Jerry E. Pratt

ORCID

Publication Activity (10 Years)

Years Active: 1995-2024
Publications (10 Years): 39

Top Venues

Massachusetts Institute of Technology, Cambridge, MA, USA (PHD)

Education History

Massachusetts Institute of Technology, Cambridge, MA, USA

PHD

Publications

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)
Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry E. Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci
Teleoperation of Humanoid Robots: A Survey. CoRR (2023)
Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories. CoRR (2023)
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 (2023)
Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
Generating Humanoid Multi-Contact Through Feasibility Visualization. Humanoids (2023)
Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt
Integrable Whole-Body Orientation Coordinates for Legged Robots. IROS (2023)
Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry E. Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci
Teleoperation of Humanoid Robots: A Survey. IEEE Trans. Robotics 39 (3) (2023)
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) (2022)
Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry E. Pratt
Angular Center of Mass for Humanoid Robots. CoRR (2022)
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 (2022)
Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. CoRR (2022)
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)
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) (2022)
Gabriel García, Robert J. Griffin, Jerry E. Pratt
MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. HUMANOIDS (2021)
Gabriel García, Robert J. Griffin, Jerry E. Pratt
Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots. ICRA (2021)
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 (2020)
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)
Clinton Hobart, Anirban Mazumdar, Steven J. Spencer, Morgan Quigley, Jesper Smith, Sylvain Bertrand, Jerry E. Pratt, Michael Kuehl, Stephen P. Buerger
Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Trans. Robotics 36 (3) (2020)
Sylvain Bertrand, Inho Lee, Bhavyansh Mishra, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
Detecting Usable Planar Regions for Legged Robot Locomotion. IROS (2020)
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) (2019)
Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt
Footstep Planning for Autonomous Walking Over Rough Terrain. Humanoids (2019)
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)
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 (2019)
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 (2019)
Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt
Footstep Planning for Autonomous Walking Over Rough Terrain. CoRR (2019)
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA (2018)
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)
Matt Johnson, Brandon Shrewsbury, Sylvain Bertrand, Duncan Calvert, Tingfan Wu, Daniel Duran, Douglas Stephen, Nathan Mertins, John Carff, William Rifenburgh, Jesper Smith, Christopher Schmidt-Wetekam, Davide Faconti, Alex Graber-Tilton, Nicolas Eyssette, Tobias Meier, Igor Kalkov, Travis Craig, Nick Payton, Stephen McCrory, Georg Wiedebach, Brooke Layton, Peter D. Neuhaus, Jerry E. Pratt
Team IHMC's Lessons Learned from the DARPA Robotics Challenge: Finding Data in the Rubble. J. Field Robotics 34 (2) (2017)
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR (2017)
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)
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)
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 (2017)
Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR (2017)
Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida
Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. 24 (3) (2017)
Twan Koolen, Sylvain Bertrand, Gray Thomas, Tomas de Boer, Tingfan Wu, Jesper Smith, Johannes Englsberger, Jerry E. Pratt
Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas. Int. J. Humanoid Robotics 13 (1) (2016)
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 (2016)
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)
Matthew Johnson, Brandon Shrewsbury, Sylvain Bertrand, Tingfan Wu, Daniel Duran, Marshall Floyd, Peter Abeles, Douglas Stephen, Nathan Mertins, Alex Lesman, John Carff, William Rifenburgh, Pushyami Kaveti, Wessel Straatman, Jesper Smith, Maarten Griffioen, Brooke Layton, Tomas de Boer, Twan Koolen, Peter D. Neuhaus, Jerry E. Pratt
Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials. J. Field Robotics 32 (2) (2015)
Anirban Mazumdar, Steven J. Spencer, Jonathan Salton, Clinton Hobart, Joshua Love, Kevin Dullea, Michael Kuehl, Timothy Blada, Morgan Quigley, Jesper Smith, Sylvain Bertrand, Tingfan Wu, Jerry E. Pratt, Stephen P. Buerger
Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot. ICRA (2015)
Jesper Smith, Douglas Stephen, Alex Lesman, Jerry E. Pratt
Real-Time control of Humanoid Robots using OpenJDK. JTRES (2014)
Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. IROS (2014)
Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry E. Pratt
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. Int. J. Robotics Res. 31 (9) (2012)
Jerry E. Pratt, Twan Koolen, Tomas de Boer, John R. Rebula, Sebastien Cotton, John Carff, Matthew Johnson, Peter D. Neuhaus
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. Int. J. Robotics Res. 31 (10) (2012)
Sebastien Cotton, Ionut Mihai Constantin Olaru, Matthew Bellman, Tim van der Ven, Johnny Godowski, Jerry E. Pratt
FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation. ICRA (2012)
Jonas Buchli, Jerry E. Pratt, Nicholas Roy
Editorial: Special Issue on Legged Locomotion. Int. J. Robotics Res. 30 (2) (2011)
Peter D. Neuhaus, Jerry E. Pratt, Matthew J. Johnson
Comprehensive summary of the Institute for Human and Machine Cognition's experience with LittleDog. Int. J. Robotics Res. 30 (2) (2011)
Peter D. Neuhaus, Jerry E. Pratt, Matthew J. Johnson
Demonstration of quadrupedal locomotion over rough terrain using the littledog robot. ICRA (2010)
Hian Kai Kwa, Jerryll H. Noorden, Matthew Missel, Travis Craig, Jerry E. Pratt, Peter D. Neuhaus
Development of the IHMC Mobility Assist Exoskeleton. ICRA (2009)
Jerry E. Pratt, Benjamin T. Krupp, Victor Ragusila, John R. Rebula, Twan Koolen, Niels van Nieuwenhuizen, Christopher Shake, Travis Craig, John Taylor, Greg Watkins, Peter D. Neuhaus, Matthew Johnson, Steve Shooter, Keith W. Buffinton, Fabian Canas, John Carff, William Howell
The Yobotics-IHMC Lower Body Humanoid Robot. IROS (2009)
John Carff, Matthew Johnson, Eman El-Sheikh, Jerry E. Pratt
Human-robot team navigation in visually complex environments. IROS (2009)
John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
Learning Capture Points for Bipedal Push Recovery. ICRA (2008)
Brian V. Bonnlander, John R. Rebula, Peter D. Neuhaus, Matthew Johnson, Greg Hill, Carlos Pérez, John Carff, William Howell, Jerry E. Pratt
Hierarchical two stage planner for little dog. ICRA (2008)
John R. Rebula, Greg Hill, Brian V. Bonnlander, Matthew Johnson, Peter D. Neuhaus, Carlos Pérez, John Carff, William Howell, Jerry E. Pratt
Learning terrain cost maps. ICRA (2008)
Jerry E. Pratt, Sergey V. Drakunov
Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model. ICRA (2007)
William R. Hutchison, Betsy J. Constantine, Johann Borenstein, Jerry E. Pratt
Development of Control for a Serpentine Robot. CIRA (2007)
John R. Rebula, Peter D. Neuhaus, Brian V. Bonnlander, Matthew J. Johnson, Jerry E. Pratt
A Controller for the LittleDog Quadruped Walking on Rough Terrain. ICRA (2007)
John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
Learning Capture Points for humanoid push recovery. Humanoids (2007)
Jerry E. Pratt, John Carff, Sergey V. Drakunov, Ambarish Goswami
Capture Point: A Step toward Humanoid Push Recovery. Humanoids (2006)
Peter D. Neuhaus, Michael O'Sullivan, David Eaton, John Carff, Jerry E. Pratt
Concept Designs for Underwater Swimming Exoskeletons. ICRA (2004)
Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, Steven H. Collins
The RoboKnee: an Exoskeleton for Enhancing Strength and Endurance during Walking. ICRA (2004)
Jerry E. Pratt, Chee-Meng Chew, Ann Torres, Peter Dilworth, Gill A. Pratt
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. Int. J. Robotics Res. 20 (2) (2001)
Chee-Meng Chew, Jerry E. Pratt, Gill A. Pratt
Blind Walking of a Planar Bipedal Robot on Sloped Terrain. ICRA (1999)
Jianjuen J. Hu, Jerry E. Pratt, Chee-Meng Chew, Hugh M. Herr, Gill A. Pratt
Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot. Int. J. Artif. Intell. Tools 8 (3) (1999)
Jianjuen J. Hu, Jerry E. Pratt, Gill A. Pratt
Stable Adaptive Control of a Bipedal Walking Robot with CMAC Neural Networks. ICRA (1999)
Jerry E. Pratt, Gill A. Pratt
Intuitive Control of a Planar Bipedal Walking Robot. ICRA (1998)
Jianjuen J. Hu, Jerry E. Pratt, Gill A. Pratt
Adaptive dynamic control of a bipedal walking robot with radial basis function neural networks. IROS (1998)
Jerry E. Pratt, Peter Dilworth, Gill A. Pratt
Virtual model control of a bipedal walking robot. ICRA (1997)
Jerry E. Pratt, Ann Torres, Peter Dilworth, Gill A. Pratt
Virtual actuator control. IROS (1996)
Gill A. Pratt, Matthew M. Williamson, Peter Dilworth, Jerry E. Pratt, Anne Wright
Stiffness Isn't Everything. ISER (1995)

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Publication Activity (10 Years)

Top Topics

Top Venues

Jerry E. Pratt