Robert J. Griffin

72 papers A* 8A 8Journal 42Unranked 14

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	A behavior architecture for fast humanoid robot door traversals. Robotics Auton. Syst. Duncan Calvert, Luigi Penco, Dexton Anderson, Tomasz Bialek, Arghya Chatterjee, Bhavyansh Mishra, Geoffrey Clark, Sylvain Bertrand, Robert J. Griffin
2026	J	`jnl`	Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery. CoRR Nehar Poddar, Stephen McCrory, Luigi Penco, Geoffrey Clark, Hakki Erhan Svil, Robert J. Griffin
2025	A*	`conf`	Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots. ICRA Connor W. Herron, Robert Schuller, Benjamin C. Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
2025	—	`conf`	Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots. Humanoids Luigi Penco, Beomyeong Park, Stefan Fasano, Nehar Poddar, Stephen McCrory, Nicholas Kitchel, Tomasz Bialek, Dexton Anderson, Duncan Calvert, Robert J. Griffin
2025	J	`jnl`	Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots. CoRR Luigi Penco, Beomyeong Park, Stefan Fasano, Nehar Poddar, Stephen McCrory, Nicholas Kitchel, Tomasz Bialek, Dexton Anderson, Duncan Calvert, Robert J. Griffin
2025	J	`jnl`	Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning. CoRR Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert J. Griffin, C. Karen Liu, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao, Ye Zhao
2025	J	`jnl`	Humanoid Robotics: Integrating Cognitive and Physical Abilities for Human-Centered Environments [From the Guest Editors]. IEEE Robotics Autom. Mag. Oliver Urbann, Fei Chen, Julian Eßer, Robert J. Griffin, Kenji Hashimoto, Fumio Kanehiro, Paul Oh, Olivier Stasse, Yuichi Tazaki
2025	J	`jnl`	Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots. IEEE Robotics Autom. Lett. Sergi Martinez, Robert J. Griffin, Carlos Mastalli
2025	J	`jnl`	Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation. CoRR Stephen McCrory, Romeo Orsolino, Dhruv Thanki, Luigi Penco, Robert J. Griffin
2025	J	`jnl`	Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation. IEEE Robotics Autom. Lett. Stephen McCrory, Romeo Orsolino, Dhruv Thanki, Luigi Penco, Robert J. Griffin
2025	—	`conf`	The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control. Humanoids Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel, Ibrahima Sory Sow, Juee Chandrachud, Sheitej Sharma, Will Kraus, Beomyeong Park, Robert J. Griffin, John M. Dolan, Zachary Manchester
2025	J	`jnl`	The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control. CoRR Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel, Ibrahima Sory Sow, Juee Chandrachud, Sheitej Sharma, Will Kraus, Beomyeong Park, Robert J. Griffin, John M. Dolan, Zachary Manchester
2024	J	`jnl`	A Behavior Architecture for Fast Humanoid Robot Door Traversals. CoRR Duncan Calvert, Luigi Penco, Dexton Anderson, Tomasz Bialek, Arghya Chatterjee, Bhavyansh Mishra, Geoffrey Clark, Sylvain Bertrand, Robert J. Griffin
2024	J	`jnl`	Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. CoRR Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
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	A*	`conf`	Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. ICRA Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, 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
2024	J	`jnl`	Mixed Reality Teleoperation Assistance for Direct Control of Humanoids. CoRR Luigi Penco, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert, Robert J. Griffin
2024	J	`jnl`	Mixed Reality Teleoperation Assistance for Direct Control of Humanoids. IEEE Robotics Autom. Lett. Luigi Penco, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert, Robert J. Griffin
2024	J	`jnl`	Multi-Contact Inertial Estimation and Localization in Legged Robots. CoRR Sergi Martinez, Robert J. Griffin, Carlos Mastalli
2024	A	`conf`	Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation. IROS James Foster, Stephen McCrory, Christian DeBuys, Sylvain Bertrand, Robert J. Griffin
2024	J	`jnl`	Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation. CoRR James Foster, Stephen McCrory, Christian DeBuys, Sylvain Bertrand, 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	A	`conf`	Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting. IROS Jared M. Li, Owen Winship, Stefan Fasano, Bridget Longo, Nicole M. Esposito, Gregory S. Sawicki, Robert J. Griffin, Gwendolyn M. Bryan
2023	J	`jnl`	Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. CoRR Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, 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	—	`conf`	Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. Humanoids Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand
2023	J	`jnl`	Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. CoRR Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand
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`	Editorial: Humanoid Robots for Real-World Applications. Frontiers Robotics AI Fumio Kanehiro, Wael Suleiman, Robert J. Griffin
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	A*	`conf`	Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors. ICRA Bhavyansh Mishra, Duncan Calvert, Brendon Ortolano, Max Asselmeier, Luke Fina, Stephen McCrory, Hakki Erhan Sevil, Robert J. Griffin
2022	—	`conf`	Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. Humanoids Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert
2022	J	`jnl`	Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. CoRR Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert
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	A	`conf`	GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots. IROS Bhavyansh Mishra, Duncan Calvert, Sylvain Bertrand, Stephen McCrory, Robert J. Griffin, Hakki Erhan Sevil
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	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
2019	J	`jnl`	Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. Int. J. Humanoid Robotics Robert J. Griffin, Alexander Leonessa
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	J	`jnl`	Stability of Mina v2 for Robot-Assisted Balance and Locomotion. Frontiers Neurorobotics Carlotta Mummolo, William Z. Peng, Shlok Agarwal, Robert J. Griffin, Peter D. Neuhaus, Joo H. Kim
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`	Design and Approach of Team IHMC in the 2016 Cybathlon. CoRR 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
2017	—	`conf`	Online estimation of friction constraints for multi-contact whole body control. Humanoids Cameron P. Ridgewell, Robert J. Griffin, Tomonari Furukawa, Brian Y. Lattimer
2017	J	`jnl`	Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon. IEEE Robotics Autom. Mag. 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
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 VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. J. Field Robotics 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
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
2016	A	`conf`	Disturbance compensation and step optimization for push recovery. IROS Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck
2016	A*	`conf`	Model predictive control for dynamic footstep adjustment using the divergent component of motion. ICRA Robert J. Griffin, Alexander Leonessa
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	—	`conf`	Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. Humanoids Michael A. Hopkins, Robert J. Griffin, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa
2002	J	`jnl`	Linking the Heuristic-Systematic Model and Depth of Processing. Commun. Res. Robert J. Griffin, Kurt Neuwirth, James Giese, Sharon Dunwoody