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In Review
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Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs

Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari, Jessy W Grizzle

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Adaptive Continuous Visual Odometry from RGB-D Images Mapping

Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. GrizzleAnthony Bloch, and Maani Ghaffari

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Recent Published Papers
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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

Yukai Gong and Jessy Grizzle

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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

Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari

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Improvements to Target-Based 3D LiDAR to Camera Calibration

IEEE Access ( Volume: 8 , July 2020)

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

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

IEEE Access , 2020

M. Eva Munga and Jessy W. Grizzle

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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

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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

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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

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

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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

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

American Control Conference, 2019

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

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

IEEE International Conference on Robotics and Automation , 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

IEEE Control System Magazine, 2018

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

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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

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

Robotics: Science and Systems 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

IEEE International Conference on Robotics and Automation, 2018

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

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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

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

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

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