Stiffness Isn't Everything. - Gill A. Pratt; Matthew M. Williamson; Peter Dilworth; Jerry E. Pratt; Anne Wright (ISER, 1995)

Virtual actuator control. - Jerry E. Pratt; Ann Torres; Peter Dilworth; Gill A. Pratt (IROS, 1996)

Virtual model control of a bipedal walking robot. - Jerry E. Pratt; Peter Dilworth; Gill A. Pratt (ICRA, 1997)

Intuitive Control of a Planar Bipedal Walking Robot. - Jerry E. Pratt; Gill A. Pratt (ICRA, 1998)

Adaptive dynamic control of a bipedal walking robot with radial basis function neural networks. - Jianjuen J. Hu; Jerry E. Pratt; Gill A. Pratt (IROS, 1998)

Blind Walking of a Planar Bipedal Robot on Sloped Terrain. - Chee-Meng Chew; Jerry E. Pratt; Gill A. Pratt (ICRA, 1999)

Stable Adaptive Control of a Bipedal Walking Robot with CMAC Neural Networks. - Jianjuen J. Hu; Jerry E. Pratt; Gill A. Pratt (ICRA, 1999)

Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot. - Jianjuen J. Hu; Jerry E. Pratt; Chee-Meng Chew; Hugh M. Herr; Gill A. Pratt (Int. J. Artif. Intell. Tools, 1999)

Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots. - Jerry E. Pratt (2000)

Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. - Jerry E. Pratt; Chee-Meng Chew; Ann Torres; Peter Dilworth; Gill A. Pratt (Int. J. Robotics Res., 2001)

Concept Designs for Underwater Swimming Exoskeletons. - Peter D. Neuhaus; Michael O'Sullivan; David Eaton; John Carff; Jerry E. Pratt (ICRA, 2004)

The RoboKnee: an Exoskeleton for Enhancing Strength and Endurance during Walking. - Jerry E. Pratt; Benjamin T. Krupp; Christopher J. Morse; Steven H. Collins (ICRA, 2004)

Capture Point: A Step toward Humanoid Push Recovery. - Jerry E. Pratt; John Carff; Sergey V. Drakunov; Ambarish Goswami (Humanoids, 2006)

Development of Control for a Serpentine Robot. - William R. Hutchison; Betsy J. Constantine; Johann Borenstein; Jerry E. Pratt (CIRA, 2007)

Learning Capture Points for humanoid push recovery. - John R. Rebula; Fabian Canas; Jerry E. Pratt; Ambarish Goswami (Humanoids, 2007)

Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model. - Jerry E. Pratt; Sergey V. Drakunov (ICRA, 2007)

A Controller for the LittleDog Quadruped Walking on Rough Terrain. - John R. Rebula; Peter D. Neuhaus; Brian V. Bonnlander; Matthew J. Johnson 001; Jerry E. Pratt (ICRA, 2007)

Hierarchical two stage planner for little dog. - Brian V. Bonnlander; John R. Rebula; Peter D. Neuhaus; Matthew Johnson 001; Greg Hill; Carlos Pérez; John Carff; William Howell; Jerry E. Pratt (ICRA, 2008)

Learning Capture Points for Bipedal Push Recovery. - John R. Rebula; Fabian Canas; Jerry E. Pratt; Ambarish Goswami (ICRA, 2008)

Learning terrain cost maps. - John R. Rebula; Greg Hill; Brian V. Bonnlander; Matthew Johnson 001; Peter D. Neuhaus; Carlos Pérez; John Carff; William Howell; Jerry E. Pratt (ICRA, 2008)

Development of the IHMC Mobility Assist Exoskeleton. - Hian Kai Kwa; Jerryll H. Noorden; Matthew Missel; Travis Craig; Jerry E. Pratt; Peter D. Neuhaus (ICRA, 2009)

Human-robot team navigation in visually complex environments. - John Carff; Matthew Johnson 001; Eman El-Sheikh; Jerry E. Pratt (IROS, 2009)

The Yobotics-IHMC Lower Body Humanoid Robot. - Jerry E. Pratt; Benjamin T. Krupp; Victor Ragusila; John R. Rebula; Twan Koolen; Niels van Nieuwenhuizen; Christopher Shake; Travis Craig; John Taylor; Greg Watkins; Peter D. Neuhaus; Matthew Johnson 001; et al. (IROS, 2009)

Demonstration of quadrupedal locomotion over rough terrain using the littledog robot. - Peter D. Neuhaus; Jerry E. Pratt; Matthew J. Johnson 001 (ICRA, 2010)

Editorial: Special Issue on Legged Locomotion. - Jonas Buchli; Jerry E. Pratt; Nicholas Roy (Int. J. Robotics Res., 2011)

Comprehensive summary of the Institute for Human and Machine Cognition's experience with LittleDog. - Peter D. Neuhaus; Jerry E. Pratt; Matthew J. Johnson 001 (Int. J. Robotics Res., 2011)

FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation. - Sebastien Cotton; Ionut Mihai Constantin Olaru; Matthew J. Bellman; Tim van der Ven; Johnny Godowski; Jerry E. Pratt (ICRA, 2012)

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. - Twan Koolen; Tomas de Boer; John R. Rebula; Ambarish Goswami; Jerry E. Pratt (Int. J. Robotics Res., 2012)

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. - Jerry E. Pratt; Twan Koolen; Tomas de Boer; John R. Rebula; Sebastien Cotton; John Carff; Matthew Johnson 001; Peter D. Neuhaus (Int. J. Robotics Res., 2012)

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. - Johannes Englsberger; Twan Koolen; Sylvain Bertrand; Jerry E. Pratt; Christian Ott 001; Alin Albu-Schäffer (IROS, 2014)

Real-Time control of Humanoid Robots using OpenJDK. - Jesper Smith; Douglas Stephen; Alex Lesman; Jerry E. Pratt (JTRES, 2014)

Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot. - Anirban Mazumdar; Steven J. Spencer; Jonathan Salton; Clinton Hobart; Joshua Love; Kevin Dullea; Michael Kuehl; Timothy Blada; Morgan Quigley; Jesper Smith; Sylvain Bertrand; Tingfan Wu; et al. (ICRA, 2015)

Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials. - Matthew Johnson 001; Brandon Shrewsbury; Sylvain Bertrand; Tingfan Wu; Daniel Duran 002; Marshall Floyd; Peter Abeles; Douglas Stephen; Nathan Mertins; Alex Lesman; John Carff; William Rifenburgh; et al. (J. Field Robotics, 2015)

Walking on partial footholds including line contacts with the humanoid robot atlas. - Georg Wiedebach; Sylvain Bertrand; Tingfan Wu; Luca Fiorio; Stephen McCrory; Robert J. Griffin; Francesco Nori; Jerry E. Pratt (Humanoids, 2016)

Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas. - Twan Koolen; Sylvain Bertrand; Gray Thomas; Tomas de Boer; Tingfan Wu; Jesper Smith; Johannes Englsberger; Jerry E. Pratt (Int. J. Humanoid Robotics, 2016)

Capture point trajectories for reduced knee bend using step time optimization. - Robert J. Griffin; Sylvain Bertrand; Georg Wiedebach; Alexander Leonessa; Jerry E. Pratt (Humanoids, 2017)

Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas. - Robert J. Griffin; Georg Wiedebach; Sylvain Bertrand; Alexander Leonessa; Jerry E. Pratt (IROS, 2017)

Team IHMC's Lessons Learned from the DARPA Robotics Challenge: Finding Data in the Rubble. - Matt Johnson 001; Brandon Shrewsbury; Sylvain Bertrand; Duncan Calvert; Tingfan Wu; Daniel Duran 002; Douglas Stephen; Nathan Mertins; John Carff; William Rifenburgh; Jesper Smith; Christopher Schmidt-Wetekam; et al. (J. Field Robotics, 2017)

Whole-Body Control [TC Spotlight]. - Federico L. Moro; Luis Sentis; Jaeheung Park; Christopher G. Atkeson; Michael Gienger; Ambarish Goswami; Shuuji Kajita; Oussama Khatib; James Kuffner; David E. Orin; Christian Ott 001; Jerry E. Pratt; et al. (IEEE Robotics Autom. Mag., 2017)

Straight-Leg Walking Through Underconstrained Whole-Body Control. - Robert J. Griffin; Georg Wiedebach; Sylvain Bertrand; Alexander Leonessa; Jerry E. Pratt (ICRA, 2018)

Inclusion of Angular Momentum During Planning for Capture Point Based Walking. - Tim Seyde; Apoorv Shrivastava; Johannes Englsberger; Sylvain Bertrand; Jerry E. Pratt; Robert J. Griffin (ICRA, 2018)

Footstep Planning for Autonomous Walking Over Rough Terrain. - Robert J. Griffin; Georg Wiedebach; Stephen McCrory; Sylvain Bertrand; Inho Lee 001; Jerry E. Pratt (Humanoids, 2019)

Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary. - 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; et al. (Humanoids, 2019)

0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum. - Gabriela García; Robert J. Griffin; Jerry E. Pratt (CoRR, 2019)

Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot. - Boris Jacob van Hofslot; Robert J. Griffin; Sylvain Bertrand; Jerry E. Pratt (IEEE Robotics Autom. Lett., 2019)

Detecting Usable Planar Regions for Legged Robot Locomotion. - Sylvain Bertrand; Inho Lee 001; Bhavyansh Mishra; Duncan Calvert; Jerry E. Pratt; Robert J. Griffin (IROS, 2020)

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. - Stefano Dafarra; Sylvain Bertrand; Robert J. Griffin; Giorgio Metta; Daniele Pucci; Jerry E. Pratt (IROS, 2020)

Achieving Versatile Energy Efficiency With the WANDERER Biped Robot. - Clinton Hobart; Anirban Mazumdar; Steven J. Spencer; Morgan Quigley; Jesper Smith; Sylvain Bertrand; Jerry E. Pratt; Michael Kuehl; Stephen P. Buerger (IEEE Trans. Robotics, 2020)

MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. - Gabriel García; Robert J. Griffin; Jerry E. Pratt (HUMANOIDS, 2021)

Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots. - Gabriel García; Robert J. Griffin; Jerry E. Pratt (ICRA, 2021)

A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions. - Duncan Calvert; Bhavyansh Mishra; Stephen McCrory; Sylvain Bertrand; Robert J. Griffin; Jerry E. Pratt (Humanoids, 2022)

Humanoid Path Planning over Rough Terrain using Traversability Assessment. - Stephen McCrory; Bhavyansh Mishra; Jaehoon An; Robert J. Griffin; Jerry E. Pratt; Hakki Erhan Sevil (CoRR, 2022)

Angular Center of Mass for Humanoid Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (CoRR, 2022)

Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot. - Robert J. Griffin; Stephen McCrory; Sylvain Bertrand; Duncan Calvert; Inho Lee 001; Peter D. Neuhaus; Douglas Stephen; Jay Jasper; Sisir Karumanchi; Ara Kourchians; Blair Emanuel; Emma Holmes; et al. (Field Robotics, 2022)

Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot. - 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; et al. (Field Robotics, 2022)

Generating Humanoid Multi-Contact Through Feasibility Visualization. - Stephen McCrory; Sylvain Bertrand; Achintya Mohan; Duncan Calvert; Jerry E. Pratt; Robert J. Griffin (Humanoids, 2023)

Integrable Whole-Body Orientation Coordinates for Legged Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (IROS, 2023)

A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories. - Stephen McCrory; Sylvain Bertrand; Duncan Calvert; Jerry E. Pratt; Robert J. Griffin (CoRR, 2023)

Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles. - Duncan Calvert; Dexton Anderson; Tomasz Bialek; Stephen McCrory; Luigi Penco; Jerry E. Pratt; Robert J. Griffin (CoRR, 2023)

Teleoperation of Humanoid Robots: A Survey. - Kourosh Darvish; Luigi Penco; Joao Ramos; Rafael Cisneros 001; Jerry E. Pratt; Eiichi Yoshida; Serena Ivaldi; Daniele Pucci (IEEE Trans. Robotics, 2023)

High-Speed and Impact Resilient Teleoperation of Humanoid Robots. - Sylvain Bertrand; Luigi Penco; Dexton Anderson; Duncan Calvert; Valentine Roy; Stephen McCrory; Khizar Mohammed; Sebastian Sanchez; Will Griffith; Steve Morfey; Alexis Maslyczyk; Achintya Mohan; et al. (Humanoids, 2024)

Efficient Terrain Map Using Planar Regions for Footstep Planning on Humanoid Robots. - Bhavyansh Mishra; Duncan Calvert; Sylvain Bertrand; Jerry E. Pratt; Hakki Erhan Sevil; Robert J. Griffin (ICRA, 2024)