In Review

Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

Yukai Gong and Jessy Grizzle

3D LiDAR Intrinsic Calibration and Automatic System for LiDAR to Camera Calibration

Jiunn-Kai (Bruce) Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari, and Jessy W. Grizzle 

Code

LiDARTag: A Real-Time Fiducial Tag using Point Clouds

Jiunn-Kai (Bruce) Huang, Maani Ghaffari, Ross Hartley, Lu Gan, Ryan M. Eustice, and Jessy W. Grizzle  

Code

Adaptive Continuous Visual Odometry from RGB-D ImagesMapping

Tzu-Yuan (Justin) Lin, William Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony Bloch, Maani Ghaffari

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More Recent Published Papers

Improvements to Target-Based 3D LiDAR to Camera Calibration

IEEE Access ( Volume: 8 , July 2020)

Jiunn-Kai (Bruce) Huang and Jessy W. Grizzle

Code

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping

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

Lu Gan, Ray Zhang,Jessy W. Grizzle, Ryan M. Eustice, and Maani Ghaffari

Code

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation

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

R Hartley, M Ghaffari, RM Eustice, JW Grizzle

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

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).

Ayonga Hereid*, Omar Harib*, Ross Hartley, Yukai Gong, and Jessy W Grizzle (* Equal contributors)

Code

Combining Trajectory Optimization, Supervised Machine Learning, and Model Structure for Mitigating the Curse of Dimensionality in the Control of Bipedal Robots

IJRR, Submitted 03 Nov 2017 and Accepted 20 May 2019

Xingye Da and Jessy Grizzle

Video

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

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway, American Control Conference, June 2019

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

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Video

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT, ICRA 2019

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

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking, To appear in Control Systems Magazine

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

 (with higher-density images) Related Video Additional Information

Related Video

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs IROS 2018

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

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Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation , RSS 2018

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

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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors, ICRA 2018

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

Supplementary Material, and Paper Presentation. Uploaded to the arXiv 15 Dec 2017

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Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons , ICRA 2018

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

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Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits, Robotics and Autonomous Systems, 2018, Vol. 100, pp. 43-60.

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.

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

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.

Dynamic walking on randomly-varying discrete terrain with one-step preview, In Robotics: Science and Systems (RSS)

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

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Video

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion

J. W. Grizzle, Christine Chevallereau

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

Link to paper

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons, IEEE Access, April 20917

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.

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

Brent Griffin and Jessy Grizzle

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Supervised Learning for Stabilizing Underactuated Bipedal Robot Locomotion, with Outdoor Experiments on the Wave Field, ICRA, May 2017

Xingye Da, Ross Hartley and Jessy W. Grizzle

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Video

First Steps toward Formal Controller Synthesis for Bipedal Robots with Experimental Implementation

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

Link to paper

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions, WAFR, Dec 2016

Quan Nguyen, Xingye Da, J. W. Grizzle, Koushil Sreenath

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Video

3D Dynamic Walking on Stepping Stones with Control Barrier Functions, CDC 2016

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

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Video

Reduced-Order Framework for Exponential Stabilization of Periodic Orbits on Parameterized Hybrid Zero Dynamics Manifolds: Application to Bipedal Locomotion,IFAC journal Nonlinear Analysis: Hybrid Systems (NAHS)

K. Akbari Hamed and J.W. Grizzle

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Animation

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking with Speed Tracking, IEEE Access

Xingye Da, Omar Harib, Ross Hartley, Brent A. Griffin, and Jessy W. Grizzle

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Link to paper

Experimental Results for 3D Bipedal Robot Walking Based On Systematic Optimization of Virtual Constraints,, American Control Conference, Boston, 2016.

Brian G. Buss, Kaveh Akbari Hamed, Brent A. Griffin, Jessy W. Grizzle

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Link to paper

Nonholonomic Virtual Constraints for Dynamic Walkin, Dec. 2015, 54th IEEE Conference of Decision and Control (CDC 2015)

Brent Griffin and Jessy Grizzle

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Animation

Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running, ADHS --Analysis and Design of Hybrid Systems, October 14-16, 2015.

K. Akbari Hamed and J.W. Grizzle

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Link to paper

Exponentially Stabilizing Continuous-Time Controllers for Periodic Orbits of Hybrid Systems: Application to Bipedal Locomotion with Ground Height Variations, The International Journal of Robotics Research. (August 2015 )

K. Akbari Hamed, B.G. Buss and J.W. Grizzle

[Animation 1], [Animation 2].

Animation

Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs, Reprint, IEEE Access, Vol. 3, April 2015, pp. 323 - 332Remark]

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.

 

Video

Walking Gait Optimization for Accommodation of Unknown Terrain Height Variations, American Control Conference, July 2015.

Brent Griffin and Jessy Grizzle

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Video

First Steps toward Formal Controller Synthesis for Bipedal Robots.

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

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Link to paper

Models, Feedback Control, and Open Problems of 3D Bipedal Robotic Walking, (Survey Paper) reprint Automatica, Volume 50, Issue 8, August 2014, Pages 1955 -- 1988

J.W.~Grizzle, Christine Chevallereau, Aaron D. Ames, and Ryan W. Sinnet

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Link to paper

Continuous-Time Controllers for Stabilizing Periodic Orbits of Hybrid Systems: Application to an Underactuated 3D Bipedal Robot 53rd IEEE Conference of Decision and Control (CDC 2014), Final version, December 2014.

K. Akbari Hamed, B. G. Buss, and J. W. Grizzle

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Link to paper

Preliminary Walking Experiments with Underactuated 3D Bipedal Robot MARLO,, Final version IROS, Chicago, IL, September, 2014.

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

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Link to paper

Event-based Stabilization of Periodic Orbits for Underactuated 3D Bipedal Robots with Left-Right Symmetry, Re-print IEEE Transaction of Robotics, Vol. 30, No. 2, pp. 365 - 381, April 2014

Kaveh Akbari Hamed and J.W.~Grizzl

[Animation 1], [Animation 2],[Animation 3], [Animation 4].

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics, reprint 2 IEEE TAC, Vol. 59, NO. 4, April 2014, pp 876-891.

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

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Video

Performance Analysis and Feedback Control of ATRIAS, A 3D Bipedal Robot, Re-print ASME J. Dynamic Systems Measurement and Control,Volume 136, Issue 2, March 2014.

Alireza Ramezani, Jonathan Hurst, Kaveh Akbari Hamed and J.W.~Grizzle

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Link to the prepublication

A stabilization result with application to bipedal locomotion,, IEEE Conf. on Decision and Control, Florence, Italy, Dec., 2013.

A.R. Teel, R. Goebel, B. Morris, A.D. Ames, J.W. Grizzle

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Robust Event-based Stabilization of Periodic Orbits for Hybrid Systems: Application to an Underactuated 3D Bipedal Robot, Reprint American Control Conference, Washington DC, June 2013.

Kaveh Akbari Hamed and J.W.~Grizzle

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Link to paper

Control Lyapunov Functions and Hybrid Zero Dynamics, Reprint 2012-CDC, Hawaii, USA, December, 2012.

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.

Link to paper

From Stable Walking to Steering of a 3D Bipedal Robot with Passive Point Feet, Reprint Robotica, Volume 30, Issue 07, December 2012, pp 1119-1130.

Ching-Long Shih, J. W. Grizzle and Christine Chevallereau

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Zip File of Simulation Videos

Steering of a 3D Bipedal Robot with an Underactuated Ankle, ReprintIROS, Taipei, Taiwan, October 2010.

Christine Chevallereau, J.W.~Grizzle, and Ching-Long Shih

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Link to paper

3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems , Reprint NOLCOS, Bologna, Italy, September 2010.

J.W.~Grizzle, Christine Chevallereau, Aaron D. Ames, and Ryan W. Sinnet

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Link to paper

Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot, Published IEEE Transactions on Robotics, Vol. 25, No. 1, February 2009, pp. 37-50.

Christine Chevallereau, J. W. Grizzle and Ching-Long Shih

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Supplemental Material

HZD-Based Control of a Five-Link Underactuated 3D Bipedal Robot,Published IEEE Conf. on Decision and Control, December 2008.

J. W. Grizzle, Christine Chevallereau and Ching-Long Shih

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Link to paper

Asymptotically Stable Walking of a Simple Underactuated 3D Bipedal Robot, Published 33rd Annual Conference of IEEE Industrial Electronics (IECON 2007), Taipei, Taiwan, November 5-8, 2007.

Ching-Long Shih, J. W. Grizzle and Christine Chevallereau

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Link to paper
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Legged Robots with Compliance

  1. Hae-Won Park, Alireza Ramezani, and Jessy W. Grizzle, A Finite-state Machine for Accommodating Unexpected Large Ground Height Variations in Bipedal Robot Walking, Reprint IEEE Trans. on Robotics, Vol. 29, Issue 2, April 2013, pp. 331 - 345. [YouTube video]

  2. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle, Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL, The International Journal of Robotics Research, Vol. 33, June 2014, pp. 988-1005. [Supplemental Material]

  3. Hae-Won Park, Koushil Sreenath, Alireza Ramezani, and J. W. Grizzle, Switching Control Design for Accommodating Large Step-down Disturbances in Bipedal Robot Walking, Published Int. Conf. on Robotics and Automation (ICRA), 2012. [Video]

  4. Koushil Sreenath, Hae-Won Park, and Jessy W. Grizzle, Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL, Published Int. Conf. on Robotics and Automation (ICRA), May 2012. [Video]

  5. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle, A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL, Published Int. J. Robotics Research (IJRR), 30(9):1170�1193, August 2011. (on-line version published 17 Sept 2010) [Supplemental Material] (such as videos).

  6. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle, "Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL, Published IEEE Conference on Decision and Control, pages 280�287, Atlanta, GA, USA, December 2010

  7. Hae Won Park, Koushil Sreenath, Jonathan W. Hurst and J.W. Grizzle, Identification of a Bipedal Robot With a Compliant Drivetrain: Parameter Estimation for Control Design, Control Systems Magazine, Vol 31, No. 2, April, 2011 . [Supplemental Material] The full article is available on IEEE-Xplore. Here is the first page, MABEL was on the cover here.

  8. Hae Won Park, Koushil Sreenath, Jonathan W. Hurst and J.W. Grizzle, Identification and Dynamic Model of a Bipedal Robot With a Cable-Differential-Based Compliant Drivetrain, Control Group Report, No. CGR 10-06 ; 16 March 2010 . [Supplemental Material]. A longer version of the report is available here.

  9. Ioannis Poulakakis and J. W. Grizzle, The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper, Published IEEE Transaction on Automatic Control, Volume 54, Issue 8, Aug. 2009 Page(s):1779 - 1793.

  10. B. Morris and J.W. Grizzle, Hybrid Invariant Manifolds in Systems with Impulse Effects with Application to Periodic Locomotion in Bipedal Robots, Published IEEE Transaction on Automatic Control, Volume 54, Issue 8, Aug. 2009 Page(s):1751 - 1764

  11. J.W. Grizzle Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath, MABEL, A New Robotic Bipedal Walker and Runner, Published, American Control Conference'', St. Louis, MO, June 2009. A ZIP file detailing the powertrain model of the robot is available here. [Right Click and Save]

  12. Ioannis Poulakakis and J. W. Grizzle,