In Review

Yukai Gong and Jessy Grizzle

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
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
IJRR, Submitted 03 Nov 2017 and Accepted 20 May 2019
Xingye Da and Jessy Grizzle
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
Supplementary Material, and Paper Presentation. Uploaded to the arXiv 15 Dec 2017
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.

Xingye Da, Ross Hartley and Jessy W. 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, Xingye Da, J. W. Grizzle, Koushil Sreenath
Quan Nguyen,Ayonga Hereid, Aaron Ames, J. W. Grizzle, Koushil Sreenath
Xingye Da, Omar Harib, Ross Hartley, Brent A. Griffin, and Jessy W. Grizzle
Brian G. Buss, Kaveh Akbari Hamed, Brent A. Griffin, Jessy W. Grizzle
Brent Griffin and Jessy Grizzle
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.
Brent Griffin and Jessy Grizzle
A. D. Ames, P. Tabuada, B. Schuermann, W. Ma, S. Kolathaya, M. Rungger and J. W. Grizzle
J.W.~Grizzle, Christine Chevallereau, Aaron D. Ames, and Ryan W. Sinnet
Brian G. Buss, Alireza Ramezani, Kaveh Akbari Hamed, Brent A. Griffin, Kevin S. Galloway, Jessy W. Grizzle
Aaron D. Ames, Kevin Galloway, J.W. Grizzle, and Koushil Sreenath
Alireza Ramezani, Jonathan Hurst, Kaveh Akbari Hamed and J.W.~Grizzle
A.R. Teel, R. Goebel, B. Morris, A.D. Ames, J.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.
Ching-Long Shih, J. W. Grizzle and Christine Chevallereau
Christine Chevallereau, J.W.~Grizzle, and Ching-Long Shih
J.W.~Grizzle, Christine Chevallereau, Aaron D. Ames, and Ryan W. Sinnet
Christine Chevallereau, J. W. Grizzle and Ching-Long Shih
J. W. Grizzle, Christine Chevallereau and Ching-Long Shih
Ching-Long Shih, J. W. Grizzle and Christine Chevallereau
Legged Robots with Compliance
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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]
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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]
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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]
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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]
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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).
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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
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Hae Won Park, Koushil Sreenath, Jonathan W. Hurst and J