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ORCIDRobert D. Gregg IV
Robert D. Gregg
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- affiliation: University of Texas at Dallas, Department of Mechanical Engineering, USA
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2020 – today
- 2024
[j40]Ting-Wei Hsu
, Robert D. Gregg, Gray C. Thomas:
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots. IEEE Robotics Autom. Lett. 9(3): 2104-2111 (2024)- [j39]Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari:
Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets. IEEE Robotics Autom. Lett. 9(5): 4321-4328 (2024) - [j38]Jianping Lin, Robert D. Gregg, Peter B. Shull:
Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons With Task/Gait Classification. IEEE Robotics Autom. Lett. 9(8): 6848-6855 (2024) - [j37]Isaac Richard Harris, Elliott J. Rouse, Robert D. Gregg, Gray Cortright Thomas:
A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications. IEEE Robotics Autom. Lett. 9(8): 6983-6990 (2024) - [j36]James P. Schmiedeler, Robert D. Gregg:
The Next Generation of Robotics: The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems in Detroit, MI, USA [Conference Highlights]. IEEE Robotics Autom. Mag. 31(2): 135-140 (2024) - [j35]Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg:
A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks. Sci. Robotics 9(94) (2024) - [j34]Shihao Cheng, Curt A. Laubscher, Robert D. Gregg:
Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles. IEEE Trans. Biomed. Eng. 71(5): 1499-1510 (2024) - [j33]Jianping Lin, Gray C. Thomas, Nikhil V. Divekar, Vamsi Peddinti, Robert D. Gregg:
A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons. IEEE Trans. Control. Syst. Technol. 32(6): 2359-2375 (2024) - [c65]Susan Zhao, Katharine Walters, José A. Montes-Pérez, Robert D. Gregg:
Design and Validation of a Modular, Backdrivable Ankle Exoskeleton. BioRob 2024: 1454-1460 - [c64]Albert J. Lee, Curt A. Laubscher, T. Kevin Best, Robert D. Gregg:
Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines. ICRA 2024: 944-950 - [i10]Emma Reznick, T. Kevin Best, Robert D. Gregg IV:
A Clinical Tuning Framework for Continuous Kinematic and Impedance Control of a Powered Knee-Ankle Prosthesis. CoRR abs/2412.10154 (2024) - 2023
- [j32]T. Kevin Best, Cara Gonzalez Welker, Elliott J. Rouse, Robert D. Gregg:
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking. IEEE Trans. Robotics 39(3): 2151-2169 (2023) - [j31]Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg:
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. IEEE Trans. Robotics 39(3): 2170-2182 (2023) - [c63]Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg:
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. ACC 2023: 2065-2070 - [c62]Emily G. Keller, Curt A. Laubscher, Robert D. Gregg:
Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes. ICRA 2023: 10464-10470 - [c61]T. Kevin Best, Curt A. Laubscher, Ross J. Cortino, Shihao Cheng, Robert D. Gregg:
Improving Amputee Endurance Over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study. IROS 2023: 2101-2107 - [c60]Shihao Cheng, Curt A. Laubscher, Robert D. Gregg:
Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent. IROS 2023: 2108-2115 - [c59]José A. Montes-Pérez, Gray Cortright Thomas, Robert D. Gregg:
Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. IROS 2023: 6068-6074 - [c58]Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg:
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. IROS 2023: 6082-6089 - [i9]Ung Hee Lee, Tor Shepherd, Sangbae Kim, Avik De, Hao Su, Robert D. Gregg, Luke M. Mooney, Elliott J. Rouse:
How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems. CoRR abs/2310.00080 (2023) - 2022
- [j30]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses. IEEE Robotics Autom. Lett. 7(3): 6155-6162 (2022) - [j29]Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg:
Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. IEEE Robotics Autom. Lett. 7(3): 7463-7470 (2022) - [j28]Saurav Kumar, Oleg Makarenkov, Robert D. Gregg, Nicholas R. Gans:
Stability of Time-Invariant Extremum Seeking Control for Limit Cycle Minimization. IEEE Trans. Autom. Control. 67(9): 5017-5024 (2022) - [j27]Jonathan C. Horn, Robert D. Gregg:
Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds. IEEE Trans. Control. Syst. Technol. 30(5): 2062-2071 (2022) - [c57]Sicong Guo, Robert D. Gregg, Edgar A. Bolívar-Nieto:
Convex Optimization for Spring Design of Parallel Elastic Actuators. ACC 2022: 3688-3694 - [c56]Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg:
Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. BioRob 2022: 1-8 - [c55]Ross J. Cortino, Edgar A. Bolívar-Nieto, T. Kevin Best, Robert D. Gregg:
Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis. ICRA 2022: 5673-5678 - [c54]Cara Gonzalez Welker, T. Kevin Best, Robert D. Gregg:
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning. IROS 2022: 9660-9667 - [d4]Toby Elery, Siavash Rezazadeh, Emma Reznick, Leslie Gray, Robert D. Gregg:
Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series. IEEE DataPort, 2022
- [d3]Rebecca Macaluso, Kyle R. Embry, Dario J. Villarreal, Robert D. Gregg:
Human Leg Kinematics, Kinetics, and EMG during Phase-Shifting Perturbations at Varying Inclines. IEEE DataPort, 2022 - [d2]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Bill of Materials and Component CAD for a Modular Exoskeleton. IEEE DataPort, 2022 - [i8]Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg:
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. CoRR abs/2205.00155 (2022) - [i7]Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari:
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. CoRR abs/2209.12365 (2022) - [i6]Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg:
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. CoRR abs/2210.03777 (2022) - 2021
- [j26]Ge Lv, Jianping Lin, Robert D. Gregg:
Trajectory-Free Control of Lower-Limb Exoskeletons Through Underactuated Total Energy Shaping. IEEE Access 9: 95427-95443 (2021) - [j25]Jianping Lin, Nikhil V. Divekar, Ge Lv, Robert D. Gregg:
Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton. IEEE Control. Syst. Lett. 5(5): 1711-1716 (2021) - [j24]Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed:
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics. IEEE Control. Syst. Lett. 5(6): 1976-1981 (2021) - [c53]Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed:
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics. ACC 2021: 2049-2054 - [c52]Jianping Lin, Nikhil V. Divekar, Ge Lv, Robert D. Gregg:
Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton. ACC 2021: 5029-5034 - [c51]Daphna Raz, Edgar A. Bolívar-Nieto, Necmiye Ozay, Robert D. Gregg:
Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis. CCTA 2021: 627-633 - [c50]Gray Cortright Thomas, Robert D. Gregg:
An Energy Shaping Exoskeleton Controller for Human Strength Amplification. CDC 2021: 1419-1425 - [c49]Preeti Kannapan, David G. Garmire, Robert D. Gregg IV:
EMMA: Earthworm Mimetic Manipulator Architecture for Access-Constrained Environments. ICAR 2021: 1129-1136 - [c48]T. Kevin Best, Kyle R. Embry, Elliott J. Rouse, Robert D. Gregg:
Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines. IROS 2021: 6182-6189 - [c47]Edgar A. Bolívar-Nieto, Gray C. Thomas, Elliott J. Rouse, Robert D. Gregg:
Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice. IROS 2021: 9327-9332 - [i5]Emma Reznick, Kyle R. Embry, Ross M. Neuman, Edgar A. Bolívar-Nieto, Nicholas P. Fey, Robert D. Gregg:
Lower-limb kinematics and kinetics during continuously varying human locomotion. CoRR abs/2108.12307 (2021) - [i4]Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg:
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses. CoRR abs/2110.01562 (2021) - 2020
- [j23]Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg:
Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking. IEEE Robotics Autom. Lett. 5(2): 3691-3698 (2020) - [j22]Saurav Kumar, Matthew Richard Zwall, Edgar A. Bolívar-Nieto, Robert D. Gregg, Nicholas R. Gans:
Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton. IEEE Robotics Autom. Lett. 5(3): 4604-4611 (2020) - [j21]Saurav Kumar, Alireza Mohammadi, David Quintero, Siavash Rezazadeh, Nicholas R. Gans, Robert D. Gregg:
Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. IEEE Trans. Control. Syst. Technol. 28(6): 2120-2135 (2020) - [j20]Toby Elery, Siavash Rezazadeh, Christopher Nesler, Robert D. Gregg:
Design and Validation of a Powered Knee-Ankle Prosthesis With High-Torque, Low-Impedance Actuators. IEEE Trans. Robotics 36(6): 1649-1668 (2020) - [c46]Ge Lv, Haosen Xing, Jianping Lin, Robert D. Gregg, Christopher G. Atkeson:
A Task-Invariant Learning Framework of Lower-Limb Exoskeletons for Assisting Human Locomotion. ACC 2020: 569-576 - [c45]Emma Reznick, Kyle R. Embry, Robert D. Gregg:
Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds. BioRob 2020: 666-672 - [c44]Nikhil V. Divekar, Jianping Lin, Christopher Nesler, Sara Borboa, Robert D. Gregg:
A Potential Energy Shaping Controller with Ground Reaction Force Feedback for a Multi-Activity Knee-Ankle Exoskeleton. BioRob 2020: 997-1003
2010 – 2019
- 2019
- [j19]Siavash Rezazadeh, David Quintero, Nikhil Divekar, Emma Reznick, Leslie Gray, Robert D. Gregg:
A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis. IEEE Access 7: 109840-109855 (2019) - [j18]Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg:
Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints. IEEE Control. Syst. Lett. 3(2): 386-391 (2019) - [j17]Kaveh Akbari Hamed, Robert D. Gregg IV:
Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking. IEEE Trans. Autom. Control. 64(6): 2266-2281 (2019) - [c43]Jianping Lin, Ge Lv, Robert D. Gregg:
Contact-Invariant Total Energy Shaping Control for Powered Exoskeletons. ACC 2019: 664-670 - [c42]Saurav Kumar, Alireza Mohammadi, Robert D. Gregg, Nicholas R. Gans:
Limit Cycle Minimization by Time-Invariant Extremum Seeking Control. ACC 2019: 2359-2365 - [c41]Jianping Lin, Nikhil Divekar, Ge Lv, Robert D. Gregg:
Energy Shaping Control with Virtual Spring and Damper for Powered Exoskeletons. CDC 2019: 3039-3045 - [c40]Edgar Bolívar, Siavash Rezazadeh, Tyler H. Summers, Robert D. Gregg:
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle. ICORR 2019: 740-747 - [c39]Hanqi Zhu, Christopher Nesler, Nikhil Divekar, M. Taha Ahmad, Robert D. Gregg:
Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation. ICORR 2019: 917-924 - [d1]Kyle R. Embry, Dario J. Villarreal, R. Macaluso, Robert D. Gregg:
The Effect of Walking Incline and Speed on Human Leg Kinematics, Kinetics, and EMG. IEEE DataPort, 2019 - 2018
- [j16]Ge Lv, Robert D. Gregg:
Underactuated Potential Energy Shaping With Contact Constraints: Application to a Powered Knee-Ankle Orthosis. IEEE Trans. Control. Syst. Technol. 26(1): 181-193 (2018) - [j15]David Quintero, Anne E. Martin, Robert D. Gregg:
Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study. IEEE Trans. Control. Syst. Technol. 26(1): 305-312 (2018) - [j14]David Quintero, Dario J. Villarreal, Daniel J. Lambert, Susan Kapp, Robert D. Gregg:
Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines. IEEE Trans. Robotics 34(3): 686-701 (2018) - [c38]Kaveh Akbari Hamed, Aaron D. Ames, Robert D. Gregg:
Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. ACC 2018: 1438-1445 - [c37]Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames:
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. ACC 2018: 2210-2217 - [c36]Mark R. Yeatman, Ge Lv, Robert D. Gregg:
Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots. ACC 2018: 2958-2963 - [c35]Alireza Mohammadi, Seyed Abolfazl Fakoorian, Jonathan C. Horn, Dan Simon, Robert D. Gregg:
Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. CDC 2018: 1217-1224 - [c34]Toby Elery, Siavash Rezazadeh, Christopher Nesler, Jack Doan, Hanqi Zhu, Robert D. Gregg:
Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators. ICRA 2018: 2788-2795 - [c33]Siavash Rezazadeh, David Quintero, Nikhil Divekar, Robert D. Gregg:
A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses. IROS 2018: 2292-2298 - [i3]Edgar Bolívar, Siavash Rezazadeh, Robert D. Gregg:
Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design. CoRR abs/1811.05057 (2018) - [i2]Siavash Rezazadeh, David Quintero, Nikhil Divekar, Emma Reznick, Leslie Gray, Robert D. Gregg:
A Phase Variable Approach for Improved Volitional and Rhythmic Control of a Powered Knee-Ankle Prosthesis. CoRR abs/1811.05414 (2018) - [i1]Edgar Bolívar, Siavash Rezazadeh, Tyler H. Summers, Robert D. Gregg:
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle. CoRR abs/1812.04771 (2018) - 2017
- [j13]Anne E. Martin, Robert D. Gregg:
Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses. IEEE Trans. Autom. Control. 62(8): 3930-3942 (2017) - [j12]Kaveh Akbari Hamed, Robert D. Gregg:
Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking. IEEE Trans. Control. Syst. Technol. 25(4): 1153-1167 (2017) - [c32]Ge Lv, Robert D. Gregg:
Towards total energy shaping control of lower-limb exoskeletons. ACC 2017: 4851-4857 - [c31]Saurav Kumar, Alireza Mohammadi, Nicholas R. Gans, Robert D. Gregg:
Automatic tuning of virtual constraint-based control algorithms for powered knee-ankle prostheses. CCTA 2017: 812-818 - [c30]Alireza Mohammadi, Jonathan Horn, Robert D. Gregg:
Removing phase variables from biped robot parametric gaits. CCTA 2017: 834-840 - [c29]David Quintero, Daniel J. Lambert, Dario J. Villarreal, Robert D. Gregg:
Real-Time continuous gait phase and speed estimation from a single sensor. CCTA 2017: 847-852 - [c28]Dario J. Villarreal, David Quintero, Robert D. Gregg:
Piecewise and unified phase variables in the control of a powered prosthetic leg. ICORR 2017: 1425-1430 - [c27]Hanqi Zhu, Jack Doan, Calvin Stence, Ge Lv, Toby Elery, Robert D. Gregg:
Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis. ICRA 2017: 504-510 - 2016
- [j11]Dario J. Villarreal, David Quintero, Robert D. Gregg:
A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion. IEEE Access 4: 893-904 (2016) - [j10]Aaron Plauche, Dario J. Villarreal, Robert D. Gregg:
A Haptic Feedback System for Phase-Based Sensory Restoration in Above-Knee Prosthetic Leg Users. IEEE Trans. Haptics 9(3): 421-426 (2016) - [j9]Anne E. Martin, Robert D. Gregg:
Incorporating Human-Like Walking Variability in an HZD-Based Bipedal Model. IEEE Trans. Robotics 32(4): 943-948 (2016) - [c26]Kaveh Akbari Hamed, Robert D. Gregg:
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking. ACC 2016: 4793-4800 - [c25]Robert D. Gregg, Anne E. Martin:
Prosthetic leg control in the nullspace of human interaction. ACC 2016: 4814-4821 - [c24]Edgar Bolívar, David Allen, Gregory Ellson, Jorge Cossio, Walter Voit, Robert D. Gregg:
Towards a series elastic actuator with electrically modulated stiffness for Powered Ankle-Foot Orthoses. CASE 2016: 1086-1093 - [c23]Kyle R. Embry, Dario J. Villarreal, Robert D. Gregg:
A unified parameterization of human gait across ambulation modes. EMBC 2016: 2179-2183 - [c22]Dario J. Villarreal, Robert D. Gregg:
Unified phase variables of relative degree two for human locomotion. EMBC 2016: 6262-6267 - [c21]Ge Lv, Hanqi Zhu, Toby Elery, Luwei Li, Robert D. Gregg:
Experimental implementation of underactuated potential energy shaping on a powered ankle-foot orthosis. ICRA 2016: 3493-3500 - [c20]David Quintero, Dario J. Villarreal, Robert D. Gregg:
Preliminary experiments with a unified controller for a powered knee-ankle prosthetic leg across walking speeds. IROS 2016: 5427-5433 - 2015
- [c19]Anne E. Martin, Robert D. Gregg:
Hybrid invariance and stability of a feedback linearizing controller for powered prostheses. ACC 2015: 4670-4676 - [c18]Ge Lv, Robert D. Gregg:
Orthotic body-weight support through underactuated potential energy shaping with contact constraints. CDC 2015: 1483-1490 - [c17]Dario J. Villarreal, David Quintero, Robert D. Gregg:
A perturbation mechanism for investigations of phase variables in human locomotion. ROBIO 2015: 2065-2071 - 2014
- [j8]Robert D. Gregg, Jonathon W. Sensinger:
Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg. IEEE Trans. Control. Syst. Technol. 22(1): 246-254 (2014) - [j7]Amir Degani, Andrew W. Long, Siyuan Feng, H. Benjamin Brown, Robert D. Gregg, Howie Choset, Matthew T. Mason, Kevin M. Lynch:
Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot. IEEE Trans. Robotics 30(3): 705-718 (2014) - [j6]Robert D. Gregg, Tommaso Lenzi, Levi J. Hargrove, Jonathon W. Sensinger:
Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments With Transfemoral Amputees. IEEE Trans. Robotics 30(6): 1455-1471 (2014) - [c16]Akshay Nanjangud, Robert D. Gregg:
Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios. ACC 2014: 5490-5495 - [c15]Dario J. Villarreal, Robert D. Gregg:
A survey of phase variable candidates of human locomotion. EMBC 2014: 4017-4021 - 2013
- [j5]Robert D. Gregg, Ludovic Righetti:
Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. IEEE Trans. Autom. Control. 58(10): 2679-2685 (2013) - [j4]Elliott J. Rouse, Robert D. Gregg, Levi J. Hargrove, Jonathon W. Sensinger:
The Difference Between Stiffness and Quasi-Stiffness in the Context of Biomechanical Modeling. IEEE Trans. Biomed. Eng. 60(2): 562-568 (2013) - [c14]Robert D. Gregg, Jonathon W. Sensinger:
Biomimetic virtual constraint control of a transfemoral powered prosthetic leg. ACC 2013: 5702-5708 - [c13]Robert D. Gregg, Tommaso Lenzi, Nicholas P. Fey, Levi J. Hargrove, Jonathon W. Sensinger:
Experimental effective shape control of a powered transfemoral prosthesis. ICORR 2013: 1-7 - 2012
- [j3]Robert D. Gregg, Yasin Y. Dhaher, Amir Degani, Kevin M. Lynch:
On the Mechanics of Functional Asymmetry in Bipedal Walking. IEEE Trans. Biomed. Eng. 59(5): 1310-1318 (2012) - [j2]Robert D. Gregg, Adam K. Tilton, Salvatore Candido, Timothy Bretl, Mark W. Spong:
Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives. IEEE Trans. Robotics 28(6): 1415-1423 (2012) - [c12]Nelson Rosa Jr., Adam Barber, Robert D. Gregg, Kevin M. Lynch:
Stable open-loop brachiation on a vertical wall. ICRA 2012: 1193-1199 - 2011
- [c11]Robert D. Gregg:
Controlled reduction of a five-link 3D biped with unactuated yaw. CDC/ECC 2011: 669-674 - [c10]Robert D. Gregg, Yasin Y. Dhaher, Kevin M. Lynch:
Functional asymmetry in a five-link 3D bipedal walker. EMBC 2011: 7820-7823 - 2010
- [b1]Robert D. Gregg IV:
Geometric control and motion planning for three-dimensional bipedal locomotion. University of Illinois Urbana-Champaign, USA, 2010 - [j1]Robert D. Gregg, Mark W. Spong:
Reduction-based Control of Three-dimensional Bipedal Walking Robots. Int. J. Robotics Res. 29(6): 680-702 (2010) - [c9]Robert D. Gregg, Timothy Bretl, Mark W. Spong:
A control theoretic approach to robot-assisted locomotor therapy. CDC 2010: 1679-1686 - [c8]Robert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal:
Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids 2010: 1-7 - [c7]Robert D. Gregg, Timothy Bretl, Mark W. Spong:
Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions. ICRA 2010: 1695-1702
2000 – 2009
- 2009
- [c6]Robert D. Gregg, Mark W. Spong:
Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots. CDC 2009: 8166-8173 - [c5]Robert D. Gregg, Mark W. Spong:
Bringing the compass-gait bipedal walker to three dimensions. IROS 2009: 4469-4474 - 2008
- [c4]Robert D. Gregg, Mark W. Spong:
Reduction-based control with application to three-dimensional bipedal walking robots. ACC 2008: 880-887 - 2007
- [c3]Aaron D. Ames, Robert D. Gregg:
Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. ACC 2007: 2848-2854 - [c2]Aaron D. Ames, Robert D. Gregg, Mark W. Spong:
A geometric approach to three-dimensional hipped bipedal robotic walking. CDC 2007: 5123-5130 - 2006
- [c1]Aaron D. Ames, Haiyang Zheng, Robert D. Gregg, Shankar Sastry:
Is there life after Zeno? Taking executions past the breaking (Zeno) point. ACC 2006: 1-6
Coauthor Index
Nikhil Divekar
aka: Nikhil V. Divekar
aka: Nikhil V. Divekar
Gray C. Thomas
aka: Gray Cortright Thomas
aka: Gray Cortright Thomas
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Citation data
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load citations from opencitations.net
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OpenAlex data
Load additional information about publications from 
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last updated on 2025-01-21 21:22 CET by the dblp team
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