Maegan Tucker

Hi, my name is Maegan Tucker. I’m an incoming Assistant Professor at Georgia Tech (starting January 2024). My research is centered around achieving stable and user-preferred locomotion using formal methods from both nonlinear control theory and machine learning, with specific applications towards robotic assistive devices. Aside from my research, I am deeply passionate about furthering DEI efforts within the robotics community. If you are interested in discussing either my research, please reach out at mtucker@gatech.edu!

Research Overview

recent publications

Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion

Maegan Tucker, Kejun Li, and Aaron D Ames

In In Review 2023

arXiv Bib PDF Video

@inproceedings{tucker2023synthesizing,
  title = {Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion},
  author = {Tucker, Maegan and Li, Kejun and Ames, Aaron D},
  booktitle = {In Review},
  year = {2023},
}

Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics

Adrian B Ghansah, Jeeseop Kim, Maegan Tucker, and 1 more author

In 2023 IEEE Conference on Decision and Control (CDC) 2023

arXiv Bib PDF Video

@inproceedings{ghansah2023humanoid,
  title = {Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics},
  author = {Ghansah, Adrian B and Kim, Jeeseop and Tucker, Maegan and Ames, Aaron D},
  booktitle = {2023 IEEE Conference on Decision and Control (CDC)},
  year = {2023},
  organization = {IEEE},
}

Leveraging user preference in the design and evaluation of lower-limb exoskeletons and prostheses

Kimberly A Ingraham, Maegan Tucker, Aaron D Ames, and 2 more authors

Current Opinion in Biomedical Engineering 2023

Bib PDF

@article{ingraham2023leveraging,
  title = {Leveraging user preference in the design and evaluation of lower-limb exoskeletons and prostheses},
  author = {Ingraham, Kimberly A and Tucker, Maegan and Ames, Aaron D and Rouse, Elliott J and Shepherd, Max K},
  journal = {Current Opinion in Biomedical Engineering},
  pages = {100487},
  year = {2023},
  publisher = {Elsevier},
}

An input-to-state stability perspective on robust locomotion

Maegan Tucker, and Aaron D Ames

IEEE Control Systems Letters 2023

arXiv Bib PDF

@article{tucker2023input,
  title = {An input-to-state stability perspective on robust locomotion},
  author = {Tucker, Maegan and Ames, Aaron D},
  journal = {IEEE Control Systems Letters},
  year = {2023},
  publisher = {IEEE},
}

Input-to-State Stability in Probability

Preston Culbertson, Ryan K Cosner, Maegan Tucker, and 1 more author

In 2023 IEEE Conference on Decision and Control (CDC) 2023

arXiv Bib PDF

@inproceedings{culbertson2023input,
  title = {Input-to-State Stability in Probability},
  author = {Culbertson, Preston and Cosner, Ryan K and Tucker, Maegan and Ames, Aaron D},
  booktitle = {2023 IEEE Conference on Decision and Control (CDC)},
  year = {2023},
  organization = {IEEE},
}