Ramezani, M. Gharib, “Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs,” Conference on Decision and Control (CDC), Cancun, Mexico, Dec 6-9 2022 [submitted].

[2022] E. Sihite, A. Ramezani, “Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner’s Function,” International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 23-27, 2022 [submitted].

[2022] P. Ghanem*, Y. Bicer, D. Erdogmus, A. Ramezani, “Efficient Modeling of Morphing Wing Flight Using Neural Networks and Cubature Rules,” International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 23-27, 2022 [submitted].

[2022] E. Emanuel, K. V. Krishnamurthy, C. Wang, E. Sihite, A. Ramezani, “Preliminary Design of a Multi-Modal Quadrupedal and Quadrotor Robot,” International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 23-27, 2022 [submitted].

[2022] A. Ramezani and and E. Sihite, “Embodied Aerial Locomotion,” Robotics: Science and Systems, New York City, NY, June 27-July 1, 2022. [submitted].

[2022] E. Sihite, A.Ramezani, “Gait Design for Flapping Wing Flight,” Robotics: Science and Systems, New York City, NY, June 27-July 1, 2022 [submitted].

[2022] A. Ramezani and K. Sreenath, “Thruster-Assisted Legged Mobility for Explorations on Mars,” Low-Cost Science Mission Concepts for Mars Exploration, California, January 11-13, 2022.

[2022] A. Ramezani, E. Sihite, S. Devey and M. Gharib, “Efficient and Endured Aerial Mobility on Mars Using Novel Morphing Micro Aerial Vehicle Designs,” Low-Cost Science Mission Concepts for Mars Exploration, California, January 11-13, 2022.

[2021] P. Dangol, E. Sihite and A. Ramezani, ”Harpy, a Platform to Explore Control of Thruster-assisted Legged Locomotion” Frontiers in Robotics and AI vol. 8 770514. 23 Dec. 2021, doi:10.3389/frobt. [PDF]

[2021] E. Sihite, P. Dangol, and A. Ramezani, ”Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion,” IEEE Conference on Decision and Control (CDC), Austin, TX, Dec. 13 – 15 2021.

[2021] K. Kim, P. Spieler, E. Lupu, A. Ramezani, and S.-J. Chung, ”LEONARDO: A synchronized multi-modal robot for aerial and legged locomotion,” Science (Robotics-AAAS), volume 6, issue 59, pages: eabf8136, October 2021 (cover article).

[2021] P. Dangol, A. Lessieur, E. Sihite, and A. Ramezani, “A HZD-based Framework for the Real-time, Optimization-free Enforcement of Gait Feasibility Constraints,” International Conference on Humanoid Robots (Humanoids), Munich, Germany, July 19-21, 2021.

[2021] E. Sihite, P. Dangol, and A. Ramezani, ”Unilateral Force Satisfaction in Thruster-Assisted Legged Locomotion Using Explicit Reference Governors (ERGs),” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Delft, Netherlands, July 12 – 14, 2021.

[2021] K. Liang, E. Sihite, and A. Ramezani, ”Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot,” American Control Conference (ACC), New Orleans, Louisiana, May 26-28, 2021. [PDF]

[2021] E. Sihite, A. Darabi, and A. Ramezani, ”An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat.” American Control Conference (ACC), New Orleans, Louisiana, May 26-28, 2021. [PDF]

[2021] A. Ramezani, P. Dangol, E. Sihite, A. Lessieur, and P. Kelly, ”Generative Design of NU’s Husky Carbon: A Morpho-Functional, Legged-Aerial Robot,” International Conference on Robotics and Automation (ICRA), Xi’an, China, May 20 – June 5, 2021.

[2021] A. Lessieur, E. Sihite, and A. Ramezani, ”Generative Design of A Morpho-Functional Legged-Ariel Robot,” Unmanned Systems Technology XXIII (UST), Orlando, FL, Apr 11- 15, 2021.

[2021] E. Sihite, P. Kelly, and A. Ramezani, ”Mechanical Design and Fabrication of a Kinetic Sculpture with Application to Bio-Inspired Drone Design,” Unmanned Systems Technology XXIII (UST), Orlando, FL, Apr 11-15, 2021.

[2021] E. Sihite, and A. Ramezani, ”Orientation Stabilization in a Bio-Inspired Bat-Robot Using Integrated Mechanical Intelligence and Control,” Unmanned Systems Technology XXIII (UST), Orlando, FL, Apr 11-15, 2021.

[2020] E. Sihite, A. Ramezani, ”Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model,” Conference on Decision and Control (CDC), Jeju Island, Republic of Korea, December 8-11, 2020. [PDF]

[2020] E. Sihite, P. Kelly, A. Ramezani, ”Computational Structure Design of a Bio-inspired Armwing Mechanism,” IEEE Robotics and Automation Letters (RA-L), volume 5, issue 4, pp. 5929- 5936, July 2020 [Also accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 25-29, 2020]. [PDF]

[2020] E. Sihite, P. Kelly, A. Ramezani, ”Computational Structure Design of a Bio-inspired Armwing Mechanism,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 25-29, 2020.

[2020] A. C. B. de Oliveira, A. Ramezani, ”Thruster-assisted Center Manifold Shaping in Bipedal Legged Locomotion,” International Conference on Advanced Intelligent Mechatronics (AIM), Boston, MA, July 6-10, 2020. [PDF]

[2020] A. C. B. de Oliveira, A. Ramezani, ”Legs on Aerial Robotic Drone: Control Design Challenges of Agile Thruster-Assisted Legged Locomotion,” 11th International ESA Conference on Guidance, Navigation & Control Systems (GNC), Sopot, Poland, June 21-26, 2020.

[2020] P. Dangol, A. Ramezani, ”ROM-Based Feedback Design for Thruster-Assisted Legged Locomotion,” 11th International ESA Conference on Guidance, Navigation & Control Systems (GNC), Sopot, Poland, June 21-26, 2020.

[2020]A. Ramezani, ”Towards flapping flight upside-down landing through differential manipulation of inertial dynamics,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31 to June 4, 2020.

[2020] P. Dangol, A. Ramezani, N. Jalili, ”Performance satisfaction in Midget, a thruster-assisted bipedal robot,” American Control Conference (ACC), Denver, CO, July 1-3, 2020. [PDF]

[2020] P. Dangol, A. Ramezani, ”Performance and Robustness Satisfaction in a Thruster-assisted Legged Robot,” International Federation of Automatic Control (IFAC), Berlin, Germany, July 12-17, 2020. [PDF]

[2020] P. Dangol, A. Ramezani, ”Thruster-assisted legged robot control,” Unmanned Systems Technology XXII, Anaheim, CA, April 26-30, 2020.

[2019] J. Hoff, U. A. Syed, A. Ramezani, S. Hutchinson, ”Trajectory planning for a bat-like flapping wing robot,” Proc. IEEE/RSJ Int’l. Conf. on Intelligent Robots and Systems (IROS), Macau, China, November 4-8, 2019. [PDF]

[2019] P. Dangol, A. Ramezani, ”Hybrid Invariance Achieved Through Leg and Thruster Actions,” IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 15-17, 2019.

[2018] J. E. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, ”Optimizing the structure and movement of a robotic bat with biological kinematic synergies,” International Journal of Robotics Research (IJRR), volume 37, issue 10, pp. 1233-1252, November 2018. [PDF]

[2017] A. Ramezani, S. U. Ahmed, J. E. Hoff, S.-J. Chung, S. Hutchinson, ”Describing aerial locomotion of an articulated MAV with stable periodic orbits,” in M. Cutkosky, P. Verschure, T. Prescott, M. Mangan, M. Desmulliez, A. Mura, Eds., Biomimetic and Biohybrid Systems: The 6th Int’l. Conf. on Biomimetic and Biohybrid Systems, Lecture Notes in Artificial Intelligence, Springer-Verlag, Stanford University, Stanford, CA, July 25-28, 2017, pp. 394-405. [PDF]

[2017] J. E. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, ”Reducing versatile bat wing conformations to a 1-DoF machine,” in M. Cutkosky, P. Verschure, T. Prescott, M. Mangan, M. Desmulliez, A. Mura, Eds., Biomimetic and Biohybrid Systems: The 6th Int’l. Conf. on Biomimetic and Biohybrid Systems, Lecture Notes in Artificial Intelligence, Springer-Verlag, Stanford University, Stanford, CA, July 25-28, 2017, pp. 181-192. [PDF]

[2017] S. U. Ahmed, A. Ramezani, S.-J. Chung, and S. Hutchinson, ”From Rousettus aegyptiacus landing to robotic landing: regulation of CG-CP distance using a nonlinear closed-loop feedback,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Marina Bay Sands, Singapore, May 29 to June 3, 2017, pp. 3560-3567. [PDF]

[2017] A. Ramezani, S.-J. Chung, and S. Hutchinson, ”A biomimetic robotic platform to study flight specializations of bats,” Science (Robotics-AAAS), volume 2, issue 3, pages: eaal2505, February 2017 (cover article; [also featured in Nature 542,140 (09 February 2017) doi:10.1038/542140a])

[2016] J. E. Hoff, A. Ramezani, S.-J. Chung, and S. Hutchinson, ”Synergistic design of a bioinspired micro aerial vehicle with articulated wings,” Robotics Science and Systems Conference (RSS), University of Michigan, Ann Arbor, MI, June 20-22, 2016. [PDF]

[2016] A. Ramezani, X. Shi, S.-J. Chung, S. Hutchinson, ”Bat Bot (B2), a biologically inspired flying machine,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweeden, May 16-21, 2016, pp. 3219-3226. [PDF]

[2016] A. Ramezani, X. Shi, S.-J. Chung, and S. Hutchinson, ”Nonlinear flight controller synthesis of a bat-inspired micro aerial vehicle,” Proc. AIAA Guidance, Navigation, and Control Conference, San Diego, CA, January 4-8, 2016, AIAA 2016-1376. [PDF]

[2015] A. Ramezani, X. Shi, S.-J. Chung, and S. Hutchinson, ”Lagrangian modeling and flight control of articulated-winged bat robot,” Proc. IEEE/RSJ Int’l. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 28 to October 2, 2015, pp. 2867-2874.

[2014] B. G. Buss, A. Ramezani, K. A. Hamed, B. A. Griffin, K. S. Galloway, J. W. Grizzle, ”Preliminary walking experiments with underactuated 3D bipedal robot MARLO,” Proc. IEEE/RSJ Int’l. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, September 14-18, 2014, pp. 2529-2536. [PDF]

[2014] A. Ramezani, J. Hurst, K. A. Hamed and J. W. Grizzle, ”Performance analysis and feedback control of atrias, a 3D bipedal robot,” ASME Journal of Dynamic Systems Measurement and Control, volume 136, issue 2, start page: 21012, March 2014. [PDF]

[2013] J. W. Grizzle, A. Ramezani, B. Buss, B. Griffin, K. A. Hamed, and K. S. Galloway, ”Progress on controlling MARLO, an ATRIAS-series 3D underactuated bipedal robot,” Dynamic Walking Conference, Robotic Institute at Carnegie Mellon University, Pittsburgh, PA, June 10-13, 2013. [PDF]

[2013] H.-W. Park, A. Ramezani, and J. W. Grizzle, ”A finite-state machine for accommodating unexpected large ground height variations in bipedal robot walking,” IEEE Trans. on Robotics, volume 29, issue 2, pp. 331-345, April 2013. [PDF]

[2012] A. Ramezani, J.W. Grizzle, ”A feedback control of ATRIAS, a 3D bipedal robot,” 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), volume 23, pages: 26, Johns Hopkins University, Baltimore, MD, July 23-26, 2012.

[2012] H.-W. Park, K. Sreenath, A. Ramezani, and J. W. Grizzle, ”Switching control design for accommodating large step-down disturbances in bipedal robot walking,” International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 14-18, 2012, pp. 45-50. [PDF]

[2009] R. Oung, A. Ramezani, R. D’Andrea, ”Feasibility of a distributed flight array,” Proc. 48th IEEE Conference on Decision and Control (CDC), Shanghai, China, December 16-18, 2009, pp. 3038-3044. [PDF]

[2007] A. Ramezani, S. Hosseini-Hashemi, ”The effects of step, ramp and sinusoidal forces on response of multistep Timoshenko beam,” 2nd International Operational Modal Analysis Conference (IOMAC), Copenhagen, Denmark, April 30 to May 2, 2007, pp. 593-601.