Robert J. Griffin

Publication Activity (10 Years)

Years Active: 2002-2024
Publications (10 Years): 50

Top Topics

Kinematic Chain

Model Predictive Control

Top Venues

Publications

Luigi Penco, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert, Robert J. Griffin
Mixed Reality Teleoperation Assistance for Direct Control of Humanoids. IEEE Robotics Autom. Lett. 9 (2) (2024)
James Foster, Stephen McCrory, Christian DeBuys, Sylvain Bertrand, Robert J. Griffin
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation. CoRR (2024)
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)
Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. ICRA (2024)
Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. CoRR (2023)
Jared M. Li, Owen Winship, Stefan Fasano, Bridget Longo, Nicole M. Esposito, Gregory S. Sawicki, Robert J. Griffin, Gwendolyn M. Bryan
Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting. IROS (2023)
Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. Humanoids (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)
Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. 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)
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)
Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. Humanoids (2022)
Bhavyansh Mishra, Duncan Calvert, Brendon Ortolano, Max Asselmeier, Luke Fina, Stephen McCrory, Hakki Erhan Sevil, Robert J. Griffin
Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors. ICRA (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)
Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. CoRR (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)
Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Stephen McCrory, Robert J. Griffin, Hakki Erhan Sevil
GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots. IROS (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)
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)
Robert J. Griffin, Alexander Leonessa
Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. Int. J. Humanoid Robotics 16 (5) (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)
Carlotta Mummolo, William Z. Peng, Shlok Agarwal, Robert J. Griffin, Peter D. Neuhaus, Joo H. Kim
Stability of Mina v2 for Robot-Assisted Balance and Locomotion. Frontiers Neurorobotics 12 (2018)
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)
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)
Cameron P. Ridgewell, Robert J. Griffin, Tomonari Furukawa, Brian Y. Lattimer
Online estimation of friction constraints for multi-contact whole body control. Humanoids (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, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines, Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, Peter D. Neuhaus
Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon. IEEE Robotics Autom. Mag. 24 (4) (2017)
Coleman Knabe, Robert J. Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dantanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael A. Hopkins, Jordan Neal, Jackson Newton, Chris Nogales, Viktor L. Orekhov, John Peterson, Michael Rouleau, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa
Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. J. Field Robotics 34 (5) (2017)
Robert J. Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines, Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, Peter D. Neuhaus
Design and Approach of Team IHMC in the 2016 Cybathlon. 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)
Robert J. Griffin, Alexander Leonessa
Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA (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)
Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck
Disturbance compensation and step optimization for push recovery. IROS (2016)
Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa
Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. Humanoids (2015)
Robert J. Griffin, Kurt Neuwirth, James Giese, Sharon Dunwoody
Linking the Heuristic-Systematic Model and Depth of Processing. Commun. Res. 29 (6) (2002)