Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal. - Donghyun Kim 002; Gray C. Thomas; Luis Sentis (ICARCV, 2014)

Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback. - Kwan-Suk Kim; Alan S. Kwok; Gray C. Thomas; Luis Sentis (IROS, 2014)

A method for dynamically balancing a point foot robot. - Donghyun Kim 002; Gray C. Thomas; Luis Sentis (Humanoids, 2015)

Hybrid multi-contact dynamics for wedge jumping locomotion behaviors. - Ye Zhao 002; Donghyun Kim 002; Gray C. Thomas; Luis Sentis (HSCC, 2015)

Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Luis Sentis (CoRR, 2015)

Towards computationally efficient planning of dynamic multi-contact locomotion. - Gray C. Thomas; Luis Sentis (IROS, 2016)

Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control. - Donghyun Kim 002; Ye Zhao 002; Gray C. Thomas; Benito R. Fernández; Luis Sentis (IEEE Trans. Robotics, 2016)

MIMO identification of frequency-domain unreliability in SEAs. - Gray C. Thomas; Luis Sentis (ACC, 2017)

Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints. - Prashant Rao; Gray C. Thomas; Luis Sentis; Ashish D. Deshpande (ICRA, 2017)

Safety Control Synthesis with Input Limits: a Hybrid Approach. - Gray C. Thomas; Binghan He; Luis Sentis (ACC, 2018)

Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. - Rachel Schlossman; Gray C. Thomas; Orion Campbell; Luis Sentis (ROBIO, 2018)

Identifying H[infinity]-Models: An LMI Approach. - Gray C. Thomas; Luis Sentis (CoRR, 2018)

Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming. - Rachel Schlossman; Gray C. Thomas; Luis Sentis (CoRR, 2018)

Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs. - Gray Cortright Thomas; Jeremiah M. Coholich; Luis Sentis (AIM, 2019)

Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation. - Binghan He; Gray C. Thomas; Nicholas Paine; Luis Sentis (ACC, 2019)

Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons. - Binghan He; Huang Huang; Gray C. Thomas; Luis Sentis (IROS, 2019)

Quadric Inclusion Programs: An LMI Approach to ℋ∞-Model Identification. - Gray Cortright Thomas; Luis Sentis (IEEE Trans. Autom. Control., 2019)

Robust Estimator-Based Safety Verification: A Vector Norm Approach. - Binghan He; Gray C. Thomas; Luis Sentis (ACC, 2020)

Adaptive Compliance Shaping with Human Impedance Estimation. - Huang Huang; Henry F. Cappel; Gray C. Thomas; Binghan He; Luis Sentis (ACC, 2020)

Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance. - Roberto L. Medrano; Gray C. Thomas; Elliott J. Rouse (BioRob, 2020)

A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control. - Binghan He; Huang Huang; Gray C. Thomas; Luis Sentis (CoRR, 2020)

An Energy Shaping Exoskeleton Controller for Human Strength Amplification. - Gray Cortright Thomas; Robert D. Gregg (CDC, 2021)

Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice. - Edgar A. Bolívar-Nieto; Gray C. Thomas; Elliott J. Rouse; Robert D. Gregg (IROS, 2021)

Biologically-Inspired Impedance Control With Hysteretic Damping. - Nicolas Brissonneau; Binghan He; Gray C. Thomas; Luis Sentis (IEEE Control. Syst. Lett., 2021)

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons. - Gray C. Thomas; Orion Campbell; Nick Nichols; Nicolas Brissonneau; Binghan He; Joshua James; Nicholas Paine; Luis Sentis (Frontiers Robotics AI, 2021)

Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. - Roberto Leo Medrano; Gray Cortright Thomas; Elliott J. Rouse; Robert D. Gregg (IEEE Robotics Autom. Lett., 2022)

Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses. - Christopher Nesler; Gray C. Thomas; Nikhil Divekar; Elliott J. Rouse; Robert D. Gregg (IEEE Robotics Autom. Lett., 2022)

Bill of Materials and Component CAD for a Modular Exoskeleton. - Christopher Nesler; Gray C. Thomas; Nikhil Divekar; Elliott J. Rouse; Robert D. Gregg (IEEE DataPort, 2022)

A Compact, Two-Part Torsion Spring Architecture. - Zachary Bons; Gray C. Thomas; Luke M. Mooney; Elliott J. Rouse (ICRA, 2023)

Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. - José A. Montes-Pérez; Gray Cortright Thomas; Robert D. Gregg (IROS, 2023)

A Sensitivity Analysis of an Economic Value Metric for Quantifying the Success of Lower-Limb Exoskeletons and Their Assistance. - Nundini D. Rawal; Roberto L. Medrano; Gray C. Thomas; Elliott J. Rouse (IROS, 2023)

An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. - Katharine Walters; Gray C. Thomas; Jianping Lin; Robert D. Gregg (IROS, 2023)

Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain. - Roberto Leo Medrano; Gray Cortright Thomas; Connor G. Keais; Elliott J. Rouse; Robert D. Gregg (IEEE Trans. Robotics, 2023)

Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots. - Ting-Wei Hsu; Robert D. Gregg; Gray C. Thomas (IEEE Robotics Autom. Lett., 2024)

A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks. - Nikhil V. Divekar; Gray C. Thomas; Avani R. Yerva; Hannah B. Frame; Robert D. Gregg (Sci. Robotics, 2024)

A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications. - Isaac Richard Harris; Elliott J. Rouse; Robert D. Gregg; Gray Cortright Thomas (IEEE Robotics Autom. Lett., 2024)

A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons. - Jianping Lin; Gray C. Thomas; Nikhil V. Divekar; Vamsi Peddinti; Robert D. Gregg (IEEE Trans. Control. Syst. Technol., 2024)

Amplifying Human Strength Through a Virtual Sprung Inertia. - Anthony Petrakian; Zachary Bucknor-Smartt; Crystal Q. Scott; Gray C. Thomas (ICORR, 2025)

Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment. - Yichen Wang; José A. Montes-Pérez; Robert D. Gregg; Gray C. Thomas (ICORR, 2025)

Empirically Compensated Setpoint Tracking for Spherical Robots With Pressurized Soft-Shells. - Derek Pravecek; Micah Oevermann; Gray C. Thomas; Robert O. Ambrose (IEEE Robotics Autom. Lett., 2025)

Characterization of a Quasi-Direct Drive Knee Perturbation System for Mechanical Impedance Estimation. - Yves F. Nazon II; Gray C. Thomas; Elliott J. Rouse (IEEE Robotics Autom. Lett., 2025)