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ORCIDJessy W. Grizzle
J. W. Grizzle
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- affiliation: University of Michigan, Ann Arbor, USA
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2020 – today
- 2024
[c76]Margaret Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle:
Fall Prediction for Bipedal Robots: The Standing Phase. ICRA 2024: 13135-13141- [c75]Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Jessy W. Grizzle:
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. IROS 2024: 11210-11217 - [i39]Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava
, Jessy W. Grizzle:
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. CoRR abs/2403.02486 (2024) - 2023
- [j62]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): 699-717 (2023) - [j61]Jiunn-Kai Huang, Jessy W. Grizzle:
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. IEEE Trans. Robotics 39(3): 2093-2110 (2023) - [c74]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. ICRA 2023: 5666-5673 - [c73]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: 8558-8565 - [c72]Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle:
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots. IROS 2023: 10397-10404 - [c71]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: 10497-10504 - [i38]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 abs/2301.01906 (2023) - [i37]Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle:
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots. CoRR abs/2303.04279 (2023) - [i36]Margaret Eva Mungai, Jessy W. Grizzle:
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot. CoRR abs/2303.15620 (2023) - [i35]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 abs/2307.02448 (2023) - [i34]Odest Chadwicke Jenkins, Jessy W. Grizzle, Ella M. Atkins, Leia Stirling, Elliott J. Rouse, Mark Guzdial, Damen Provost, Kimberly Mann, Joanna Millunchick:
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence. CoRR abs/2308.06905 (2023) - [i33]Margaret Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle:
Fall Prediction for Bipedal Robots: The Standing Phase. CoRR abs/2309.14546 (2023) - 2022
- [j60]Jiunn-Kai Huang, William A. Clark, Jessy W. Grizzle:
Optimal Target Shape for LiDAR Pose Estimation. IEEE Robotics Autom. Lett. 7(2): 1238-1245 (2022) - [j59]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): 8807-8814 (2022) - [c70]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: 6724-6731 - [i32]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 abs/2205.14853 (2022) - [i31]Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari:
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. CoRR abs/2207.03034 (2022) - 2021
- [j58]Margaret Eva Mungai, Jessy W. Grizzle:
Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons. IEEE Access 9: 122-161 (2021) - [j57]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: 89694-89698 (2021) - [j56]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: 723780 (2021) - [j55]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, William D. Smart, Jeff Trinkle, Gaurav S. Sukhatme:
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. Found. Trends Robotics 8(4): 307-424 (2021) - [j54]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): 4875-4882 (2021) - [c69]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: 2832-2838 - [c68]Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. 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: 12214-12221 - [i30]Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari:
Toward Safety-Aware Informative Motion Planning for Legged Robots. CoRR abs/2103.14252 (2021) - [i29]Yukai Gong, Jessy W. Grizzle:
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion. CoRR abs/2105.08170 (2021) - [i28]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 abs/2106.14986 (2021) - [i27]Jiunn-Kai Huang, Jessy W. Grizzle:
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. CoRR abs/2108.06699 (2021) - [i26]Jiunn-Kai Huang, William A. Clark, Jessy W. Grizzle:
Optimal Target Shape for LiDAR Pose Estimation. CoRR abs/2109.01181 (2021) - [i25]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 abs/2109.14862 (2021) - 2020
- [j53]Jiunn-Kai Huang, Jessy W. Grizzle:
Improvements to Target-Based 3D LiDAR to Camera Calibration. IEEE Access 8: 134101-134110 (2020) - [j52]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) - [j51]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): 790-797 (2020) - [i24]Yukai Gong, Jessy W. Grizzle:
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller. CoRR abs/2008.10763 (2020) - [i23]Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari Jadidi, Jessy W. Grizzle:
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs. CoRR abs/2012.03321 (2020) - [i22]Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. 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 abs/2012.03683 (2020)
2010 – 2019
- 2019
- [j50]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) - [j49]Yuxiao Chen, Huei Peng, Jessy W. Grizzle:
Validating Noncooperative Control Designs Through a Lyapunov Approach. IEEE Trans. Control. Syst. Technol. 27(2): 527-539 (2019) - [c67]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: 4559-4566 - [c66]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: 4722-4729 - [c65]Maani Ghaffari Jadidi, William A. Clark, Anthony M. Bloch, Ryan Eustice, Jessy W. Grizzle:
Continuous Direct Sparse Visual Odometry from RGB-D Images. Robotics: Science and Systems 2019 - [i21]Maani Ghaffari Jadidi, William A. Clark, Anthony M. Bloch, Ryan M. Eustice, Jessy W. Grizzle:
Continuous Direct Sparse Visual Odometry from RGB-D Images. CoRR abs/1904.02266 (2019) - [i20]Ross Hartley, Maani Ghaffari Jadidi, Ryan M. Eustice, Jessy W. Grizzle:
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation. CoRR abs/1904.09251 (2019) - [i19]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 abs/1908.10349 (2019) - [i18]Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari Jadidi:
Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping. CoRR abs/1909.04631 (2019) - [i17]Tzu-Yuan Lin, William A. Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony M. Bloch, Maani Ghaffari Jadidi:
Adaptive Continuous Visual Odometry from RGB-D Images. CoRR abs/1910.00713 (2019) - [i16]Jiunn-Kai Huang, Jessy W. Grizzle:
Improvements to Target-Based 3D LiDAR to Camera Calibration. CoRR abs/1910.03126 (2019) - 2018
- [j48]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: 9585-9602 (2018) - [j47]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: 43-60 (2018) - [j46]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): 1216-1229 (2018) - [j45]Yuxiao Chen, Huei Peng, Jessy W. Grizzle:
Obstacle Avoidance for Low-Speed Autonomous Vehicles With Barrier Function. IEEE Trans. Control. Syst. Technol. 26(1): 194-206 (2018) - [c64]Yuxiao Chen, Huei Peng, Jessy W. Grizzle, Necmiye Ozay:
Data-Driven Computation of Minimal Robust Control Invariant Set. CDC 2018: 4052-4058 - [c63]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: 1-8 - [c62]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: 2804-2811 - [c61]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: 3783-3790 - [c60]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 - [i15]Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Margaret 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 abs/1802.08322 (2018) - [i14]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 abs/1803.07531 (2018) - [i13]Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice:
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. CoRR abs/1805.10410 (2018) - [i12]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 abs/1807.06614 (2018) - [i11]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 abs/1809.07279 (2018) - 2017
- [j44]Yuxiao Chen, Huei Peng, Jessy W. Grizzle:
Fast Trajectory Planning and Robust Trajectory Tracking for Pedestrian Avoidance. IEEE Access 5: 9304-9317 (2017) - [j43]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: 9919-9934 (2017) - [j42]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): 1119-1142 (2017) - [j41]Brent A. Griffin, Jessy W. Grizzle:
Nonholonomic virtual constraints and gait optimization for robust walking control. Int. J. Robotics Res. 36(8): 895-922 (2017) - [j40]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): 3861-3876 (2017) - [c59]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: 1622-1628 - [c58]Yuxiao Chen, Huei Peng, Jessy W. Grizzle:
Decentralized chassis control with guaranteed performance: A Lyapunov approach. ACC 2017: 4291-4296 - [c57]Yuxiao Chen, Huei Peng, Jessy W. Grizzle:
Correct by construction design of autonomous vehicles through a barrier function method. ACC 2017: 4926-4931 - [c56]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: 1262-1269 - [c55]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: 1769-1775 - [c54]Paulo Tabuada, Wen-Loong Ma, Jessy W. Grizzle, Aaron D. Ames:
Data-driven control for feedback linearizable single-input systems. CDC 2017: 6265-6270 - [c53]Xingye Da, Ross Hartley, Jessy W. Grizzle:
Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field. ICRA 2017: 3476-3483 - [c52]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 - [i10]Christine Chevallereau, Hamed Razavi, Damien Six, Yannick Aoustin, Jessy W. Grizzle:
Self-synchronization and Self-stabilization of 3D Bipedal Walking Gaits. CoRR abs/1702.07312 (2017) - [i9]Jessy W. Grizzle, Christine Chevallereau:
Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion. CoRR abs/1706.01127 (2017) - [i8]Yuxiao Chen, Ayonga Hereid, Huei Peng, Jessy W. Grizzle:
Synthesis of safe controller via supervised learning for truck lateral control. CoRR abs/1712.05506 (2017) - [i7]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 abs/1712.05873 (2017) - 2016
- [j39]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: 3469-3478 (2016) - [j38]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): 977-999 (2016) - [j37]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): 1294-1307 (2016) - [c51]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: 4785-4792 - [c50]Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath:
3D dynamic walking on stepping stones with control barrier functions. CDC 2016: 827-834 - [c49]Quan Nguyen, Xingye Da, J. W. Grizzle, Koushil Sreenath:
Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. WAFR 2016: 384-399 - [i6]Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada:
Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. CoRR abs/1609.06408 (2016) - [i5]Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames:
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. CoRR abs/1609.06807 (2016) - [i4]Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Robustness of Control Barrier Functions for Safety Critical Control. CoRR abs/1612.01554 (2016) - 2015
- [j36]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: 323-332 (2015) - [c48]Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Robustness of Control Barrier Functions for Safety Critical Control. ADHS 2015: 54-61 - [c47]Kaveh Akbari Hamed, Jessy W. Grizzle:
Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running. ADHS 2015: 161-168 - [c46]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: 1411-1418 - [c45]Brent A. Griffin, Jessy W. Grizzle:
Walking gait optimization for accommodation of unknown terrain height variations. ACC 2015: 4810-4817 - [c44]Hamed Razavi, Anthony M. Bloch, Christine Chevallereau, Jessy W. Grizzle:
Restricted discrete invariance and self-synchronization for stable walking of bipedal robots. ACC 2015: 4818-4824 - [c43]Brent A. Griffin, Jessy W. Grizzle:
Nonholonomic virtual constraints for dynamic walking. CDC 2015: 4053-4060 - [c42]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: 209-218 - 2014
- [j35]Jessy W. Grizzle, Christine Chevallereau, Ryan W. Sinnet, Aaron D. Ames:
Models, feedback control, and open problems of 3D bipedal robotic walking. Autom. 50(8): 1955-1988 (2014) - [j34]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): 876-891 (2014) - [j33]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): 365-381 (2014) - [c41]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: 816-823 - [c40]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: 1507-1513 - [c39]Aaron D. Ames, Jessy W. Grizzle, Paulo Tabuada:
Control barrier function based quadratic programs with application to adaptive cruise control. CDC 2014: 6271-6278 - [c38]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: 2529-2536 - [i3]Hamed Razavi, Anthony M. Bloch, Christine Chevallereau, J. W. Grizzle:
Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots. CoRR abs/1411.0181 (2014) - 2013
- [j32]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle:
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Int. J. Robotics Res. 32(3): 324-345 (2013) - [j31]Hae-Won Park, Alireza Ramezani, J. W. Grizzle:
A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking. IEEE Trans. Robotics 29(2): 331-345 (2013) - [c37]Kaveh Akbari Hamed, Jessy W. Grizzle:
Robust event-based stabilization of periodic orbits for hybrid systems: Application to an underactuated 3D bipedal robot. ACC 2013: 6206-6212 - [c36]Andrew R. Teel, Rafal Goebel, Benjamin Morris, Aaron D. Ames, Jessy W. Grizzle:
A stabilization result with application to bipedal locomotion. CDC 2013: 2030-2035 - [i2]Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle:
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. CoRR abs/1302.7314 (2013) - 2012
- [j30]Ching-Long Shih, J. W. Grizzle, Christine Chevallereau:
From stable walking to steering of a 3D bipedal robot with passive point feet. Robotica 30(7): 1119-1130 (2012) - [j29]Daniel F. Opila, Xiaoyong Wang, Ryan McGee, R. Brent Gillespie, Jeffrey A. Cook, Jessy W. Grizzle:
An Energy Management Controller to Optimally Trade Off Fuel Economy and Drivability for Hybrid Vehicles. IEEE Trans. Control. Syst. Technol. 20(6): 1490-1505 (2012) - [c35]Aaron D. Ames, Kevin S. Galloway, J. W. Grizzle:
Control lyapunov functions and hybrid zero dynamics. CDC 2012: 6837-6842 - [c34]Hae-Won Park, Koushil Sreenath, Alireza Ramezani, Jessy W. Grizzle:
Switching control design for accommodating large step-down disturbances in bipedal robot walking. ICRA 2012: 45-50 - [c33]Koushil Sreenath, Hae-Won Park, J. W. Grizzle:
Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. ICRA 2012: 51-56 - 2011
- [j28]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, J. W. Grizzle:
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. Int. J. Robotics Res. 30(9): 1170-1193 (2011) - 2010
- [j27]Edward Dean Tate, Jessy W. Grizzle, Huei Peng:
SP-SDP for Fuel Consumption and Tailpipe Emissions Minimization in an EVT Hybrid. IEEE Trans. Control. Syst. Technol. 18(3): 673-687 (2010) - [c32]Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, Jessy W. Grizzle:
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. CDC 2010: 280-287 - [c31]Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih:
Steering of a 3D bipedal robot with an underactuated ankle. IROS 2010: 1242-1247 - [i1]Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih:
Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot. CoRR abs/1002.3258 (2010)
2000 – 2009
- 2009
- [j26]Benjamin Morris, Jessy W. Grizzle:
Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots. IEEE Trans. Autom. Control. 54(8): 1751-1764 (2009) - [j25]Ioannis Poulakakis, Jessy W. Grizzle:
The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. IEEE Trans. Autom. Control. 54(8): 1779-1793 (2009) - [j24]Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih:
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot. IEEE Trans. Robotics 25(1): 37-50 (2009) - [c30]J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath:
MABEL, a new robotic bipedal walker and runner. ACC 2009: 2030-2036 - [c29]Julia H. Buckland, Jim Freudenberg, J. W. Grizzle, Mrdjan Jankovic:
Practical observers for unmeasured states in turbocharged gasoline engines. ACC 2009: 2714-2719 - [c28]Daniel F. Opila, Xiaoyong Wang, Ryan McGee, Jeffrey A. Cook, J. W. Grizzle:
Performance comparison of hybrid vehicle energy management controllers on real-world drive cycle data. ACC 2009: 4618-4625 - [c27]Ioannis Poulakakis, Jessy W. Grizzle:
Modeling and control of the monopedal robot Thumper. ICRA 2009: 3327-3334 - 2008
- [j23]Christine Chevallereau, Dalila Djoudi, J. W. Grizzle:
Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point. IEEE Trans. Robotics 24(2): 390-401 (2008) - [c26]Daniel F. Opila, Deepak Aswani, Ryan McGee, Jeffrey A. Cook, Jessy W. Grizzle:
Incorporating drivability metrics into optimal energy management strategies for Hybrid Vehicles. CDC 2008: 4382-4389 - [c25]Jessy W. Grizzle, Christine Chevallereau, Ching-Long Shih:
HZD-based control of a five-link underactuated 3D bipedal robot. CDC 2008: 5206-5213 - 2007
- [c24]Dalila Djoudi, Christine Chevallereau, J. W. Grizzle:
A Path-Following Approach to Stable Bipedal Walking and Zero Moment Point Regulation. ICRA 2007: 3597-3602 - [c23]Ioannis Poulakakis, J. W. Grizzle:
Monopedal running control: SLIP embedding and virtual constraint controllers. IROS 2007: 323-330 - 2006
- [j22]Katherine S. Peterson, Jessy W. Grizzle, Anna G. Stefanopoulou:
Nonlinear control for magnetic levitation of automotive engine vales. IEEE Trans. Control. Syst. Technol. 14(2): 346-354 (2006) - [c22]Benjamin Morris, Jessy W. Grizzle:
Hybrid Invariance in Bipedal Robots with Series Compliant Actuators. CDC 2006: 4793-4800 - 2005
- [j21]Christine Chevallereau, E. R. Westervelt, J. W. Grizzle:
Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot. Int. J. Robotics Res. 24(6): 431-464 (2005) - [j20]Jun Ho Choi, J. W. Grizzle:
Feedback control of an underactuated planar bipedal robot with impulsive foot action. Robotica 23(5): 567-580 (2005) - [j19]J. W. Grizzle, Claude H. Moog, Christine Chevallereau:
Nonlinear control of mechanical systems with an unactuated cyclic variable. IEEE Trans. Autom. Control. 50(5): 559-576 (2005) - [j18]Giovanni Fiengo, Jessy W. Grizzle, Jeffrey A. Cook, Amey Y. Karnik:
Dual-UEGO active catalyst control for emissions reduction: design and experimental validation. IEEE Trans. Control. Syst. Technol. 13(5): 722-736 (2005) - [c21]Jun Ho Choi, J. W. Grizzle:
Planar bipedal walking with foot rotation. ACC 2005: 4909-4916 - [c20]Benjamin Morris, Jessy W. Grizzle:
A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots. CDC/ECC 2005: 4199-4206 - 2004
- [j17]E. R. Westervelt, Gabriel Buche, J. W. Grizzle:
Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds. Int. J. Robotics Res. 23(6): 559-582 (2004) - [c19]Chan-Chiao Lin, Huei Peng, Jessy W. Grizzle:
A stochastic control strategy for hybrid electric vehicles. ACC 2004: 4710-4715 - [c18]Jun Ho Choi, Jessy W. Grizzle:
Planar bipedal robot with impulsive foot action. CDC 2004: 296-302 - [c17]Christine Chevallereau, E. R. Westervelt, Jessy W. Grizzle:
Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner. CDC 2004: 303-310 - [c16]Jessy W. Grizzle:
Walking and running in bipedal robots: control theory and experiments. CDC 2004 - [c15]Jessy W. Grizzle:
Walking and running in bipedal robots control theory and experiments. CDC 2004 - [c14]Jessy W. Grizzle:
Walking and running in bipedal robots: control theory and experiments. CDC 2004 - [c13]Jessy W. Grizzle:
Walking and running in bipedal robots: control theory and experiments. CDC 2004 - [c12]Christine Chevallereau, J. W. Grizzle, Claude H. Moog:
Nonlinear Control of Mechanical Systems with one Degree of Underactuation. ICRA 2004: 2222-2228 - [c11]E. R. Westervelt, Gabriel Buche, J. W. Grizzle:
Inducing Dynamically Stable Walking in an Underactuated Prototype Planar Biped. ICRA 2004: 4234-4239 - 2003
- [j16]Eric R. Westervelt, Jessy W. Grizzle, Daniel E. Koditschek:
Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Control. 48(1): 42-56 (2003) - [j15]Eric R. Westervelt, Jessy W. Grizzle, Carlos Canudas de Wit:
Switching and PI control of walking motions of planar biped walkers. IEEE Trans. Autom. Control. 48(2): 308-312 (2003) - [j14]Chan-Chiao Lin, Huei Peng, Jessy W. Grizzle, Jun-Mo Kang:
Power management strategy for a parallel hybrid electric truck. IEEE Trans. Control. Syst. Technol. 11(6): 839-849 (2003) - [j13]Franck Plestan, Jessy W. Grizzle, Eric R. Westervelt, Gabriel Abba:
Stable walking of a 7-DOF biped robot. IEEE Trans. Robotics Autom. 19(4): 653-668 (2003) - [c10]J. W. Grizzle, E. R. Westervelt, Carlos Canudas-de-Wit:
Event-based PI control of an underactuated biped walker. CDC 2003: 3091-3096 - 2002
- [c9]Giovanni Fiengo, Jeffrey A. Cook, Jessy W. Grizzle:
Fore-aft oxygen storage control. ACC 2002: 1401-1406 - [c8]Joseph J. Scillieri, James S. Freudenberg, Jessy W. Grizzle:
From stoichiometry to ultra lean burn in a direct injection spark ignition engine model. ACC 2002: 3123-3128 - [c7]E. R. Westervelt, J. W. Grizzle:
Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization. ICRA 2002: 3117-3122 - 2001
- [j12]J. W. Grizzle, Jun-Mo Kang:
Discrete-time control design with positive semi-definite Lyapunov functions. Syst. Control. Lett. 43(4): 287-292 (2001) - [j11]Jessy W. Grizzle, Gabriel Abba, Franck Plestan:
Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Autom. Control. 46(1): 51-64 (2001) - [j10]Jessy W. Grizzle, Gabriel Abba, Franck Plestan:
Correction to "asymptotically stable walking for biped robots: analysis via systems with impulse effects". IEEE Trans. Autom. Control. 46(3): 513 (2001) - [c6]Chan-Chiao Lin, Jun-Mo Kang, J. W. Grizzle, Huei Peng:
Energy management strategy for a parallel hybrid electric truck. ACC 2001: 2878-2883 - [c5]Erich P. Brandt, J. W. Grizzle:
Three-way catalyst diagnostics for advanced emissions control systems. ACC 2001: 3305-3311 - [c4]Sette Diop, Vincent Fromion, Jessy W. Grizzle:
A global exponential observer based on numerical differentiation. CDC 2001: 3344-3349 - [c3]Sette Diop, Vincent Fromion, Jessy W. Grizzle:
A resettable Kalman filter based on numerical differentiation. ECC 2001: 1239-1244 - 2000
- [j9]Anna G. Stefanopoulou, James S. Freudenberg, Jessy W. Grizzle:
Variable camshaft timing engine control. IEEE Trans. Control. Syst. Technol. 8(1): 23-34 (2000) - [j8]Erich P. Brandt, Yanying Wang, Jessy W. Grizzle:
Dynamic modeling of a three-way catalyst for SI engine exhaust emission control. IEEE Trans. Control. Syst. Technol. 8(5): 767-776 (2000) - [c2]Sette Diop, Jessy W. Grizzle, François Chaplais:
On numerical differentiation algorithms for nonlinear estimation. CDC 2000: 1133-1138
1990 – 1999
- 1999
- [c1]Franck Plestan, J. W. Grizzle:
Synthesis of nonlinear observers via structural analysis and numerical differentiation. ECC 1999: 1428-1433 - 1995
- [j7]Paul Moraal, Jessy W. Grizzle:
Observer design for nonlinear systems with discrete-time measurements. IEEE Trans. Autom. Control. 40(3): 395-404 (1995) - 1994
- [j6]Maria Domenica Di Benedetto, Jessy W. Grizzle:
Asymptotic model matching for nonlinear systems. IEEE Trans. Autom. Control. 39(8): 1539-1550 (1994) - [j5]Jessy W. Grizzle, Maria Domenica Di Benedetto, Françoise Lamnabhi-Lagarrigue:
Necessary conditions for asymptotic tracking in nonlinear systems. IEEE Trans. Autom. Control. 39(9): 1782-1794 (1994) - 1990
- [j4]S.-T. Chung, J. W. Grizzle:
Sampled-data observer error linearization. Autom. 26(6): 997-1007 (1990)
1980 – 1989
- 1989
- [j3]J. W. Grizzle, Alberto Isidori:
Block noninteracting control with stability via static state feedback. Math. Control. Signals Syst. 2(4): 315-341 (1989) - 1988
- [j2]Jessy W. Grizzle, M. H. Shor:
Sampling, infinite zeros and decoupling of linear systems. Autom. 24(3): 387-396 (1988) - 1986
- [j1]J. W. Grizzle, Henk Nijmeijer:
Zeros at Infinity for Nonlinear Discrete Time Systems. Math. Syst. Theory 19(1): 79-93 (1986)
Coauthor Index
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