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More Recent Published Papers

Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, and Jessy Grizzle

Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang

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

Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W Grizzle, and Ryan M Eustice

Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, and Ryan M. Eustice

Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, and Jessy W. Grizzle

Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle and Aaron D. Ames

Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy Grizzle

Sumitted Jan 26, 2017; uploaded to the arXiv on 23 Feburary 2017, revised June 12, 2017.

J. W. Grizzle, Christine Chevallereau

Proposed Chapter for Springer Handbook of Humanoid Robotics, Submitted April 2015. Final version on the arXiv. Link to the published book chapter.

Quan Nguyen, Xingye Da, William Martin, Hartmut Geyer, Jessy W. Grizzle, and Koushil Sreenath

J. W. Grizzle, Christine Chevallereau

Proposed Chapter for Springer Handbook of Humanoid Robotics, Submitted April 2015

Ayush Agrawal*, Omar Harib*, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, and J. W. Grizzle

Video and Posting on IEEEXplore (Open Access) *co-first authors. Digital Object Identifier 10.1109/ACCESS.2017.2690407.

Nonholonomic Virtual Constraints and Gait Optimization for Robust Walking Control, IJRR, Submitted 28 June 2016, Accepted April 7, 2017.

Brent Griffin and Jessy Grizzle

Aaron D. Ames, Paulo Tabuada, Austin Jones, Wen-Loong Ma, Matthias Rungger, Bastian Schurmann, Shishir Kolathaya, Jessy W. Grizzlee info about this item...

Online publication complete: 14-FEB-2017 Nonlinear Analysis: Hybrid Systems, DOI information: 10.1016/j.nahs.2017.01.002

Quan Nguyen,Ayonga Hereid, Aaron Ames, J. W. Grizzle, Koushil Sreenath

Kevin Galloway, Koushil Sreenath, Aaron D. Ames, and J. W. Grizzle

While the result is illustrated here for a 2D robot, it applies to 3D compliant robots as well. Only depends on HZD. [Supplemental Material]Video on YouTube Other robotics video are here: Dynamic Leg Locomotion.

 

A. D. Ames, P. Tabuada, B. Schuermann, W. Ma, S. Kolathaya, M. Rungger and J. W. Grizzle

Brian G. Buss, Alireza Ramezani, Kaveh Akbari Hamed, Brent A. Griffin, Kevin S. Galloway, Jessy W. Grizzle

Aaron D. Ames, Kevin Galloway, and J.W. Grizzle

Reprint 2012-CDC, Hawaii, USA, December, 2012.

[Supplemental Material] The proofs could not be included in the final 6 page submission, so they are given here: Proofs for CLF and HZD 

[Remark] While the result is illustrated here for a 2D rigid robot, it applies to 3D compliant robots as well. Only depends on HZD.