Robert D. Gregg

ORCID

Publication Activity (10 Years)

Years Active: 2006-2024
Publications (10 Years): 82

Top Venues

ACC

CoRR

IROS

IEEE Robotics Autom. Lett.

Publications

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) (2024)
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)
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) (2024)
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) (2024)
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) (2024)
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) (2024)
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)
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)
Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. ACC (2023)
José A. Montes-Pérez, Gray Cortright Thomas, Robert D. Gregg
Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. IROS (2023)
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) (2023)
Shihao Cheng, Curt A. Laubscher, Robert D. Gregg
Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent. IROS (2023)
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 (2023)
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)
Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. IROS (2023)
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) (2023)
Sicong Guo, Robert D. Gregg, Edgar A. Bolívar-Nieto
Convex Optimization for Spring Design of Parallel Elastic Actuators. ACC (2022)
Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. CoRR (2022)
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) (2022)
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) (2022)
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)
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)
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)
Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. CoRR (2022)
Jonathan C. Horn, Robert D. Gregg
Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds. IEEE Trans. Control. Syst. Technol. 30 (5) (2022)
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 (2022)
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)
Emma Reznick, Kyle R. Embry, Ross Neuman, Edgar A. Bolívar-Nieto, Nicholas P. Fey, Robert D. Gregg
Lower-limb kinematics and kinetics during continuously varying human locomotion. CoRR (2021)
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)
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) (2021)
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)
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)
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)
Ge Lv, Jianping Lin, Robert D. Gregg
Trajectory-Free Control of Lower-Limb Exoskeletons Through Underactuated Total Energy Shaping. IEEE Access 9 (2021)
Gray Cortright Thomas, Robert D. Gregg
An Energy Shaping Exoskeleton Controller for Human Strength Amplification. CDC (2021)
Jianping Lin, Nikhil V. Divekar, Ge Lv, Robert D. Gregg
Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton. ACC (2021)
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) (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)
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) (2020)
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) (2020)
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)
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)
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) (2020)
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) (2020)
Emma Reznick, Kyle R. Embry, Robert D. Gregg
Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds. BioRob (2020)
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)
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)
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) (2019)
Jianping Lin, Nikhil Divekar, Ge Lv, Robert D. Gregg
Energy Shaping Control with Virtual Spring and Damper for Powered Exoskeletons. CDC (2019)
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 (2019)
Saurav Kumar, Alireza Mohammadi, Robert D. Gregg, Nicholas R. Gans
Limit Cycle Minimization by Time-Invariant Extremum Seeking Control. ACC (2019)
Jianping Lin, Ge Lv, Robert D. Gregg
Contact-Invariant Total Energy Shaping Control for Powered Exoskeletons. ACC (2019)
Alireza Mohammadi, Seyed Abolfazl Fakoorian, Jonathan C. Horn, Dan Simon, Robert D. Gregg
Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. CDC (2018)
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 (2018)
Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. ACC (2018)
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)
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 (2018)
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)
Siavash Rezazadeh, David Quintero, Nikhil Divekar, Robert D. Gregg
A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses. IROS (2018)
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)
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) (2018)
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 (2018)
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) (2018)
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) (2018)
Anne E. Martin, Robert D. Gregg
Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses. IEEE Trans. Autom. Control. 62 (8) (2017)
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)
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)
Dario J. Villarreal, David Quintero, Robert D. Gregg
Piecewise and unified phase variables in the control of a powered prosthetic leg. ICORR (2017)
Ge Lv, Robert D. Gregg
Towards total energy shaping control of lower-limb exoskeletons. ACC (2017)
Alireza Mohammadi, Jonathan Horn, Robert D. Gregg
Removing phase variables from biped robot parametric gaits. CCTA (2017)
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) (2017)
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)
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)
Dario J. Villarreal, Robert D. Gregg
Unified phase variables of relative degree two for human locomotion. EMBC (2016)
Dario J. Villarreal, David Quintero, Robert D. Gregg
A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion. IEEE Access 4 (2016)
Kaveh Akbari Hamed, Robert D. Gregg
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking. ACC (2016)
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) (2016)
Anne E. Martin, Robert D. Gregg
Incorporating Human-Like Walking Variability in an HZD-Based Bipedal Model. IEEE Trans. Robotics 32 (4) (2016)
Robert D. Gregg, Anne E. Martin
Prosthetic leg control in the nullspace of human interaction. ACC (2016)
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)
Kyle R. Embry, Dario J. Villarreal, Robert D. Gregg
A unified parameterization of human gait across ambulation modes. EMBC (2016)
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)
Ge Lv, Robert D. Gregg
Orthotic body-weight support through underactuated potential energy shaping with contact constraints. CDC (2015)
Anne E. Martin, Robert D. Gregg
Hybrid invariance and stability of a feedback linearizing controller for powered prostheses. ACC (2015)
Dario J. Villarreal, David Quintero, Robert D. Gregg
A perturbation mechanism for investigations of phase variables in human locomotion. ROBIO (2015)
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) (2014)
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) (2014)
Akshay Nanjangud, Robert D. Gregg
Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios. ACC (2014)
Dario J. Villarreal, Robert D. Gregg
A survey of phase variable candidates of human locomotion. EMBC (2014)
Robert D. Gregg, Jonathon W. Sensinger
Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg. IEEE Trans. Control. Syst. Technol. 22 (1) (2014)
Robert D. Gregg, Jonathon W. Sensinger
Biomimetic virtual constraint control of a transfemoral powered prosthetic leg. ACC (2013)
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)
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) (2013)
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) (2013)
Nelson Rosa, Adam Barber, Robert D. Gregg, Kevin M. Lynch
Stable open-loop brachiation on a vertical wall. ICRA (2012)
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) (2012)
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) (2012)
Robert D. Gregg
Controlled reduction of a five-link 3D biped with unactuated yaw. CDC/ECC (2011)
Robert D. Gregg, Yasin Y. Dhaher, Kevin M. Lynch
Functional asymmetry in a five-link 3D bipedal walker. EMBC (2011)
Robert D. Gregg, Timothy Bretl, Mark W. Spong
Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions. ICRA (2010)

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Publication Activity (10 Years)

Top Topics

Top Venues

Robert D. Gregg