Jonathan W. Hurst

62 papers A* 17A 8C 1Misc 1Journal 28Unranked 7

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. CoRR Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern
2023	A*	`conf`	Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. ICRA Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern
2022	J	`jnl`	Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning. CoRR Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern
2022	—	`conf`	Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. Humanoids Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern
2022	A	`conf`	Learning Dynamic Bipedal Walking Across Stepping Stones. IROS Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst
2022	J	`jnl`	Learning Dynamic Bipedal Walking Across Stepping Stones. CoRR Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst
2022	A	`conf`	Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. IROS Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst
2022	J	`jnl`	Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. CoRR Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst
2022	—	`conf`	Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. Humanoids Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green
2022	J	`jnl`	Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. CoRR Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green
2022	A*	`conf`	Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. ICRA Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst
2022	J	`jnl`	Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. CoRR Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst
2022	A*	`conf`	Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. ICRA Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst
2022	J	`jnl`	Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. CoRR Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst
2021	J	`jnl`	Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. CoRR Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst
2021	—	`conf`	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. Robotics: Science and Systems Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst
2021	J	`jnl`	Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. CoRR Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst
2021	J	`jnl`	Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. IEEE Robotics Autom. Lett. Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst
2021	A*	`conf`	Learning Task Space Actions for Bipedal Locomotion. ICRA Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst
2021	A*	`conf`	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. ICRA Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst
2020	J	`jnl`	Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem. Int. J. Robotics Res. Siavash Rezazadeh, Jonathan W. Hurst
2020	—	`conf`	Learning Memory-Based Control for Human-Scale Bipedal Locomotion. Robotics: Science and Systems Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst
2020	J	`jnl`	Learning Memory-Based Control for Human-Scale Bipedal Locomotion. CoRR Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst
2020	J	`jnl`	Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model. CoRR Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst
2020	J	`jnl`	Learning Task Space Actions for Bipedal Locomotion. CoRR Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst
2020	A*	`conf`	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. ICRA Kevin Green, Ross L. Hatton, Jonathan W. Hurst
2020	J	`jnl`	Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. CoRR Kevin Green, Ross L. Hatton, Jonathan W. Hurst
2020	J	`jnl`	Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. CoRR Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst
2019	A	`conf`	Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. IROS Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst
2019	J	`jnl`	Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. CoRR Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne
2019	Misc	`conf`	Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. CoRL Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne
2018	J	`jnl`	An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 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
2018	—	`conf`	Fast Online Trajectory Optimization for the Bipedal Robot Cassie. Robotics: Science and Systems Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan W. Hurst
2018	A	`conf`	Feedback Control For Cassie With Deep Reinforcement Learning. IROS Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne
2018	J	`jnl`	Feedback Control For Cassie With Deep Reinforcement Learning. CoRR Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne
2018	A*	`conf`	Monte-Carlo Planning for Agile Legged Locomotion. ICAPS Patrick Clary, Pedro Morais, Alan Fern, Jonathan W. Hurst
2018	J	`jnl`	Robot Leg Design: A Constructive Framework. IEEE Access Siavash Rezazadeh, Andy Abate, Ross L. Hatton, Jonathan W. Hurst
2018	J	`jnl`	Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. IEEE Robotics Autom. Mag. 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
2016	J	`jnl`	ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. Int. J. Robotics Res. Christian Hubicki, Jesse Grimes, Mikhail S. Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan W. Hurst
2016	—	`conf`	Mechanical Antagonism in Legged Robots. Robotics: Science and Systems Andy Abate, Jonathan W. Hurst, Ross L. Hatton
2015	A*	`conf`	Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. ICRA Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst
2015	J	`jnl`	Exciting Engineered Passive Dynamics in a Bipedal Robot. IEEE Trans. Robotics Daniel Renjewski, Alexander Spröwitz, Andrew Peekema, Mikhail S. Jones, Jonathan W. Hurst
2015	A*	`conf`	Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames
2015	A*	`conf`	Passive-dynamic leg design for agile robots. ICRA Andy Abate, Ross L. Hatton, Jonathan W. Hurst
2015	A*	`conf`	Touch-down angle control for spring-mass walking. ICRA Hamid Reza Vejdani, Albert Wu, Hartmut Geyer, Jonathan W. Hurst
2015	A*	`conf`	Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots. ICRA Siavash Rezazadeh, Jonathan W. Hurst
2014	—	`conf`	Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
2014	A	`conf`	From template to anchor: A novel control strategy for spring-mass running of bipedal robots. IROS Behnam Dadashzadeh, Hamid Reza Vejdani, Jonathan W. Hurst
2014	J	`jnl`	Impulse Control for Planar Spring-Mass Running. J. Intell. Robotic Syst. Devin Koepl, Jonathan W. Hurst
2014	A	`conf`	On the optimal selection of motors and transmissions for electromechanical and robotic systems. IROS Siavash Rezazadeh, Jonathan W. Hurst
2014	A	`conf`	Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. IROS Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst
2013	A*	`conf`	Optimal passive dynamics for physical interaction: Throwing a mass. ICRA Hamid Reza Vejdani, Jonathan W. Hurst
2012	J	`jnl`	Artificial restraint Systems for Walking and Running Robots: an Overview. Int. J. Humanoid Robotics Joseph S. Colett, Jonathan W. Hurst
2011	A	`conf`	Force control for planar spring-mass running. IROS Devin Koepl, Jonathan W. Hurst
2011	J	`jnl`	The Electric Cable Differential Leg: a Novel Design Approach for Walking and Running. Int. J. Humanoid Robotics Jonathan W. Hurst
2010	A*	`conf`	Optimal passive dynamics for torque/force control. ICRA Kevin Kemper, Devin Koepl, Jonathan W. Hurst
2010	J	`jnl`	The Actuator With Mechanically Adjustable Series Compliance. IEEE Trans. Robotics Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi
2009	C	`conf`	MABEL, a new robotic bipedal walker and runner. ACC J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath
2008	J	`jnl`	Series compliance for an efficient running gait. IEEE Robotics Autom. Mag. Jonathan W. Hurst, Alfred A. Rizzi
2007	A*	`conf`	A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running. ICRA Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, Alfred A. Rizzi
2007	A*	`conf`	Design and Philosophy of the BiMASC, a Highly Dynamic Biped. ICRA Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi
2004	A*	`conf`	An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion. ICRA Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi