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2020 – today
- 2024
[j9]Luigi Penco
, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert, Robert J. Griffin:
Mixed Reality Teleoperation Assistance for Direct Control of Humanoids. IEEE Robotics Autom. Lett. 9(2): 1937-1944 (2024)- [c25]Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin:
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. ICRA 2024: 1143-1150 - [c24]Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Jerry E. Pratt, Hakki Erhan Sevil, Robert J. Griffin:
Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots. ICRA 2024: 8044-8050 - [i20]James Foster, Stephen McCrory, Christian DeBuys, Sylvain Bertrand, Robert J. Griffin:
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation. CoRR abs/2405.07901 (2024) - [i19]Sylvain Bertrand, Luigi Penco, Dexton Anderson, Duncan Calvert, Valentine Roy, Stephen McCrory, Khizar Mohammed, Sebastian Sanchez, Will Griffith, Steve Morfey, Alexis Maslyczyk, Achintya Mohan, Cody Castello, Bingyin Ma, Kartik Suryavanshi, Patrick Dills, Jerry E. Pratt, Victor Ragusila, Brandon Shrewsbury, Robert J. Griffin:
High-Speed and Impact Resilient Teleoperation of Humanoid Robots. CoRR abs/2409.04639 (2024) - [i18]Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger:
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. CoRR abs/2409.12796 (2024) - 2023
- [c23]Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand:
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. Humanoids 2023: 1-8 - [c22]Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin:
Generating Humanoid Multi-Contact Through Feasibility Visualization. Humanoids 2023: 1-8 - [c21]Jared M. Li, Owen Winship, Stefan Fasano, Bridget Longo, Nicole M. Esposito, Gregory S. Sawicki, Robert J. Griffin, Gwendolyn M. Bryan:
Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting. IROS 2023: 6103-6109 - [c20]Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt:
Integrable Whole-Body Orientation Coordinates for Legged Robots. IROS 2023: 10440-10447 - [i17]Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin:
A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories. CoRR abs/2303.08232 (2023) - [i16]Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand:
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. CoRR abs/2307.11968 (2023) - [i15]Duncan Calvert, Dexton Anderson, Tomasz Bialek, Stephen McCrory, Luigi Penco, Jerry E. Pratt, Robert J. Griffin:
Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles. CoRR abs/2307.12944 (2023) - [i14]Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin:
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. CoRR abs/2310.13134 (2023) - 2022
- [j8]Jay Jasper, Ara Kourchians, Mark Gonzalez, Blair Emanuel, John V. Nicholson, Greg McCutcheon, Max P. Austin, Matt Kozlowski, Emma Holmes, Rachel Hegeman, Stephen McCrory, Michael Zeher, David Handelman, Robert J. Griffin, Sisir Karumanchi, Christian Hubicki, Brett Kennedy, Jonathan E. Clark, Jerry E. Pratt, Dilip Patel, Jason L. Pusey:
Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot. Field Robotics 2(1): 325-355 (2022) - [j7]Robert J. Griffin, Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Inho Lee, Peter D. Neuhaus, Douglas Stephen, Jay Jasper, Sisir Karumanchi, Ara Kourchians, Blair Emanuel, Emma Holmes, Rachel Hegeman, Jason L. Pusey, Jerry E. Pratt:
Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot. Field Robotics 2(1): 356-384 (2022) - [c19]Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt:
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. Humanoids 2022: 24-31 - [c18]Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert:
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. Humanoids 2022: 178-185 - [c17]Bhavyansh Mishra, Duncan Calvert, Brendon Ortolano, Max Asselmeier, Luke Fina, Stephen McCrory, Hakki Erhan Sevil, Robert J. Griffin:
Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors. ICRA 2022: 9251-9257 - [i13]Stephen McCrory, Bhavyansh Mishra, Jaehoon An, Robert J. Griffin, Jerry E. Pratt, Hakki Erhan Sevil:
Humanoid Path Planning over Rough Terrain using Traversability Assessment. CoRR abs/2203.00602 (2022) - [i12]Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt:
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. CoRR abs/2207.08312 (2022) - [i11]Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert:
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. CoRR abs/2209.05644 (2022) - [i10]Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt:
Angular Center of Mass for Humanoid Robots. CoRR abs/2210.08111 (2022) - 2021
- [c16]Gabriel García, Robert J. Griffin, Jerry E. Pratt:
MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. HUMANOIDS 2021: 276-282 - [c15]Gabriel García, Robert J. Griffin, Jerry E. Pratt:
Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots. ICRA 2021: 7344-7349 - [c14]Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Stephen McCrory, Robert J. Griffin, Hakki Erhan Sevil:
GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots. IROS 2021: 8493-8499 - 2020
- [c13]Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt:
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. IROS 2020: 3884-3891 - [c12]Sylvain Bertrand, Inho Lee, Bhavyansh Mishra, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin:
Detecting Usable Planar Regions for Legged Robot Locomotion. IROS 2020: 4736-4742 - [i9]Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt:
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. CoRR abs/2004.12083 (2020)
2010 – 2019
- 2019
- [j6]Robert J. Griffin, Alexander Leonessa:
Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. Int. J. Humanoid Robotics 16(5): 1950025:1-1950025:37 (2019) - [j5]Boris Jacob van Hofslot, Robert J. Griffin, Sylvain Bertrand, Jerry E. Pratt:
Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot. IEEE Robotics Autom. Lett. 4(4): 3247-3254 (2019) - [c11]Steven Jens Jorgensen, Michael William Lanighan, Sylvain S. Bertrand, Andrew Watson, Joseph S. Altemus, R. Scott Askew, Lyndon Bridgwater, Beau Domingue, Charlie Kendrick, Jason Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman Quispe, Robert J. Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry E. Pratt, Joshua S. Mehling:
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. Humanoids 2019: 1-8 - [c10]Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt:
Footstep Planning for Autonomous Walking Over Rough Terrain. Humanoids 2019: 9-16 - [i8]Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt:
Footstep Planning for Autonomous Walking Over Rough Terrain. CoRR abs/1907.08673 (2019) - [i7]Steven Jens Jorgensen, Michael William Lanighan, Sylvain S. Bertrand, Andrew Watson, Joseph S. Altemus, R. Scott Askew, Lyndon B. Bridgwater, Beau Domingue, Charlie Kendrick, Jason Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman Quispe, Robert J. Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry E. Pratt, Joshua S. Mehling:
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. CoRR abs/1910.00761 (2019) - [i6]Gabriela García, Robert J. Griffin, Jerry E. Pratt:
0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum. CoRR abs/1912.06078 (2019) - 2018
- [j4]Carlotta Mummolo, William Z. Peng, Shlok Agarwal, Robert J. Griffin, Peter D. Neuhaus, Joo H. Kim:
Stability of Mina v2 for Robot-Assisted Balance and Locomotion. Frontiers Neurorobotics 12: 62 (2018) - [c9]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA 2018: 1-5 - [c8]Tim Seyde, Apoorv Shrivastava, Johannes Englsberger, Sylvain Bertrand, Jerry E. Pratt, Robert J. Griffin:
Inclusion of Angular Momentum During Planning for Capture Point Based Walking. ICRA 2018: 1791-1798 - 2017
- [j3]Coleman Knabe, Robert J. Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dantanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael A. Hopkins, Jordan Neal, Jackson Newton, Chris Nogales, Viktor L. Orekhov, John Peterson, Michael Rouleau, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa:
Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. J. Field Robotics 34(5): 912-939 (2017) - [j2]Robert J. Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines, Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, Peter D. Neuhaus:
Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon. IEEE Robotics Autom. Mag. 24(4): 66-74 (2017) - [c7]Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt:
Capture point trajectories for reduced knee bend using step time optimization. Humanoids 2017: 25-30 - [c6]Cameron P. Ridgewell, Robert J. Griffin, Tomonari Furukawa, Brian Y. Lattimer:
Online estimation of friction constraints for multi-contact whole body control. Humanoids 2017: 347-352 - [c5]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas. IROS 2017: 667-673 - [i5]Robert J. Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines, Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, Peter D. Neuhaus:
Design and Approach of Team IHMC in the 2016 Cybathlon. CoRR abs/1702.08656 (2017) - [i4]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas. CoRR abs/1703.00477 (2017) - [i3]Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt:
Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR abs/1709.03660 (2017) - [i2]Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt:
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR abs/1709.03669 (2017) - 2016
- [c4]Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert J. Griffin, Francesco Nori, Jerry E. Pratt:
Walking on partial footholds including line contacts with the humanoid robot atlas. Humanoids 2016: 1312-1319 - [c3]Robert J. Griffin, Alexander Leonessa:
Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA 2016: 1763-1768 - [c2]Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck:
Disturbance compensation and step optimization for push recovery. IROS 2016: 5385-5390 - [i1]Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert J. Griffin, Francesco Nori, Jerry E. Pratt:
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas. CoRR abs/1607.08089 (2016) - 2015
- [c1]Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa:
Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. Humanoids 2015: 831-837
2000 – 2009
- 2002
- [j1]Robert J. Griffin, Kurt Neuwirth, James Giese, Sharon Dunwoody:
Linking the Heuristic-Systematic Model and Depth of Processing. Commun. Res. 29(6): 705-732 (2002)
Coauthor Index
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