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Maegan Tucker

Caltech PhD Student studying human-robotic interaction and control of a lower-body exoskeleton.


Hi, my name is Maegan Tucker. I’m currently a PhD candidate at Caltech, under the advisement of Dr. Aaron Ames. My research is centered around achieving stable and user-preferred locomotion on robotic assistive devices using formal methods from both nonlinear control theory and machine learning. My research has been supported by an NSF Graduate Research Fellowship and the Caltech RoAMS initiative.

Research Overview

Aside from my research, I am deeply passionate about furthering DEI efforts within the robotics community. Towards this, I am involved in several Caltech DEI efforts such as Future Ignited, Freshman Summer Research Institute (FSRI), and Rise Tutoring. If you are interested in discussing either my research or wish to become involved in DEI initiatives, please reach out at mtucker@caltech.edu!

recent publications

  1. Learning controller gains on bipedal walking robots via user preferences
    Noel Csomay-Shanklin, Maegan Tucker, Min Dai, and 2 more authors
    In 2022 International Conference on Robotics and Automation (ICRA) 2022
  2. Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics
    Kejun Li, Maegan Tucker, Rachel Gehlhar, and 2 more authors
    IEEE Robotics and Automation Letters 2022
  3. Safety-Aware Preference-Based Learning for Safety-Critical Control
    Ryan Cosner, Maegan Tucker, Andrew Taylor, and 7 more authors
    In Learning for Dynamics and Control Conference 2022
  4. Robust Locomotion: Leveraging Saltation Matrices for Gait Optimization
    Maegan Tucker, Noel Csomay-Shanklin, and Aaron D Ames
    arXiv preprint arXiv:2209.10452 2022