research | Maegan Tucker

Locomotion

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},
}

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},
}

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

arXiv Bib PDF Video

@inproceedings{csomay2022learning,
  title = {Learning controller gains on bipedal walking robots via user preferences},
  author = {Csomay-Shanklin, Noel and Tucker, Maegan and Dai, Min and Reher, Jenna and Ames, Aaron D},
  booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
  pages = {10405--10411},
  year = {2022},
  organization = {IEEE},
}

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

arXiv Bib PDF Video

@article{li2022natural,
  title = {Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics},
  author = {Li, Kejun and Tucker, Maegan and Gehlhar, Rachel and Yue, Yisong and Ames, Aaron D},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {2},
  pages = {4283--4290},
  year = {2022},
  publisher = {IEEE},
}

Robust Locomotion: Leveraging Saltation Matrices for Gait Optimization

Maegan Tucker, Noel Csomay-Shanklin, and Aaron D Ames

arXiv preprint arXiv:2209.10452 2022

arXiv Bib PDF Video

@article{tucker2022robust,
  title = {Robust Locomotion: Leveraging Saltation Matrices for Gait Optimization},
  author = {Tucker, Maegan and Csomay-Shanklin, Noel and Ames, Aaron D},
  journal = {arXiv preprint arXiv:2209.10452},
  year = {2022},
}

Stabilization of Exoskeletons through Active Ankle Compensation

Thomas Gurriet, Maegan Tucker, Claudia Kann, and 2 more authors

arXiv preprint arXiv:1909.11848 2019

arXiv Bib PDF Video

@article{gurriet2019stabilization,
  title = {Stabilization of Exoskeletons through Active Ankle Compensation},
  author = {Gurriet, Thomas and Tucker, Maegan and Kann, Claudia and Boeris, Guilhem and Ames, Aaron D},
  journal = {arXiv preprint arXiv:1909.11848},
  year = {2019},
}

HRI

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},
}

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

arXiv Bib PDF Video

@inproceedings{cosner2022safety,
  title = {Safety-Aware Preference-Based Learning for Safety-Critical Control},
  author = {Cosner, Ryan and Tucker, Maegan and Taylor, Andrew and Li, Kejun and Molnar, Tamas and Ubellacker, Wyatt and Alan, Anil and Orosz, G{\'a}bor and Yue, Yisong and Ames, Aaron},
  booktitle = {Learning for Dynamics and Control Conference},
  pages = {1020--1033},
  year = {2022},
  organization = {PMLR},
}

ROIAL: Region of interest active learning for characterizing exoskeleton gait preference landscapes

Kejun Li, Maegan Tucker, Erdem Bıyık, and 6 more authors

In 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021

arXiv Bib PDF Video

@inproceedings{li2021roial,
  title = {{ROIAL}: Region of interest active learning for characterizing exoskeleton gait preference landscapes},
  author = {Li, Kejun and Tucker, Maegan and B{\i}y{\i}k, Erdem and Novoseller, Ellen and Burdick, Joel W and Sui, Yanan and Sadigh, Dorsa and Yue, Yisong and Ames, Aaron D},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3212--3218},
  year = {2021},
  organization = {IEEE},
}

Preference-based learning for user-guided HZD gait generation on bipedal walking robots

Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, and 1 more author

In 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021

arXiv Bib PDF Video Code

@inproceedings{tucker2021preference,
  title = {Preference-based learning for user-guided {HZD} gait generation on bipedal walking robots},
  author = {Tucker, Maegan and Csomay-Shanklin, Noel and Ma, Wen-Loong and Ames, Aaron D},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2804--2810},
  year = {2021},
  organization = {IEEE},
}

Human preference-based learning for high-dimensional optimization of exoskeleton walking gaits

Maegan Tucker, Myra Cheng, Ellen Novoseller, and 4 more authors

In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020

arXiv Bib PDF Video Code

@inproceedings{tucker2020human,
  title = {Human preference-based learning for high-dimensional optimization of exoskeleton walking gaits},
  author = {Tucker, Maegan and Cheng, Myra and Novoseller, Ellen and Cheng, Richard and Yue, Yisong and Burdick, Joel W and Ames, Aaron D},
  booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3423--3430},
  year = {2020},
  organization = {IEEE},
}

Preference-based learning for exoskeleton gait optimization

Maegan Tucker, Ellen Novoseller, Claudia Kann, and 4 more authors

In 2020 IEEE international conference on robotics and automation (ICRA) 2020

arXiv Bib PDF Video Code

@inproceedings{tucker2020preference,
  title = {Preference-based learning for exoskeleton gait optimization},
  author = {Tucker, Maegan and Novoseller, Ellen and Kann, Claudia and Sui, Yanan and Yue, Yisong and Burdick, Joel W and Ames, Aaron D},
  booktitle = {2020 IEEE international conference on robotics and automation (ICRA)},
  pages = {2351--2357},
  year = {2020},
  organization = {IEEE},
}

Rehab.

A review of current state-of-the-art control methods for lower-limb powered prostheses

Rachel Gehlhar, Maegan Tucker, Aaron J Young, and 1 more author

Annual Reviews in Control 2023

Bib PDF

@article{gehlhar2023review,
  title = {A review of current state-of-the-art control methods for lower-limb powered prostheses},
  author = {Gehlhar, Rachel and Tucker, Maegan and Young, Aaron J and Ames, Aaron D},
  journal = {Annual Reviews in Control},
  year = {2023},
  publisher = {Elsevier},
}

Real-time feedback module for assistive gait training, improved proprioception, and fall prevention

Maegan Tucker, and Aaron D Ames

Jan 2021

PDF

Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury

Jacques Kerdraon, Jean Gabriel Previnaire, Maegan Tucker, and 4 more authors

Spinal Cord Series and Cases Jan 2021

Bib PDF

@article{kerdraon2021evaluation,
  title = {Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury},
  author = {Kerdraon, Jacques and Previnaire, Jean Gabriel and Tucker, Maegan and Coignard, Pauline and Allegre, Willy and Knappen, Emmanuel and Ames, Aaron},
  journal = {Spinal Cord Series and Cases},
  volume = {7},
  number = {1},
  pages = {1--8},
  year = {2021},
  publisher = {Nature Publishing Group},
}

Towards variable assistance for lower body exoskeletons

Thomas Gurriet, Maegan Tucker, Alexis Duburcq, and 2 more authors

IEEE Robotics and Automation Letters Jan 2019

arXiv Bib PDF Video

@article{gurriet2019towards,
  title = {Towards variable assistance for lower body exoskeletons},
  author = {Gurriet, Thomas and Tucker, Maegan and Duburcq, Alexis and Boeris, Guilhem and Ames, Aaron D},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {1},
  pages = {266--273},
  year = {2019},
  publisher = {IEEE},
}