Wen-Loong Ma - Robotics Engineer

My Google scholar page can be found here.

Coupled Control Systems, applied to quadrupeds

Coupled Control Lyapunov Functions for Interconnected Systems, with Application to Quadrupedal Locomotion, Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed and Aaron D. Ames. In: IEEE Robotics and Automation Letters (RA-L) + ICRA 2021.
Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion, Wen-Loong Ma, Noel Csomay-Shanklin and Aaron D. Ames. In: L-CSS with CDC 2020 Option. Available at: arXiv: 2003.08507.
Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots, Wen-Loong Ma, Noel Csomay-Shanklin and Aaron D. Ames. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation, Wen-Loong Ma and Aaron D. Ames. In: 2020 International Conference on Robotics and Automation (ICRA). Available at: arXiv:1909.08560.
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach, Kaveh Akbari Hamed, Vinay kamidi, Abhishek Pandala, Wen-Loong Ma, Aaron D. Ames. In: American Control Conference (ACC 2020).
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach, Wen-Loong Ma, Kaveh Akbari Hamed and Aaron D. Ames. In: the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach, Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, and Aaron D. Ames. In: IEEE Robotics and Automation Letters (RA-L). Available at: arXiv:1904.03158.
Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems, Kaveh Akbari Hamed , Wen-Loong Ma , Vinay R. Kamidi , and Aaron D. Ames.
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers, Kaveh Akbari Hamed, Wen-Loong Ma, and Aaron D. Ames. In: American Control Conference (ACC 2019)

Dynamic Walking with Compliance on a Cassie Bipedal Robot, JakeReher, Wen-Loong Ma, Aaron D. Ames. In: European Control Conference (in cooperation with IFAC) - ECC 2019
Report from CNET
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots, Eric Ambrose, Wen-Loong Ma, and Aaron D. Ames. In: 2021 International Conference on Robotics and Automation (ICRA)

Bipedal robotic running with DURUS-2D: bridging the gap between theory and experiment, W.Ma, S. Kolathaya, E.Ambrose, C.M. Hubicki, A.D.Ames, 20th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2017).
Efficient HZD gait generation for three-dimensional underactuated humanoid running, W.Ma , A.Hereid , C.M. Hubicki and A.D. Ames, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea.

Featured in:

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. Y. Sun, W. L. Ubellacker, W. Ma, X. Zhang, C. Wang, N. V. Csomay-Shanklin, M. Tomizuka, K. Sreenath, and A. D. Ames. Submitted to: IEEE Robotics and Automation Letters + IROS2021.
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots, Maegan Tucker, Noel Csomay- Shanklin, Wen-Loong Ma and Aaron D. Ames. In: 2021 International Conference on Robotics and Automation (ICRA).
Data-driven control for feedback linearizable single-input systems, Paulo Tabuada, Wen-Loong Ma, Jessy Grizzle, Aaron D. Ames, 2017 IEEE 56th Annual Conference on Decision and Control (CDC 2017).
First steps toward formal controller synthesis for bipedal robots, A.D. Ames, P. Tabuada, B.Schürmann, W.Ma, S. Kolathaya, M.Rungger, J. Grizzle 18th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2015)
First steps toward formal controller synthesis for bipedal robots with experimental implementation, A.D. Ames, P. Tabuada, A. Jones, W.Ma, S. Kolathaya, M.Rungger, B.Schürmann, S. Kolathaya, J. Grizzle, Nonlinear Analysis: Hybrid Systems, A journal of IFAC, the International Federation of Automatic Control.
Adaptive Cruise Control: Experimental Validation of Advanced Controllers on Scale-Model Cars, Aakar Mehra , Wen-Loong Ma , Forrest Berg , Paulo Tabuada , Jessy W. Grizzle and Aaron D. Ames, AMERICAN Control Conference (ACC 2015)

Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage, Wen-Loong Ma, Yizhar Or, Aaron Ames, the 2019 International Conference on Robotics and Automation (ICRA 2019)
Toward Benchmarking Locomotion Economy Across Design Configurations on the Modular Robot: AMBER-3M, Eric Ambrose, Wen- Loong Ma, Christian Hubicki and Aaron D. Ames, 1st IEEE Conference on Control Technology and Applications, (CCTA 2017)
Mechanics-Based Design of Underactuated Robotic Walking Gaits: Initial Experimental Realization, Matthew J. Powell, Wen-Loong Ma, Eric R. Ambrose and Aaron D. Ames, The 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)

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Multi-contact bipedal robotic locomotion, Huihua Zhao, Ayonga Hereid, Wen-loong Ma and Aaron D. Ames, Robotica 2015.
Human-inspired multi-contact locomotion with AMBER2. H.Zhao, W.Ma, M. Zegler, A.D. Ames, ACM/IEEE 5th International Conference on Cyber-Physical Systems (ICCPS2014), April, Berlin, Germany.

Human-inspired Walking via Unified PD and Impedance Control, Wen-Loong Ma, Huihua Zhao , Shishir Kolathaya and Aaron D. Ames, 2014 International Conference on Robotics and Automation (ICRA 2014)
Composing Dynamical Systems to Realize Dynamic Robotic Dancing, Shishir Kolathaya, Wen-Loong Ma and Aaron D. Ames, in the Workshop on the Algorithmic Foundations of Robotics (WAFR), Istanbul, Turkey, 2014.