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Jessy Grizzle

Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

May 17, 2021
Yukai Gong, Jessy Grizzle

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* 20 pages, 14 figures. arXiv admin note: text overlap with arXiv:2008.10763

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Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller

Aug 25, 2020
Yukai Gong, Jessy Grizzle

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* 10 pages, 11 figures

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Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway

Sep 19, 2018
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle

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* Associated software will be made open source when paper review is completed

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

May 21, 2018
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy Grizzle

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* Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeletons

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