Jessy W. Grizzle

ORCID

Publication Activity (10 Years)

Years Active: 1988-2024
Publications (10 Years): 86

Top Venues

Publications

Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Jessy W. Grizzle
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. CoRR (2024)
Margaret Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle
Fall Prediction for Bipedal Robots: The Standing Phase. ICRA (2024)
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson, Jessy W. Grizzle
Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control. IROS (2023)
Jinze Liu, Minzhe Li, Jessy W. Grizzle, Jiunn-Kai Huang
CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation. IROS (2023)
Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee, Vishnu R. Desaraju, Jessy W. Grizzle
System for Robot Path Planning. ICRA (2023)
Margaret Eva Mungai, Jessy W. Grizzle
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot. CoRR (2023)
Jiunn-Kai Huang, Jessy W. Grizzle
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. IEEE Trans. Robotics 39 (3) (2023)
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson, Jessy W. Grizzle
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control. CoRR (2023)
Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots. CoRR (2023)
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. IEEE Trans. Robotics 39 (1) (2023)
Margaret Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle
Fall Prediction for Bipedal Robots: The Standing Phase. CoRR (2023)
Jinze Liu, Minzhe Li, Jiunn-Kai Huang, Jessy W. Grizzle
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints. CoRR (2023)
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong, Jessy W. Grizzle
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints. IROS (2022)
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. 7 (4) (2022)
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. CoRR (2022)
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
Optimal Target Shape for LiDAR Pose Estimation. IEEE Robotics Autom. Lett. 7 (2) (2022)
Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee, Vishnu R. Desaraju, Jessy W. Grizzle
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning. CoRR (2022)
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
Optimal Target Shape for LiDAR Pose Estimation. CoRR (2021)
Yukai Gong, Jessy W. Grizzle
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion. CoRR (2021)
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong, Jessy W. Grizzle
Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP. CoRR (2021)
Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin
Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. Frontiers Robotics AI 8 (2021)
M. Eva Mungai, Jessy W. Grizzle
Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons. IEEE Access 9 (2021)
Yukai Gong, Jessy W. Grizzle
One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller. ICRA (2021)
Henrik I. Christensen, Nancy M. Amato, Holly A. Yanco, Maja J. Mataric, Howie Choset, Ann W. Drobnis, Ken Goldberg, Jessy W. Grizzle, Gregory D. Hager, John M. Hollerbach, Seth Hutchinson, Venkat Krovi, Daniel Lee, Bill Smart, Jeff Trinkle, Gaurav S. Sukhatme
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. Found. Trends Robotics 8 (4) (2021)
Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari, Jessy W. Grizzle
LiDARTag: A Real-Time Fiducial Tag System for Point Clouds. IEEE Robotics Autom. Lett. 6 (3) (2021)
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. ICRA (2021)
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. CoRR (2021)
Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari
Toward Safety-Aware Informative Motion Planning for Legged Robots. CoRR (2021)
Jiunn-Kai Huang, Jessy W. Grizzle
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. CoRR (2021)
Aysegül Uçar, Jessy W. Grizzle, Maani Ghaffari, Mattias Wahde, H. Levent Akin, Jacky Baltes, H. Isil Bozma, Jaime Valls Miró
IEEE Access Special Section Editorial: Real-Time Machine Learning Applications in Mobile Robotics. IEEE Access 9 (2021)
Jiunn-Kai Huang, Jessy W. Grizzle
Improvements to Target-Based 3D LiDAR to Camera Calibration. IEEE Access 8 (2020)
Ross Hartley, Maani Ghaffari Jadidi, Ryan M. Eustice, Jessy W. Grizzle
Contact-aided invariant extended Kalman filtering for robot state estimation. Int. J. Robotics Res. 39 (4) (2020)
Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari Jadidi, Jessy W. Grizzle
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs. CoRR (2020)
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. CoRR (2020)
Yukai Gong, Jessy W. Grizzle
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller. CoRR (2020)
Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari Jadidi
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping. IEEE Robotics Autom. Lett. 5 (2) (2020)
Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari Jadidi
Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping. CoRR (2019)
Xingye Da, Jessy W. Grizzle
Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots. Int. J. Robotics Res. 38 (9) (2019)
Maani Ghaffari Jadidi, William Clark, Anthony M. Bloch, Ryan M. Eustice, Jessy W. Grizzle
Continuous Direct Sparse Visual Odometry from RGB-D Images. CoRR (2019)
Ross Hartley, Maani Ghaffari Jadidi, Ryan M. Eustice, Jessy W. Grizzle
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation. CoRR (2019)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle
Validating Noncooperative Control Designs Through a Lyapunov Approach. IEEE Trans. Control. Syst. Technol. 27 (2) (2019)
Jiunn-Kai Huang, Jessy W. Grizzle
Improvements to Target-Based 3D LiDAR to Camera Calibration. CoRR (2019)
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. ACC (2019)
Jiunn-Kai Huang, Maani Ghaffari Jadidi, Ross Hartley, Lu Gan, Ryan M. Eustice, Jessy W. Grizzle
LiDARTag: A Real-Time Fiducial Tag using Point Clouds. CoRR (2019)
Maani Ghaffari Jadidi, William Clark, Anthony M. Bloch, Ryan Eustice, Jessy W. Grizzle
Continuous Direct Sparse Visual Odometry from RGB-D Images. Robotics: Science and Systems (2019)
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. IROS (2019)
Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony M. Bloch, Maani Ghaffari Jadidi
Adaptive Continuous Visual Odometry from RGB-D Images. CoRR (2019)
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot. CoRR (2018)
Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. ICRA (2018)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle
Obstacle Avoidance for Low-Speed Autonomous Vehicles With Barrier Function. IEEE Trans. Control. Syst. Technol. 26 (1) (2018)
Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. IEEE Trans Autom. Sci. Eng. 15 (3) (2018)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle, Necmiye Ozay
Data-Driven Computation of Minimal Robust Control Invariant Set. CDC (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, Jessy W. Grizzle
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR (2018)
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs. CoRR (2018)
Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy W. Grizzle
Self-synchronization and self-stabilization of 3D bipedal walking gaits. Robotics Auton. Syst. 100 (2018)
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. CoRR (2018)
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. ICRA (2018)
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. Robotics: Science and Systems (2018)
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. CoRR (2018)
Oguz Hasan Dagci, Huei Peng, Jessy W. Grizzle
Hybrid Electric Powertrain Design Methodology With Planetary Gear Sets for Performance and Fuel Economy. IEEE Access 6 (2018)
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs. IROS (2018)
Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy W. Grizzle
Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits. CoRR (2017)
Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada
Control Barrier Function Based Quadratic Programs for Safety Critical Systems. IEEE Trans. Autom. Control. 62 (8) (2017)
Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access 5 (2017)
Xiangru Xu, Thomas Waters, Daniel Pickem, Paul Glotfelter, Magnus Egerstedt, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. CCTA (2017)
Hamed Razavi, Anthony M. Bloch, Christine Chevallereau, Jessy W. Grizzle
Symmetry in legged locomotion: a new method for designing stable periodic gaits. Auton. Robots 41 (5) (2017)
Quan Nguyen, Ayush Agrawal, Xingye Da, William C. Martin, Hartmut Geyer, Jessy W. Grizzle, Koushil Sreenath
Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. Robotics: Science and Systems (2017)
Ross Hartley, Xingye Da, Jessy W. Grizzle
Stabilization of 3D underactuated biped robots: Using posture adjustment and gait libraries to reject velocity disturbances. CCTA (2017)
Yasser Shoukry, Paulo Tabuada, Stephanie Tsuei, Mark B. Milam, Jessy W. Grizzle, Aaron D. Ames
Closed-form controlled invariant sets for pedestrian avoidance. ACC (2017)
Yuxiao Chen, Ayonga Hereid, Huei Peng, Jessy W. Grizzle
Synthesis of safe controller via supervised learning for truck lateral control. CoRR (2017)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle
Fast Trajectory Planning and Robust Trajectory Tracking for Pedestrian Avoidance. IEEE Access 5 (2017)
Paulo Tabuada, Wen-Loong Ma, Jessy W. Grizzle, Aaron D. Ames
Data-driven control for feedback linearizable single-input systems. CDC (2017)
Xingye Da, Ross Hartley, Jessy W. Grizzle
Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field. ICRA (2017)
Brent A. Griffin, Jessy W. Grizzle
Nonholonomic virtual constraints and gait optimization for robust walking control. Int. J. Robotics Res. 36 (8) (2017)
Jessy W. Grizzle, Christine Chevallereau
Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion. CoRR (2017)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle
Decentralized chassis control with guaranteed performance: A Lyapunov approach. ACC (2017)
Yuxiao Chen, Huei Peng, Jessy W. Grizzle
Correct by construction design of autonomous vehicles through a barrier function method. ACC (2017)
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. CoRR (2017)
Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. CoRR (2016)
Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
3D dynamic walking on stepping stones with control barrier functions. CDC (2016)
Xingye Da, Omar Harib, Ross Hartley, Brent A. Griffin, Jessy W. Grizzle
From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking. IEEE Access 4 (2016)
Petter Nilsson, Omar Hussien, Ayca Balkan, Yuxiao Chen, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada
Correct-by-Construction Adaptive Cruise Control: Two Approaches. IEEE Trans. Control. Syst. Technol. 24 (4) (2016)
Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada
Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. CoRR (2016)
Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
Robustness of Control Barrier Functions for Safety Critical Control. CoRR (2016)
Brian G. Buss, Kaveh Akbari Hamed, Brent A. Griffin, Jessy W. Grizzle
Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints. ACC (2016)
Kaveh Akbari Hamed, Brian G. Buss, Jessy W. Grizzle
Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations. Int. J. Robotics Res. 35 (8) (2016)
Hamed Razavi, Anthony M. Bloch, Christine Chevallereau, Jessy W. Grizzle
Restricted discrete invariance and self-synchronization for stable walking of bipedal robots. ACC (2015)
Brent A. Griffin, Jessy W. Grizzle
Nonholonomic virtual constraints for dynamic walking. CDC (2015)
Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
Robustness of Control Barrier Functions for Safety Critical Control. ADHS (2015)
Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle
First steps toward formal controller synthesis for bipedal robots. HSCC (2015)
Aakar Mehra, Wen-Loong Ma, Forrest Berg, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. ACC (2015)
Kaveh Akbari Hamed, Jessy W. Grizzle
Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running. ADHS (2015)
Brent A. Griffin, Jessy W. Grizzle
Walking gait optimization for accommodation of unknown terrain height variations. ACC (2015)
Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. IEEE Access 3 (2015)
Aaron D. Ames, Jessy W. Grizzle, Paulo Tabuada
Control barrier function based quadratic programs with application to adaptive cruise control. CDC (2014)
Brian G. Buss, Alireza Ramezani, Kaveh Akbari Hamed, Brent A. Griffin, Kevin S. Galloway, Jessy W. Grizzle
Preliminary walking experiments with underactuated 3D bipedal robot MARLO. IROS (2014)
Kaveh Akbari Hamed, Brian G. Buss, Jessy W. Grizzle
Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot. CDC (2014)
Kaveh Akbari Hamed, Jessy W. Grizzle
Event-Based Stabilization of Periodic Orbits for Underactuated 3-D Bipedal Robots With Left-Right Symmetry. IEEE Trans. Robotics 30 (2) (2014)
Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath, Jessy W. Grizzle
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. IEEE Trans. Autom. Control. 59 (4) (2014)
Petter Nilsson, Omar Hussien, Yuxiao Chen, Ayca Balkan, Matthias Rungger, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada
Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. CDC (2014)

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Publication Activity (10 Years)

Top Topics

Top Venues

Jessy W. Grizzle