Jonathan W. Hurst

Publication Activity (10 Years)

Years Active: 2004-2023
Publications (10 Years): 45

Top Topics

Robotic Systems

Legged Locomotion

Reinforcement Learning

Top Venues

Robotics: Science and Systems

Publications

Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. ICRA (2023)
Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. CoRR (2022)
Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. ICRA (2022)
Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. IROS (2022)
Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. CoRR (2022)
Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. CoRR (2022)
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst
Learning Dynamic Bipedal Walking Across Stepping Stones. CoRR (2022)
Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning. CoRR (2022)
Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst
Learning Dynamic Bipedal Walking Across Stepping Stones. IROS (2022)
Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. Humanoids (2022)
Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern
Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. Humanoids (2022)
Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. ICRA (2022)
Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. CoRR (2022)
Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst
Learning Task Space Actions for Bipedal Locomotion. ICRA (2021)
Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst
Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. CoRR (2021)
Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. ICRA (2021)
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. Robotics: Science and Systems (2021)
Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst
Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. IEEE Robotics Autom. Lett. 6 (2) (2021)
Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. CoRR (2021)
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst
Learning Memory-Based Control for Human-Scale Bipedal Locomotion. CoRR (2020)
Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model. CoRR (2020)
Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. CoRR (2020)
Kevin Green, Ross L. Hatton, Jonathan W. Hurst
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. ICRA (2020)
Kevin Green, Ross L. Hatton, Jonathan W. Hurst
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. CoRR (2020)
Siavash Rezazadeh, Jonathan W. Hurst
Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem. Int. J. Robotics Res. 39 (7) (2020)
Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst
Learning Task Space Actions for Bipedal Locomotion. CoRR (2020)
Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst
Learning Memory-Based Control for Human-Scale Bipedal Locomotion. Robotics: Science and Systems (2020)
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne
Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. CoRR (2019)
Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst
Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. IROS (2019)
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne
Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. CoRL (2019)
Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan W. Hurst
Fast Online Trajectory Optimization for the Bipedal Robot Cassie. Robotics: Science and Systems (2018)
Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5 (2018)
Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail S. Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William C. Martin, Hartmut Geyer, Jonathan W. Hurst
Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. IEEE Robotics Autom. Mag. 25 (3) (2018)
Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne
Feedback Control For Cassie With Deep Reinforcement Learning. IROS (2018)
Siavash Rezazadeh, Andy Abate, Ross L. Hatton, Jonathan W. Hurst
Robot Leg Design: A Constructive Framework. IEEE Access 6 (2018)
Patrick Clary, Pedro Morais, Alan Fern, Jonathan W. Hurst
Monte-Carlo Planning for Agile Legged Locomotion. ICAPS (2018)
Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne
Feedback Control For Cassie With Deep Reinforcement Learning. CoRR (2018)
Christian Hubicki, Jesse Grimes, Mikhail S. Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan W. Hurst
ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. Int. J. Robotics Res. 35 (12) (2016)
Andy Abate, Jonathan W. Hurst, Ross L. Hatton
Mechanical Antagonism in Legged Robots. Robotics: Science and Systems (2016)
Andy Abate, Ross L. Hatton, Jonathan W. Hurst
Passive-dynamic leg design for agile robots. ICRA (2015)
Daniel Renjewski, Alexander Spröwitz, Andrew Peekema, Mikhail S. Jones, Jonathan W. Hurst
Exciting Engineered Passive Dynamics in a Bipedal Robot. IEEE Trans. Robotics 31 (5) (2015)
Hamid Reza Vejdani, Albert Wu, Hartmut Geyer, Jonathan W. Hurst
Touch-down angle control for spring-mass walking. ICRA (2015)
Siavash Rezazadeh, Jonathan W. Hurst
Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots. ICRA (2015)
Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst
Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. ICRA (2015)
Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA (2015)
Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst
Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. IROS (2014)
Siavash Rezazadeh, Jonathan W. Hurst
On the optimal selection of motors and transmissions for electromechanical and robotic systems. IROS (2014)
Behnam Dadashzadeh, Hamid Reza Vejdani, Jonathan W. Hurst
From template to anchor: A novel control strategy for spring-mass running of bipedal robots. IROS (2014)
Devin Koepl, Jonathan W. Hurst
Impulse Control for Planar Spring-Mass Running. J. Intell. Robotic Syst. 74 (3-4) (2014)
Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC (2014)
Hamid Reza Vejdani, Jonathan W. Hurst
Optimal passive dynamics for physical interaction: Throwing a mass. ICRA (2013)
Joseph S. Colett, Jonathan W. Hurst
Artificial restraint Systems for Walking and Running Robots: an Overview. Int. J. Humanoid Robotics 9 (1) (2012)
Devin Koepl, Jonathan W. Hurst
Force control for planar spring-mass running. IROS (2011)
Jonathan W. Hurst
The Electric Cable Differential Leg: a Novel Design Approach for Walking and Running. Int. J. Humanoid Robotics 8 (2) (2011)
Kevin Kemper, Devin Koepl, Jonathan W. Hurst
Optimal passive dynamics for torque/force control. ICRA (2010)
Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi
The Actuator With Mechanically Adjustable Series Compliance. IEEE Trans. Robotics 26 (4) (2010)
J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath
MABEL, a new robotic bipedal walker and runner. ACC (2009)
Jonathan W. Hurst, Alfred A. Rizzi
Series compliance for an efficient running gait. IEEE Robotics Autom. Mag. 15 (3) (2008)
Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, Alfred A. Rizzi
A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running. ICRA (2007)
Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi
Design and Philosophy of the BiMASC, a Highly Dynamic Biped. ICRA (2007)
Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi
An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion. ICRA (2004)