V. Paredes

Bipedal locomotion, controls and planning. Visit our laboratory for an overview of our work.

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Research

My ongoing research contributes to the field of bipedal locomotion, specifically emphasizing its applications for humanoids and exoskeleton devices. The core of my investigation lies in leveraging optimization, template-based planners, and non-linear control to enhance the efficiency and adaptability of these systems. My academic journey commenced with a Master of Science in Mechanical Engineering from Texas A&M University, where I delved into the groundbreaking realms of bipedal locomotion and the nascent field of lower-limb prosthetic devices. This formative period laid the foundation for my current pursuits, shaping my expertise and passion for advancing the capabilities of legged robotics.

Publication List:

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface. Gao, Yuan and Gong, Yukai and Paredes, Victor and Hereid, Ayonga and Gu, Yan. 2023 American Control Conference (ACC)

Resolved motion control for 3d underactuated bipedal walking using linear inverted pendulum dynamics and neural adaptation. Paredes, Victor C and Hereid, Ayonga. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Exponential stabilization of periodic LIP walking on a horizontally moving surface. Gao, Yuan and Paredes, Victor and Hereid, Ayonga and Gu, Yan. Dynamic Walking Conference

Adaptive feedback regulator for powered lower-limb exoskeleton under model uncertainty. Thakkar, Kirtankumar and Paredes, Victor and Hereid, Ayonga. arXiv preprint arXiv:2104.11775

Dynamic locomotion of a lower-limb exoskeleton through virtual constraints based zmp regulation. Paredes, Victor and Hereid, Ayonga. Dynamic Systems and Control Conference

Grey box identification and adaptive control in a water level system. Rodriguez, R and Paredes, V and Noa, G and Trucios, L. IOP Conference Series: Materials Science and Engineering

Consolidated control framework to control a powered transfemoral prosthesis over inclined terrain conditions. Hong, Woolim and Paredes, Victor and Chao, Kenneth and Patrick, Shawanee and Hur, Pilwon. 2019 International Conference on Robotics and Automation (ICRA)

First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D. Autonomous Robots

Upslope walking with transfemoral prosthesis using optimization based spline generation. Paredes, Victor and Hong, Woolim and Patrick, Shawanee and Hur, Pilwon. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Multicontact locomotion on transfemoral prostheses via hybrid system models and optimization-based control. Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D. IEEE Transactions on Automation Science and Engineering.

A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D. 2015 54th IEEE Conference on Decision and Control (CDC).

Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition. Zhao, Huihua and Reher, Jacob and Horn, Jonathan and Paredes, Victor and Ames, Aaron D. 2015 IEEE International Conference on Rehabilitation Robotics (ICORR).

Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D. Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control.

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D. Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems.