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In Review
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Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots

Alphonsus Adu-Bredu*, Grant Gibson*, and Jessy W Grizzle

*: Equal Contribution

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Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control

Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson, and Jessy W Grizzle

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Recent Published Papers
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Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot

International Conference on Electrical, Computer, Communications and Mechatronics Engineering, 2023

M. Eva Mungai and Jessy W. Grizzle

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Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain

IEEE Transactions on Robotics, 2023

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Zero dynamics, pendulum models, and angular momentum in feedback control of bipedal locomotion

Journal of Dynamic Systems, Measurement, and Control, 2022

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Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

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​One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller

IEEE International Conference on Robotics and Automation, 2021

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 A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras

IEEE International Conference on Robotics and Automation, 2021

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Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-limb Exoskeletons

IEEE Access , 2020

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Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping

IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 )

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Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

International Journal of Robotics Research (IJRR), Oct. 2019.

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Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

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Continuous Direct Sparse Visual Odometry from RGB-D Images

Robotics: Science and Systems 2019

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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

American Control Conference, 2019

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Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT

IEEE International Conference on Robotics and Automation , 2019

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

IEEE Control System Magazine, 2018

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Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation

Robotics: Science and Systems 2018

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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors

IEEE International Conference on Robotics and Automation, 2018

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Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

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Self-synchronization and self-stabilization of 3D bipedal walking gaits

Robotics and Autonomous Systems, 2018

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