In Review

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

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

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

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More Recent Published Papers

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), 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)

Robotics: Science and Systems 2019

Maani Ghaffari, William Clark, Anthony Bloch, Ryan M. Eustice, Jessy W. Grizzle

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.

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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&nbs