Patents

Click on a patent below to learn more about it.

Theses

1. R. W. Sinnet, “Energy Shaping of Mechanical Systems via Control Lyapunov Functions with Applications to Bipedal Locomotion,” Ph.D. dissertation, Texas A&M University, May 2015.
2. R. W. Sinnet, “Hybrid Geometric Feedback Control of Three-Dimensional Bipedal Robotic Walkers with Knees and Feet,” Master’s thesis, Texas A&M University, May 2011.

Journal Papers

1. S. Kolathaya, W. Guffey, R. W. Sinnet, A. D. Ames, “Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers,” in IEEE Robotics and Automation Letters, pp. 3677–84, Jul. 2018.
2. J. W. Grizzle, C. Chevallereau, R. W. Sinnet, and A. D. Ames, “Models, feedback control, and open problems of 3D bipedal robotic walking,” survey article in Automatica, Vol. 50, No. 8, pp. 1955–88, 2014.
3. R. W. Sinnet, S. Jiang, and A. D. Ames, “A human-inspired framework for bipedal robotic walking design,” in International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 1, pp. 20–41, 2014.
4. R. W. Sinnet and A. D. Ames, “Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots,” in Journal of Robotics and Mechatronics, Special Issue on Focused areas and future trends in bio-inspired robots, Vol. 24, No. 4, pp. 595–601, 2012.

Book Chapters

1. A. D. Ames, R. W. Sinnet, and E. D. B. Wendel, “Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric approach,” in 12th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2011), pp. 16–30, San Francisco, CA, Apr. 2009.

Conference Papers

1. A. Singletary, W. Guffey, T. G. Molnar, R. Sinnet, and A. D. Ames, “Safety-Critical Manipulation for Collision-Free Food Preparation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) and IEEE Robotics and Automation Letters, pp. 10954–61 Kyoto, Japan, Oct. 2022.
2. R. W. Sinnet and A. D. Ames, “Energy Shaping of Hybrid Systems via Control Lyapunov Functions,” in 2015 American Control Conference (ACC 2015), Chicago, IL, Jul. 2015.
3. S. Kolathaya, B. J. Morris, R. W. Sinnet, and A. D. Ames, “System Identification and Control through Efficient SVA–Based Regressor Computation,” arXiv Computing Research Respository, 2016.
4. R. W. Sinnet and A. D. Ames, “Extending Two-Dimensional HumanInspired Bipedal Robotic Walking to Three Dimensions through Geometric Reduction,” in 2012 American Control Conference (ACC 2012), pp. 4831–6, Montreal, Canada, Jun. 2012.
5. R. W. Sinnet, M. J. Powell, S. Jiang, and A. D. Ames, “Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions,” in 50th IEEE Conference on Decision and Control (CDC 2011), pp. 682–9, Orlando, FL, Dec. 2011.
6. R. W. Sinnet, H. Zhao, and A. D. Ames, “Simulating Prosthetic Devices with Human-Inspired Hybrid Control,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pp. 1723–30, San Francisco, CA, Sep. 2011.
7. R. W. Sinnet, M. J. Powell, R. P. Shah, and A. D. Ames, “A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking,” in 18th IFAC World Congress (IFAC 2011), pp. 6904–11, Milan, Italy, Aug. 2011.
8. J. W. Grizzle, C. Chevallereau, A. D. Ames, and R. W. Sinnet, “3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems,” plenary paper in 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010), pp. 505–32, Bologna, Italy, Sep. 2010.
9. R. W. Sinnet and A. D. Ames, “3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach,” in Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC 2009), pp. 3208–13, Shanghai, China, Dec. 2009.
10. R. W. Sinnet and A. D. Ames, “2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach,” in Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (CDC/CCC 2009), pp. 3200–7, Shanghai, China, Dec. 2009.

Posters

1. R. W. Sinnet, M. J. Powell, S. Jiang, H. Zhao, R. P. Shah, and A. D. Ames, “Closing the Loop on Bipedal Walking: Modeling Humans and Robots as Hybrid Systems,” in Robots@TAMU 2011, Texas A&M University, College Station, TX, Apr. 2011.
2. R. W. Sinnet and A. D. Ames, “A Hybrid Approach to ThreeDimensional Bipedal Robotic Walking,” in Dynamic Walking 2010, Massachusetts Institute of Technology, Cambridge, MA, Jun. 2010.