In Review

Adaptive Continuous Visual Odometry from RGB-D Images Mapping
Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. GrizzleAnthony Bloch, and Maani Ghaffari
Recent Published Papers

Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari, J.W Grizzle

IEEE Access ( Volume: 8 , July 2020)
Jiunn-Kai (Bruce) Huang and Jessy W. Grizzle

IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 )
Lu Gan, Ray Zhang,Jessy W. Grizzle, Ryan M. Eustice, and Maani Ghaffari

International Journal of Robotics Research (IJRR), May 2019
Xingye Da and Jessy Grizzle

Continuous Direct Sparse Visual Odometry from RGB-D Images
Robotics: Science and Systems 2019
Maani Ghaffari, William Clark, Anthony Bloch, Ryan M. Eustice, Jessy W. Grizzle

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
IEEE International Conference on Robotics and Automation , 2019
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
IEEE Control System Magazine, 2018
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M Eva Mungai, Matthieu Masselin, Aaron D Ames, Koushil Sreenath, and Jessy Grizzle

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W Grizzle, and Ryan M Eustice

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Robotics: Science and Systems 2018
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, and Ryan M. Eustice

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors
IEEE International Conference on Robotics and Automation, 2018
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, and Jessy W. Grizzle

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle and Aaron D. Ames

Self-synchronization and self-stabilization of 3D bipedal walking gaits
Robotics and Autonomous Systems, 2018
Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy Grizzle