Robert D. Gregg

121 papers A* 8A 10C 19Journal 50Unranked 34

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Task-Agnostic Exoskeleton Control Supports Elderly Joint Energetics during Hip-Intensive Tasks. CoRR Jiefu Zhang, Nikhil V. Divekar, Chandramouli Krishnan, Robert D. Gregg
2025	—	`conf`	A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing. ICORR Ryan R. Posh, Robert D. Gregg
2025	—	`conf`	A Task-Agnostic Hip Exoskeleton for Osteoarthritis Pain Relief: Energetic Control Across Activities of Daily Life. ICORR Jiefu Zhang, Nikhil V. Divekar, Ernesto Hernandez-Hinojosa, Robert D. Gregg
2025	—	`conf`	A Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study. ICORR Nikhil V. Divekar, Ernesto Hernandez-Hinojosa, Jiefu Zhang, Robert D. Gregg
2025	—	`conf`	Adapting Biomimetic Kinematics for Controlling a Powered-Knee, Passive-Ankle Prosthesis Across Inclines. ICORR C. Andrew Seelhoff, T. Kevin Best, Robert D. Gregg
2025	J	`jnl`	Ambilateral Activity Recognition and Continuous Adaptation With a Powered Knee-Ankle Prosthesis. IEEE Trans. Robotics Shihao Cheng, Curt A. Laubscher, T. Kevin Best, Robert D. Gregg
2025	—	`conf`	Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment. ICORR Yichen Wang, José A. Montes-Pérez, Robert D. Gregg, Gray C. Thomas
2025	—	`conf`	Implementation and Validation of a Data-Driven Variable Impedance Controller on the Össur Power Knee. ICORR T. Kevin Best, C. Andrew Seelhoff, Robert D. Gregg
2025	—	`conf`	Investigating Kinematic and Kinetic Asymmetries During Sit/Stand Movements with a Powered Knee-Ankle Prosthesis: A Pilot Study. ICORR Kellen Waters, Benson Zou, T. Kevin Best, Robert D. Gregg, Cara Gonzalez Welker
2024	J	`jnl`	A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications. IEEE Robotics Autom. Lett. Isaac Richard Harris, Elliott J. Rouse, Robert D. Gregg, Gray Cortright Thomas
2024	J	`jnl`	A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons. IEEE Trans. Control. Syst. Technol. Jianping Lin, Gray C. Thomas, Nikhil V. Divekar, Vamsi Peddinti, Robert D. Gregg
2024	J	`jnl`	A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks. Sci. Robotics Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg
2024	J	`jnl`	Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles. IEEE Trans. Biomed. Eng. Shihao Cheng, Curt A. Laubscher, Robert D. Gregg
2024	—	`conf`	Design and Validation of a Modular, Backdrivable Ankle Exoskeleton. BioRob Susan Zhao, Katharine Walters, José A. Montes-Pérez, Robert D. Gregg
2024	J	`jnl`	Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons With Task/Gait Classification. IEEE Robotics Autom. Lett. Jianping Lin, Robert D. Gregg, Peter B. Shull
2024	J	`jnl`	Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots. IEEE Robotics Autom. Lett. Ting-Wei Hsu, Robert D. Gregg, Gray C. Thomas
2024	J	`jnl`	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. James P. Schmiedeler, Robert D. Gregg
2024	A*	`conf`	Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines. ICRA Albert J. Lee, Curt A. Laubscher, T. Kevin Best, Robert D. Gregg
2024	J	`jnl`	Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets. IEEE Robotics Autom. Lett. Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
2023	A	`conf`	An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. IROS Katharine Walters, Gray C. Thomas, Jianping Lin, Robert D. Gregg
2023	A	`conf`	Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent. IROS Shihao Cheng, Curt A. Laubscher, Robert D. Gregg
2023	J	`jnl`	Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking. IEEE Trans. Robotics T. Kevin Best, Cara Gonzalez Welker, Elliott J. Rouse, Robert D. Gregg
2023	A	`conf`	Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. IROS José A. Montes-Pérez, Gray Cortright Thomas, Robert D. Gregg
2023	A*	`conf`	Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes. ICRA Emily G. Keller, Curt A. Laubscher, Robert D. Gregg
2023	J	`jnl`	How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems. CoRR Ung Hee Lee, Tor Shepherd, Sangbae Kim, Avik De, Hao Su, Robert D. Gregg, Luke M. Mooney, Elliott J. Rouse
2023	A	`conf`	Improving Amputee Endurance Over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study. IROS T. Kevin Best, Curt A. Laubscher, Ross J. Cortino, Shihao Cheng, Robert D. Gregg
2023	C	`conf`	Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. ACC Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg
2023	J	`jnl`	Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. IEEE Trans. Robotics Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg
2022	—	`conf`	Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. BioRob Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg
2022	J	`jnl`	Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. IEEE Robotics Autom. Lett. Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg
2022	C	`conf`	Convex Optimization for Spring Design of Parallel Elastic Actuators. ACC Sicong Guo, Robert D. Gregg, Edgar A. Bolívar-Nieto
2022	A	`conf`	Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning. IROS Cara Gonzalez Welker, T. Kevin Best, Robert D. Gregg
2022	J	`jnl`	Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction. CoRR Duong Le, Shihao Cheng, Robert D. Gregg, Maani Ghaffari
2022	J	`jnl`	Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses. IEEE Robotics Autom. Lett. Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg
2022	J	`jnl`	Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds. IEEE Trans. Control. Syst. Technol. Jonathan C. Horn, Robert D. Gregg
2022	J	`jnl`	Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. CoRR Jiefu Zhang, Jianping Lin, Vamsi Peddinti, Robert D. Gregg
2022	J	`jnl`	Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. CoRR Roberto Leo Medrano, Gray Cortright Thomas, Connor G. Keais, Elliott J. Rouse, Robert D. Gregg
2022	J	`jnl`	Stability of Time-Invariant Extremum Seeking Control for Limit Cycle Minimization. IEEE Trans. Autom. Control. Saurav Kumar, Oleg Makarenkov, Robert D. Gregg, Nicholas R. Gans
2022	A*	`conf`	Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis. ICRA Ross J. Cortino, Edgar A. Bolívar-Nieto, T. Kevin Best, Robert D. Gregg
2021	—	`conf`	An Energy Shaping Exoskeleton Controller for Human Strength Amplification. CDC Gray Cortright Thomas, Robert D. Gregg
2021	A	`conf`	Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice. IROS Edgar A. Bolívar-Nieto, Gray C. Thomas, Elliott J. Rouse, Robert D. Gregg
2021	C	`conf`	Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics. ACC Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed
2021	J	`jnl`	Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics. IEEE Control. Syst. Lett. Vinay R. Kamidi, Jonathan C. Horn, Robert D. Gregg, Kaveh Akbari Hamed
2021	J	`jnl`	Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses. CoRR Christopher Nesler, Gray C. Thomas, Nikhil Divekar, Elliott J. Rouse, Robert D. Gregg
2021	J	`jnl`	Lower-limb kinematics and kinetics during continuously varying human locomotion. CoRR Emma Reznick, Kyle R. Embry, Ross M. Neuman, Edgar A. Bolívar-Nieto, Nicholas P. Fey, Robert D. Gregg
2021	C	`conf`	Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton. ACC Jianping Lin, Nikhil V. Divekar, Ge Lv, Robert D. Gregg
2021	J	`jnl`	Optimal Task-Invariant Energetic Control for a Knee-Ankle Exoskeleton. IEEE Control. Syst. Lett. Jianping Lin, Nikhil V. Divekar, Ge Lv, Robert D. Gregg
2021	A	`conf`	Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines. IROS T. Kevin Best, Kyle R. Embry, Elliott J. Rouse, Robert D. Gregg
2021	—	`conf`	Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis. CCTA Daphna Raz, Edgar A. Bolívar-Nieto, Necmiye Ozay, Robert D. Gregg
2021	J	`jnl`	Trajectory-Free Control of Lower-Limb Exoskeletons Through Underactuated Total Energy Shaping. IEEE Access Ge Lv, Jianping Lin, Robert D. Gregg
2020	—	`conf`	A Potential Energy Shaping Controller with Ground Reaction Force Feedback for a Multi-Activity Knee-Ankle Exoskeleton. BioRob Nikhil V. Divekar, Jianping Lin, Christopher Nesler, Sara Borboa, Robert D. Gregg
2020	C	`conf`	A Task-Invariant Learning Framework of Lower-Limb Exoskeletons for Assisting Human Locomotion. ACC Ge Lv, Haosen Xing, Jianping Lin, Robert D. Gregg, Christopher G. Atkeson
2020	J	`jnl`	Design and Validation of a Powered Knee-Ankle Prosthesis With High-Torque, Low-Impedance Actuators. IEEE Trans. Robotics Toby Elery, Siavash Rezazadeh, Christopher Nesler, Robert D. Gregg
2020	J	`jnl`	Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs. IEEE Trans. Control. Syst. Technol. Saurav Kumar, Alireza Mohammadi, David Quintero, Siavash Rezazadeh, Nicholas R. Gans, Robert D. Gregg
2020	J	`jnl`	Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton. IEEE Robotics Autom. Lett. Saurav Kumar, Matthew Richard Zwall, Edgar A. Bolívar-Nieto, Robert D. Gregg, Nicholas R. Gans
2020	J	`jnl`	Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking. IEEE Robotics Autom. Lett. Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg
2020	—	`conf`	Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds. BioRob Emma Reznick, Kyle R. Embry, Robert D. Gregg
2019	J	`jnl`	A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis. IEEE Access Siavash Rezazadeh, David Quintero, Nikhil Divekar, Emma Reznick, Leslie Gray, Robert D. Gregg
2019	C	`conf`	Contact-Invariant Total Energy Shaping Control for Powered Exoskeletons. ACC Jianping Lin, Ge Lv, Robert D. Gregg
2019	—	`conf`	Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation. ICORR Hanqi Zhu, Christopher Nesler, Nikhil Divekar, M. Taha Ahmad, Robert D. Gregg
2019	—	`conf`	Energy Shaping Control with Virtual Spring and Damper for Powered Exoskeletons. CDC Jianping Lin, Nikhil Divekar, Ge Lv, Robert D. Gregg
2019	J	`jnl`	Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints. IEEE Control. Syst. Lett. Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg
2019	C	`conf`	Limit Cycle Minimization by Time-Invariant Extremum Seeking Control. ACC Saurav Kumar, Alireza Mohammadi, Robert D. Gregg, Nicholas R. Gans
2019	—	`conf`	Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle. ICORR Edgar Bolívar, Siavash Rezazadeh, Tyler H. Summers, Robert D. Gregg
2018	J	`jnl`	A Phase Variable Approach for Improved Volitional and Rhythmic Control of a Powered Knee-Ankle Prosthesis. CoRR Siavash Rezazadeh, David Quintero, Nikhil Divekar, Emma Reznick, Leslie Gray, Robert D. Gregg
2018	A	`conf`	A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses. IROS Siavash Rezazadeh, David Quintero, Nikhil Divekar, Robert D. Gregg
2018	J	`jnl`	Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines. IEEE Trans. Robotics David Quintero, Dario J. Villarreal, Daniel J. Lambert, Susan Kapp, Robert D. Gregg
2018	A*	`conf`	Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators. ICRA Toby Elery, Siavash Rezazadeh, Christopher Nesler, Jack Doan, Hanqi Zhu, Robert D. Gregg
2018	C	`conf`	Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. ACC Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames
2018	—	`conf`	Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots. CDC Alireza Mohammadi, Seyed Abolfazl Fakoorian, Jonathan C. Horn, Dan Simon, Robert D. Gregg
2018	J	`jnl`	Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design. CoRR Edgar Bolívar, Siavash Rezazadeh, Robert D. Gregg
2018	C	`conf`	Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. ACC Kaveh Akbari Hamed, Aaron D. Ames, Robert D. Gregg
2018	C	`conf`	Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots. ACC Mark R. Yeatman, Ge Lv, Robert D. Gregg
2018	J	`jnl`	Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle. CoRR Edgar Bolívar, Siavash Rezazadeh, Tyler H. Summers, Robert D. Gregg
2018	J	`jnl`	Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study. IEEE Trans. Control. Syst. Technol. David Quintero, Anne E. Martin, Robert D. Gregg
2018	J	`jnl`	Underactuated Potential Energy Shaping With Contact Constraints: Application to a Powered Knee-Ankle Orthosis. IEEE Trans. Control. Syst. Technol. Ge Lv, Robert D. Gregg
2017	—	`conf`	Automatic tuning of virtual constraint-based control algorithms for powered knee-ankle prostheses. CCTA Saurav Kumar, Alireza Mohammadi, Nicholas R. Gans, Robert D. Gregg
2017	J	`jnl`	Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking. IEEE Trans. Control. Syst. Technol. Kaveh Akbari Hamed, Robert D. Gregg
2017	A*	`conf`	Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis. ICRA Hanqi Zhu, Jack Doan, Calvin Stence, Ge Lv, Toby Elery, Robert D. Gregg
2017	—	`conf`	Piecewise and unified phase variables in the control of a powered prosthetic leg. ICORR Dario J. Villarreal, David Quintero, Robert D. Gregg
2017	—	`conf`	Real-Time continuous gait phase and speed estimation from a single sensor. CCTA David Quintero, Daniel J. Lambert, Dario J. Villarreal, Robert D. Gregg
2017	—	`conf`	Removing phase variables from biped robot parametric gaits. CCTA Alireza Mohammadi, Jonathan Horn, Robert D. Gregg
2017	J	`jnl`	Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses. IEEE Trans. Autom. Control. Anne E. Martin, Robert D. Gregg
2017	C	`conf`	Towards total energy shaping control of lower-limb exoskeletons. ACC Ge Lv, Robert D. Gregg
2016	J	`jnl`	A Haptic Feedback System for Phase-Based Sensory Restoration in Above-Knee Prosthetic Leg Users. IEEE Trans. Haptics Aaron Plauche, Dario J. Villarreal, Robert D. Gregg
2016	J	`jnl`	A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion. IEEE Access Dario J. Villarreal, David Quintero, Robert D. Gregg
2016	—	`conf`	A unified parameterization of human gait across ambulation modes. EMBC Kyle R. Embry, Dario J. Villarreal, Robert D. Gregg
2016	C	`conf`	Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking. ACC Kaveh Akbari Hamed, Robert D. Gregg
2016	A*	`conf`	Experimental implementation of underactuated potential energy shaping on a powered ankle-foot orthosis. ICRA Ge Lv, Hanqi Zhu, Toby Elery, Luwei Li, Robert D. Gregg
2016	J	`jnl`	Incorporating Human-Like Walking Variability in an HZD-Based Bipedal Model. IEEE Trans. Robotics Anne E. Martin, Robert D. Gregg
2016	A	`conf`	Preliminary experiments with a unified controller for a powered knee-ankle prosthetic leg across walking speeds. IROS David Quintero, Dario J. Villarreal, Robert D. Gregg
2016	C	`conf`	Prosthetic leg control in the nullspace of human interaction. ACC Robert D. Gregg, Anne E. Martin
2016	—	`conf`	Towards a series elastic actuator with electrically modulated stiffness for Powered Ankle-Foot Orthoses. CASE Edgar Bolívar, David Allen, Gregory Ellson, Jorge Cossio, Walter Voit, Robert D. Gregg
2016	—	`conf`	Unified phase variables of relative degree two for human locomotion. EMBC Dario J. Villarreal, Robert D. Gregg
2015	—	`conf`	A perturbation mechanism for investigations of phase variables in human locomotion. ROBIO Dario J. Villarreal, David Quintero, Robert D. Gregg
2015	C	`conf`	Hybrid invariance and stability of a feedback linearizing controller for powered prostheses. ACC Anne E. Martin, Robert D. Gregg
2015	—	`conf`	Orthotic body-weight support through underactuated potential energy shaping with contact constraints. CDC Ge Lv, Robert D. Gregg
2014	—	`conf`	A survey of phase variable candidates of human locomotion. EMBC Dario J. Villarreal, Robert D. Gregg
2014	J	`jnl`	Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot. IEEE Trans. Robotics Amir Degani, Andrew W. Long, Siyuan Feng, H. Benjamin Brown, Robert D. Gregg, Howie Choset, Matthew T. Mason, Kevin M. Lynch
2014	C	`conf`	Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios. ACC Akshay Nanjangud, Robert D. Gregg
2014	J	`jnl`	Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg. IEEE Trans. Control. Syst. Technol. Robert D. Gregg, Jonathon W. Sensinger
2014	J	`jnl`	Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments With Transfemoral Amputees. IEEE Trans. Robotics Robert D. Gregg, Tommaso Lenzi, Levi J. Hargrove, Jonathon W. Sensinger
2013	C	`conf`	Biomimetic virtual constraint control of a transfemoral powered prosthetic leg. ACC Robert D. Gregg, Jonathon W. Sensinger
2013	J	`jnl`	Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation. IEEE Trans. Autom. Control. Robert D. Gregg, Ludovic Righetti
2013	—	`conf`	Experimental effective shape control of a powered transfemoral prosthesis. ICORR Robert D. Gregg, Tommaso Lenzi, Nicholas P. Fey, Levi J. Hargrove, Jonathon W. Sensinger
2013	J	`jnl`	The Difference Between Stiffness and Quasi-Stiffness in the Context of Biomechanical Modeling. IEEE Trans. Biomed. Eng. Elliott J. Rouse, Robert D. Gregg, Levi J. Hargrove, Jonathon W. Sensinger
2012	J	`jnl`	Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives. IEEE Trans. Robotics Robert D. Gregg, Adam K. Tilton, Salvatore Candido, Timothy Bretl, Mark W. Spong
2012	J	`jnl`	On the Mechanics of Functional Asymmetry in Bipedal Walking. IEEE Trans. Biomed. Eng. Robert D. Gregg, Yasin Y. Dhaher, Amir Degani, Kevin M. Lynch
2012	A*	`conf`	Stable open-loop brachiation on a vertical wall. ICRA Nelson Rosa Jr., Adam Barber, Robert D. Gregg, Kevin M. Lynch
2011	—	`conf`	Controlled reduction of a five-link 3D biped with unactuated yaw. CDC/ECC Robert D. Gregg
2011	—	`conf`	Functional asymmetry in a five-link 3D bipedal walker. EMBC Robert D. Gregg, Yasin Y. Dhaher, Kevin M. Lynch
2010	—	`conf`	A control theoretic approach to robot-assisted locomotor therapy. CDC Robert D. Gregg, Timothy Bretl, Mark W. Spong
2010	A*	`conf`	Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions. ICRA Robert D. Gregg, Timothy Bretl, Mark W. Spong
2010	—	`conf`	Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. Humanoids Robert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal
2010	J	`jnl`	Reduction-based Control of Three-dimensional Bipedal Walking Robots. Int. J. Robotics Res. Robert D. Gregg, Mark W. Spong
2009	A	`conf`	Bringing the compass-gait bipedal walker to three dimensions. IROS Robert D. Gregg, Mark W. Spong
2009	—	`conf`	Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots. CDC Robert D. Gregg, Mark W. Spong
2008	C	`conf`	Reduction-based control with application to three-dimensional bipedal walking robots. ACC Robert D. Gregg, Mark W. Spong
2007	—	`conf`	A geometric approach to three-dimensional hipped bipedal robotic walking. CDC Aaron D. Ames, Robert D. Gregg, Mark W. Spong
2007	C	`conf`	Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. ACC Aaron D. Ames, Robert D. Gregg
2006	C	`conf`	Is there life after Zeno? Taking executions past the breaking (Zeno) point. ACC Aaron D. Ames, Haiyang Zheng, Robert D. Gregg, Shankar Sastry