Gray C. Thomas

Publication Activity (10 Years)

Years Active: 2014-2024
Publications (10 Years): 29

Top Topics

Impedance Control

Convex Optimization

Robust Estimator

Linear Programming

Top Venues

IEEE Robotics Autom. Lett.

Publications

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) (2024)
Zachary Bons, Gray C. Thomas, Luke M. Mooney, Elliott J. Rouse
A Compact, Two-Part Torsion Spring Architecture. ICRA (2023)
Nundini D. Rawal, Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse
A Sensitivity Analysis of an Economic Value Metric for Quantifying the Success of Lower-Limb Exoskeletons and Their Assistance. IROS (2023)
Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. IROS (2023)
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) (2022)
Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis
Biologically-Inspired Impedance Control With Hysteretic Damping. IEEE Control. Syst. Lett. 5 (5) (2021)
Gray C. Thomas, Orion Campbell, Nick Nichols, Nicolas Brissonneau, Binghan He, Joshua James, Nicholas Paine, Luis Sentis
Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons. Frontiers Robotics AI 8 (2021)
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 (2021)
Nicolas Brissonneau, Binghan He, Gray C. Thomas, Luis Sentis
Biologically-Inspired Impedance Control With Hysteretic Damping. ACC (2021)
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)
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control. CoRR (2020)
Roberto L. Medrano, Gray C. Thomas, Elliott J. Rouse
Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance. BioRob (2020)
Binghan He, Gray C. Thomas, Luis Sentis
Robust Estimator-Based Safety Verification: A Vector Norm Approach. ACC (2020)
Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis
Adaptive Compliance Shaping with Human Impedance Estimation. ACC (2020)
Binghan He, Gray C. Thomas, Luis Sentis
Robust Estimator-Based Safety Verification: A Vector Norm Approach. CoRR (2019)
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. CoRR (2019)
Huang Huang, Henry F. Cappel, Gray C. Thomas, Binghan He, Luis Sentis
Adaptive Compliance Shaping with Human Impedance Estimation. CoRR (2019)
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. IROS (2019)
Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. ACC (2019)
Gray C. Thomas, Binghan He, Luis Sentis
Safety Control Synthesis with Input Limits: a Hybrid Approach. CoRR (2018)
Gray C. Thomas, Binghan He, Luis Sentis
Safety Control Synthesis with Input Limits: a Hybrid Approach. ACC (2018)
Rachel Schlossman, Gray C. Thomas, Luis Sentis
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. CoRR (2018)
Gray C. Thomas, Luis Sentis
Identifying H[infinity]-Models: An LMI Approach. CoRR (2018)
Rachel Schlossman, Gray C. Thomas, Orion Campbell, Luis Sentis
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. ROBIO (2018)
Binghan He, Gray C. Thomas, Nicholas Paine, Luis Sentis
Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. CoRR (2018)
Prashant Rao, Gray C. Thomas, Luis Sentis, Ashish D. Deshpande
Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints. ICRA (2017)
Gray C. Thomas, Luis Sentis
MIMO identification of frequency-domain unreliability in SEAs. ACC (2017)
Donghyun Kim, Ye Zhao, Gray C. Thomas, Benito R. Fernández, Luis Sentis
Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. IEEE Trans. Robotics 32 (6) (2016)
Gray C. Thomas, Luis Sentis
Towards computationally efficient planning of dynamic multi-contact locomotion. IROS (2016)
Donghyun Kim, Gray C. Thomas, Luis Sentis
A method for dynamically balancing a point foot robot. Humanoids (2015)
Ye Zhao, Donghyun Kim, Gray C. Thomas, Luis Sentis
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. HSCC (2015)
Donghyun Kim, Ye Zhao, Gray C. Thomas, Luis Sentis
Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. CoRR (2015)
Kwan-Suk Kim, Alan S. Kwok, Gray C. Thomas, Luis Sentis
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback. IROS (2014)
Donghyun Kim, Gray C. Thomas, Luis Sentis
Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal. ICARCV (2014)