Jerry E. Pratt

72 papers A* 19A 9Journal 30Unranked 13

Year	Rank	Type	Title / Venue / Authors
2024	A*	`conf`	Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots. ICRA Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Jerry E. Pratt, Hakki Erhan Sevil, Robert J. Griffin
2024	—	`conf`	High-Speed and Impact Resilient Teleoperation of Humanoid Robots. Humanoids Sylvain Bertrand, Luigi Penco, Dexton Anderson, Duncan Calvert, Valentine Roy, Stephen McCrory, Khizar Mohammed, Sebastian Sanchez, Will Griffith, Steve Morfey, Alexis Maslyczyk, Achintya Mohan, Cody Castello, Bingyin Ma, Kartik Suryavanshi, Patrick Dills, Jerry E. Pratt, Victor Ragusila, Brandon Shrewsbury, Robert J. Griffin
2024	J	`jnl`	High-Speed and Impact Resilient Teleoperation of Humanoid Robots. CoRR Sylvain Bertrand, Luigi Penco, Dexton Anderson, Duncan Calvert, Valentine Roy, Stephen McCrory, Khizar Mohammed, Sebastian Sanchez, Will Griffith, Steve Morfey, Alexis Maslyczyk, Achintya Mohan, Cody Castello, Bingyin Ma, Kartik Suryavanshi, Patrick Dills, Jerry E. Pratt, Victor Ragusila, Brandon Shrewsbury, Robert J. Griffin
2023	J	`jnl`	A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories. CoRR Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
2023	J	`jnl`	Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles. CoRR Duncan Calvert, Dexton Anderson, Tomasz Bialek, Stephen McCrory, Luigi Penco, Jerry E. Pratt, Robert J. Griffin
2023	—	`conf`	Generating Humanoid Multi-Contact Through Feasibility Visualization. Humanoids Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
2023	A	`conf`	Integrable Whole-Body Orientation Coordinates for Legged Robots. IROS Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt
2023	J	`jnl`	Teleoperation of Humanoid Robots: A Survey. CoRR Kourosh Darvish, Luigi Penco, João Ramos, Rafael Cisneros, Jerry E. Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci
2023	J	`jnl`	Teleoperation of Humanoid Robots: A Survey. IEEE Trans. Robotics Kourosh Darvish, Luigi Penco, João Ramos, Rafael Cisneros, Jerry E. Pratt, Eiichi Yoshida, Serena Ivaldi, Daniele Pucci
2022	—	`conf`	A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. Humanoids Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt
2022	J	`jnl`	A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. CoRR Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt
2022	J	`jnl`	Angular Center of Mass for Humanoid Robots. CoRR Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt
2022	J	`jnl`	Humanoid Path Planning over Rough Terrain using Traversability Assessment. CoRR Stephen McCrory, Bhavyansh Mishra, Jaehoon An, Robert J. Griffin, Jerry E. Pratt, Hakki Erhan Sevil
2022	J	`jnl`	Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot. Field Robotics 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
2022	J	`jnl`	Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot. Field Robotics 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
2021	—	`conf`	MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. HUMANOIDS Gabriel García, Robert J. Griffin, Jerry E. Pratt
2021	A*	`conf`	Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots. ICRA Gabriel García, Robert J. Griffin, Jerry E. Pratt
2020	J	`jnl`	Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. IEEE Trans. Robotics Clinton Hobart, Anirban Mazumdar, Steven J. Spencer, Morgan Quigley, Jesper Smith, Sylvain Bertrand, Jerry E. Pratt, Michael Kuehl, Stephen P. Buerger
2020	A	`conf`	Detecting Usable Planar Regions for Legged Robot Locomotion. IROS Sylvain Bertrand, Inho Lee, Bhavyansh Mishra, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
2020	A	`conf`	Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. IROS Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
2020	J	`jnl`	Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. CoRR Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
2019	J	`jnl`	0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum. CoRR Gabriela García, Robert J. Griffin, Jerry E. Pratt
2019	J	`jnl`	Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot. IEEE Robotics Autom. Lett. Boris Jacob van Hofslot, Robert J. Griffin, Sylvain Bertrand, Jerry E. Pratt
2019	—	`conf`	Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. Humanoids 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
2019	J	`jnl`	Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. CoRR 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
2019	—	`conf`	Footstep Planning for Autonomous Walking Over Rough Terrain. Humanoids Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt
2019	J	`jnl`	Footstep Planning for Autonomous Walking Over Rough Terrain. CoRR Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt
2018	A*	`conf`	Inclusion of Angular Momentum During Planning for Capture Point Based Walking. ICRA Tim Seyde, Apoorv Shrivastava, Johannes Englsberger, Sylvain Bertrand, Jerry E. Pratt, Robert J. Griffin
2018	A*	`conf`	Straight-Leg Walking Through Underconstrained Whole-Body Control. ICRA Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization. CoRR Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
2017	—	`conf`	Capture point trajectories for reduced knee bend using step time optimization. Humanoids Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Straight-Leg Walking Through Underconstrained Whole-Body Control. CoRR Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Team IHMC's Lessons Learned from the DARPA Robotics Challenge: Finding Data in the Rubble. J. Field Robotics Matt Johnson, Brandon Shrewsbury, Sylvain Bertrand, Duncan Calvert, Tingfan Wu, Daniel Duran, Douglas Stephen, Nathan Mertins, John Carff, William Rifenburgh, Jesper Smith, Christopher Schmidt-Wetekam, Davide Faconti, Alex Graber-Tilton, Nicolas Eyssette, Tobias Meier, Igor Kalkov, Travis Craig, Nick Payton, Stephen McCrory, Georg Wiedebach, Brooke Layton, Peter D. Neuhaus, Jerry E. Pratt
2017	J	`jnl`	Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas. CoRR Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	A	`conf`	Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas. IROS Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt
2017	J	`jnl`	Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida
2016	J	`jnl`	Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas. Int. J. Humanoid Robotics Twan Koolen, Sylvain Bertrand, Gray Thomas, Tomas de Boer, Tingfan Wu, Jesper Smith, Johannes Englsberger, Jerry E. Pratt
2016	J	`jnl`	Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas. CoRR Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert J. Griffin, Francesco Nori, Jerry E. Pratt
2016	—	`conf`	Walking on partial footholds including line contacts with the humanoid robot atlas. Humanoids Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert J. Griffin, Francesco Nori, Jerry E. Pratt
2015	J	`jnl`	Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials. J. Field Robotics Matthew Johnson, Brandon Shrewsbury, Sylvain Bertrand, Tingfan Wu, Daniel Duran, Marshall Floyd, Peter Abeles, Douglas Stephen, Nathan Mertins, Alex Lesman, John Carff, William Rifenburgh, Pushyami Kaveti, Wessel Straatman, Jesper Smith, Maarten Griffioen, Brooke Layton, Tomas de Boer, Twan Koolen, Peter D. Neuhaus, Jerry E. Pratt
2015	A*	`conf`	Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot. ICRA Anirban Mazumdar, Steven J. Spencer, Jonathan Salton, Clinton Hobart, Joshua Love, Kevin Dullea, Michael Kuehl, Timothy Blada, Morgan Quigley, Jesper Smith, Sylvain Bertrand, Tingfan Wu, Jerry E. Pratt, Stephen P. Buerger
2014	—	`conf`	Real-Time control of Humanoid Robots using OpenJDK. JTRES Jesper Smith, Douglas Stephen, Alex Lesman, Jerry E. Pratt
2014	A	`conf`	Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. IROS Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer
2012	J	`jnl`	Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. Int. J. Robotics Res. Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry E. Pratt
2012	J	`jnl`	Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. Int. J. Robotics Res. Jerry E. Pratt, Twan Koolen, Tomas de Boer, John R. Rebula, Sebastien Cotton, John Carff, Matthew Johnson, Peter D. Neuhaus
2012	A*	`conf`	FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation. ICRA Sebastien Cotton, Ionut Mihai Constantin Olaru, Matthew J. Bellman, Tim van der Ven, Johnny Godowski, Jerry E. Pratt
2011	J	`jnl`	Comprehensive summary of the Institute for Human and Machine Cognition's experience with LittleDog. Int. J. Robotics Res. Peter D. Neuhaus, Jerry E. Pratt, Matthew J. Johnson
2011	J	`jnl`	Editorial: Special Issue on Legged Locomotion. Int. J. Robotics Res. Jonas Buchli, Jerry E. Pratt, Nicholas Roy
2010	A*	`conf`	Demonstration of quadrupedal locomotion over rough terrain using the littledog robot. ICRA Peter D. Neuhaus, Jerry E. Pratt, Matthew J. Johnson
2009	A*	`conf`	Development of the IHMC Mobility Assist Exoskeleton. ICRA Hian Kai Kwa, Jerryll H. Noorden, Matthew Missel, Travis Craig, Jerry E. Pratt, Peter D. Neuhaus
2009	A	`conf`	Human-robot team navigation in visually complex environments. IROS John Carff, Matthew Johnson, Eman El-Sheikh, Jerry E. Pratt
2009	A	`conf`	The Yobotics-IHMC Lower Body Humanoid Robot. IROS Jerry E. Pratt, Benjamin T. Krupp, Victor Ragusila, John R. Rebula, Twan Koolen, Niels van Nieuwenhuizen, Christopher Shake, Travis Craig, John Taylor, Greg Watkins, Peter D. Neuhaus, Matthew Johnson, Steve Shooter, Keith W. Buffinton, Fabian Canas, John Carff, William Howell
2008	A*	`conf`	Hierarchical two stage planner for little dog. ICRA Brian V. Bonnlander, John R. Rebula, Peter D. Neuhaus, Matthew Johnson, Greg Hill, Carlos Pérez, John Carff, William Howell, Jerry E. Pratt
2008	A*	`conf`	Learning Capture Points for Bipedal Push Recovery. ICRA John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
2008	A*	`conf`	Learning terrain cost maps. ICRA John R. Rebula, Greg Hill, Brian V. Bonnlander, Matthew Johnson, Peter D. Neuhaus, Carlos Pérez, John Carff, William Howell, Jerry E. Pratt
2007	A*	`conf`	A Controller for the LittleDog Quadruped Walking on Rough Terrain. ICRA John R. Rebula, Peter D. Neuhaus, Brian V. Bonnlander, Matthew J. Johnson, Jerry E. Pratt
2007	A*	`conf`	Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model. ICRA Jerry E. Pratt, Sergey V. Drakunov
2007	—	`conf`	Development of Control for a Serpentine Robot. CIRA William R. Hutchison, Betsy J. Constantine, Johann Borenstein, Jerry E. Pratt
2007	—	`conf`	Learning Capture Points for humanoid push recovery. Humanoids John R. Rebula, Fabian Canas, Jerry E. Pratt, Ambarish Goswami
2006	—	`conf`	Capture Point: A Step toward Humanoid Push Recovery. Humanoids Jerry E. Pratt, John Carff, Sergey V. Drakunov, Ambarish Goswami
2004	A*	`conf`	Concept Designs for Underwater Swimming Exoskeletons. ICRA Peter D. Neuhaus, Michael O'Sullivan, David Eaton, John Carff, Jerry E. Pratt
2004	A*	`conf`	The RoboKnee: an Exoskeleton for Enhancing Strength and Endurance during Walking. ICRA Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, Steven H. Collins
2001	J	`jnl`	Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. Int. J. Robotics Res. Jerry E. Pratt, Chee-Meng Chew, Ann Torres, Peter Dilworth, Gill A. Pratt
2000	—	`—`	Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots. Jerry E. Pratt
1999	A*	`conf`	Blind Walking of a Planar Bipedal Robot on Sloped Terrain. ICRA Chee-Meng Chew, Jerry E. Pratt, Gill A. Pratt
1999	A*	`conf`	Stable Adaptive Control of a Bipedal Walking Robot with CMAC Neural Networks. ICRA Jianjuen J. Hu, Jerry E. Pratt, Gill A. Pratt
1999	J	`jnl`	Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot. Int. J. Artif. Intell. Tools Jianjuen J. Hu, Jerry E. Pratt, Chee-Meng Chew, Hugh M. Herr, Gill A. Pratt
1998	A	`conf`	Adaptive dynamic control of a bipedal walking robot with radial basis function neural networks. IROS Jianjuen J. Hu, Jerry E. Pratt, Gill A. Pratt
1998	A*	`conf`	Intuitive Control of a Planar Bipedal Walking Robot. ICRA Jerry E. Pratt, Gill A. Pratt
1997	A*	`conf`	Virtual model control of a bipedal walking robot. ICRA Jerry E. Pratt, Peter Dilworth, Gill A. Pratt
1996	A	`conf`	Virtual actuator control. IROS Jerry E. Pratt, Ann Torres, Peter Dilworth, Gill A. Pratt
1995	—	`conf`	Stiffness Isn't Everything. ISER Gill A. Pratt, Matthew M. Williamson, Peter Dilworth, Jerry E. Pratt, Anne Wright