Zeros at Infinity for Nonlinear Discrete Time Systems. - J. W. Grizzle; Henk Nijmeijer (Math. Syst. Theory, 1986)

Sampling, infinite zeros and decoupling of linear systems. - Jessy W. Grizzle; M. H. Shor (Autom., 1988)

Block noninteracting control with stability via static state feedback. - J. W. Grizzle; Alberto Isidori (Math. Control. Signals Syst., 1989)

Sampled-data observer error linearization. - S.-T. Chung; J. W. Grizzle (Autom., 1990)

Asymptotic model matching for nonlinear systems. - Maria Domenica Di Benedetto; Jessy W. Grizzle (IEEE Trans. Autom. Control., 1994)

Necessary conditions for asymptotic tracking in nonlinear systems. - Jessy W. Grizzle; Maria Domenica Di Benedetto; Françoise Lamnabhi-Lagarrigue (IEEE Trans. Autom. Control., 1994)

Observer design for nonlinear systems with discrete-time measurements. - Paul Moraal; Jessy W. Grizzle (IEEE Trans. Autom. Control., 1995)

Synthesis of nonlinear observers via structural analysis and numerical differentiation. - Franck Plestan; J. W. Grizzle (ECC, 1999)

On numerical differentiation algorithms for nonlinear estimation. - Sette Diop; Jessy W. Grizzle; François Chaplais (CDC, 2000)

Dynamic modeling of a three-way catalyst for SI engine exhaust emission control. - Erich P. Brandt; Yanying Wang; Jessy W. Grizzle (IEEE Trans. Control. Syst. Technol., 2000)

Variable camshaft timing engine control. - Anna G. Stefanopoulou; James S. Freudenberg; Jessy W. Grizzle (IEEE Trans. Control. Syst. Technol., 2000)

Three-way catalyst diagnostics for advanced emissions control systems. - Erich P. Brandt; J. W. Grizzle (ACC, 2001)

Energy management strategy for a parallel hybrid electric truck. - Chan-Chiao Lin; Jun-Mo Kang; J. W. Grizzle; Huei Peng (ACC, 2001)

A global exponential observer based on numerical differentiation. - Sette Diop; Vincent Fromion; Jessy W. Grizzle (CDC, 2001)

A resettable Kalman filter based on numerical differentiation. - Sette Diop; Vincent Fromion; Jessy W. Grizzle (ECC, 2001)

Discrete-time control design with positive semi-definite Lyapunov functions. - J. W. Grizzle; Jun-Mo Kang (Syst. Control. Lett., 2001)

Asymptotically stable walking for biped robots: analysis via systems with impulse effects. - Jessy W. Grizzle; Gabriel Abba; Franck Plestan (IEEE Trans. Autom. Control., 2001)

Correction to "asymptotically stable walking for biped robots: analysis via systems with impulse effects". - Jessy W. Grizzle; Gabriel Abba; Franck Plestan (IEEE Trans. Autom. Control., 2001)

Fore-aft oxygen storage control. - Giovanni Fiengo; Jeffrey A. Cook; Jessy W. Grizzle (ACC, 2002)

From stoichiometry to ultra lean burn in a direct injection spark ignition engine model. - Joseph J. Scillieri; James S. Freudenberg; Jessy W. Grizzle (ACC, 2002)

Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization. - E. R. Westervelt; J. W. Grizzle (ICRA, 2002)

Event-based PI control of an underactuated biped walker. - J. W. Grizzle; E. R. Westervelt; Carlos Canudas-de-Wit (CDC, 2003)

Hybrid zero dynamics of planar biped walkers. - Eric R. Westervelt; Jessy W. Grizzle; Daniel E. Koditschek (IEEE Trans. Autom. Control., 2003)

Switching and PI control of walking motions of planar biped walkers. - Eric R. Westervelt; Jessy W. Grizzle; Carlos Canudas de Wit (IEEE Trans. Autom. Control., 2003)

Power management strategy for a parallel hybrid electric truck. - Chan-Chiao Lin; Huei Peng; Jessy W. Grizzle; Jun-Mo Kang (IEEE Trans. Control. Syst. Technol., 2003)

Stable walking of a 7-DOF biped robot. - Franck Plestan; Jessy W. Grizzle; Eric R. Westervelt; Gabriel Abba (IEEE Trans. Robotics Autom., 2003)

A stochastic control strategy for hybrid electric vehicles. - Chan-Chiao Lin; Huei Peng; Jessy W. Grizzle (ACC, 2004)

Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner. - Christine Chevallereau; E. R. Westervelt; Jessy W. Grizzle (CDC, 2004)

Planar bipedal robot with impulsive foot action. - Jun Ho Choi; Jessy W. Grizzle (CDC, 2004)

Walking and running in bipedal robots: control theory and experiments. - Jessy W. Grizzle (CDC, 2004)

Nonlinear Control of Mechanical Systems with one Degree of Underactuation. - Christine Chevallereau; J. W. Grizzle; Claude H. Moog (ICRA, 2004)

Inducing Dynamically Stable Walking in an Underactuated Prototype Planar Biped. - E. R. Westervelt; Gabriel Buche; J. W. Grizzle (ICRA, 2004)

Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds. - E. R. Westervelt; Gabriel Buche; J. W. Grizzle (Int. J. Robotics Res., 2004)

Planar bipedal walking with foot rotation. - Jun Ho Choi; J. W. Grizzle (ACC, 2005)

A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots. - Benjamin Morris 001; Jessy W. Grizzle (CDC/ECC, 2005)

Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot. - Christine Chevallereau; E. R. Westervelt; J. W. Grizzle (Int. J. Robotics Res., 2005)

Feedback control of an underactuated planar bipedal robot with impulsive foot action. - Jun Ho Choi; J. W. Grizzle (Robotica, 2005)

Nonlinear control of mechanical systems with an unactuated cyclic variable. - J. W. Grizzle; Claude H. Moog; Christine Chevallereau (IEEE Trans. Autom. Control., 2005)

Dual-UEGO active catalyst control for emissions reduction: design and experimental validation. - Giovanni Fiengo; Jessy W. Grizzle; Jeffrey A. Cook; Amey Y. Karnik (IEEE Trans. Control. Syst. Technol., 2005)

Hybrid Invariance in Bipedal Robots with Series Compliant Actuators. - Benjamin Morris 001; Jessy W. Grizzle (CDC, 2006)

Nonlinear control for magnetic levitation of automotive engine vales. - Katherine S. Peterson; Jessy W. Grizzle; Anna G. Stefanopoulou (IEEE Trans. Control. Syst. Technol., 2006)

A Path-Following Approach to Stable Bipedal Walking and Zero Moment Point Regulation. - Dalila Djoudi; Christine Chevallereau; J. W. Grizzle (ICRA, 2007)

Monopedal running control: SLIP embedding and virtual constraint controllers. - Ioannis Poulakakis; J. W. Grizzle (IROS, 2007)

HZD-based control of a five-link underactuated 3D bipedal robot. - Jessy W. Grizzle; Christine Chevallereau; Ching-Long Shih (CDC, 2008)

Incorporating drivability metrics into optimal energy management strategies for Hybrid Vehicles. - Daniel F. Opila; Deepak Aswani; Ryan McGee; Jeffrey A. Cook; Jessy W. Grizzle (CDC, 2008)

Stable Bipedal Walking With Foot Rotation Through Direct Regulation of the Zero Moment Point. - Christine Chevallereau; Dalila Djoudi; J. W. Grizzle (IEEE Trans. Robotics, 2008)

Practical observers for unmeasured states in turbocharged gasoline engines. - Julia H. Buckland; Jim Freudenberg; J. W. Grizzle; Mrdjan Jankovic (ACC, 2009)

MABEL, a new robotic bipedal walker and runner. - J. W. Grizzle; Jonathan W. Hurst; Benjamin Morris 001; Hae-Won Park 002; Koushil Sreenath (ACC, 2009)

Performance comparison of hybrid vehicle energy management controllers on real-world drive cycle data. - Daniel F. Opila; Xiaoyong Wang; Ryan McGee; Jeffrey A. Cook; J. W. Grizzle (ACC, 2009)

Modeling and control of the monopedal robot Thumper. - Ioannis Poulakakis; Jessy W. Grizzle (ICRA, 2009)

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots. - Benjamin Morris 001; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2009)

The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. - Ioannis Poulakakis; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2009)

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot. - Christine Chevallereau; Jessy W. Grizzle; Ching-Long Shih (IEEE Trans. Robotics, 2009)

Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; Jessy W. Grizzle (CDC, 2010)

Steering of a 3D bipedal robot with an underactuated ankle. - Christine Chevallereau; Jessy W. Grizzle; Ching-Long Shih (IROS, 2010)

Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot - Christine Chevallereau; Jessy W. Grizzle; Ching-Long Shih (CoRR, 2010)

SP-SDP for Fuel Consumption and Tailpipe Emissions Minimization in an EVT Hybrid. - Edward Dean Tate; Jessy W. Grizzle; Huei Peng (IEEE Trans. Control. Syst. Technol., 2010)

A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2011)

Control lyapunov functions and hybrid zero dynamics. - Aaron D. Ames; Kevin S. Galloway; J. W. Grizzle (CDC, 2012)

Switching control design for accommodating large step-down disturbances in bipedal robot walking. - Hae-Won Park 002; Koushil Sreenath; Alireza Ramezani; Jessy W. Grizzle (ICRA, 2012)

Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. - Koushil Sreenath; Hae-Won Park 002; J. W. Grizzle (ICRA, 2012)

From stable walking to steering of a 3D bipedal robot with passive point feet. - Ching-Long Shih; J. W. Grizzle; Christine Chevallereau (Robotica, 2012)

An Energy Management Controller to Optimally Trade Off Fuel Economy and Drivability for Hybrid Vehicles. - Daniel F. Opila; Xiaoyong Wang; Ryan McGee; R. Brent Gillespie; Jeffrey A. Cook; Jessy W. Grizzle (IEEE Trans. Control. Syst. Technol., 2012)

Robust event-based stabilization of periodic orbits for hybrid systems: Application to an underactuated 3D bipedal robot. - Kaveh Akbari Hamed; Jessy W. Grizzle (ACC, 2013)

A stabilization result with application to bipedal locomotion. - Andrew R. Teel; Rafal Goebel; Benjamin Morris 001; Aaron D. Ames; Jessy W. Grizzle (CDC, 2013)

Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. - Koushil Sreenath; Hae-Won Park 002; Ioannis Poulakakis; J. W. Grizzle (Int. J. Robotics Res., 2013)

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking. - Hae-Won Park 002; Alireza Ramezani; J. W. Grizzle (IEEE Trans. Robotics, 2013)

Control barrier function based quadratic programs with application to adaptive cruise control. - Aaron D. Ames; Jessy W. Grizzle; Paulo Tabuada (CDC, 2014)

Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot. - Kaveh Akbari Hamed; Brian G. Buss; Jessy W. Grizzle (CDC, 2014)

Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. - Petter Nilsson; Omar Hussien; Yuxiao Chen 001; Ayca Balkan; Matthias Rungger; Aaron D. Ames; Jessy W. Grizzle; Necmiye Ozay; Huei Peng; Paulo Tabuada (CDC, 2014)

Preliminary walking experiments with underactuated 3D bipedal robot MARLO. - Brian G. Buss; Alireza Ramezani; Kaveh Akbari Hamed; Brent A. Griffin; Kevin S. Galloway; Jessy W. Grizzle (IROS, 2014)

Models, feedback control, and open problems of 3D bipedal robotic walking. - Jessy W. Grizzle; Christine Chevallereau; Ryan W. Sinnet; Aaron D. Ames (Autom., 2014)

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. - Aaron D. Ames; Kevin S. Galloway; Koushil Sreenath; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2014)

Event-Based Stabilization of Periodic Orbits for Underactuated 3-D Bipedal Robots With Left-Right Symmetry. - Kaveh Akbari Hamed; Jessy W. Grizzle (IEEE Trans. Robotics, 2014)

Iterative Robust Stabilization Algorithm for Periodic Orbits of Hybrid Dynamical Systems: Application to Bipedal Running. - Kaveh Akbari Hamed; Jessy W. Grizzle (ADHS, 2015)

Robustness of Control Barrier Functions for Safety Critical Control. - Xiangru Xu; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (ADHS, 2015)

Walking gait optimization for accommodation of unknown terrain height variations. - Brent A. Griffin; Jessy W. Grizzle (ACC, 2015)

Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. - Aakar Mehra; Wen-Loong Ma; Forrest Berg; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (ACC, 2015)

Restricted discrete invariance and self-synchronization for stable walking of bipedal robots. - Hamed Razavi; Anthony M. Bloch; Christine Chevallereau; Jessy W. Grizzle (ACC, 2015)

Nonholonomic virtual constraints for dynamic walking. - Brent A. Griffin; Jessy W. Grizzle (CDC, 2015)

First steps toward formal controller synthesis for bipedal robots. - Aaron D. Ames; Paulo Tabuada; Bastian Schürmann; Wen-Loong Ma; Shishir Kolathaya; Matthias Rungger; Jessy W. Grizzle (HSCC, 2015)

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. - Kevin S. Galloway; Koushil Sreenath; Aaron D. Ames; Jessy W. Grizzle (IEEE Access, 2015)

Experimental results for 3D bipedal robot walking based on systematic optimization of virtual constraints. - Brian G. Buss; Kaveh Akbari Hamed; Brent A. Griffin; Jessy W. Grizzle (ACC, 2016)

3D dynamic walking on stepping stones with control barrier functions. - Quan Nguyen 004; Ayonga Hereid; Jessy W. Grizzle; Aaron D. Ames; Koushil Sreenath (CDC, 2016)

Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions. - Quan Nguyen 004; Xingye Da; J. W. Grizzle; Koushil Sreenath (WAFR, 2016)

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking. - Xingye Da; Omar Harib; Ross Hartley; Brent A. Griffin; Jessy W. Grizzle (IEEE Access, 2016)

Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. - Aaron D. Ames; Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada (CoRR, 2016)

Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations. - Kaveh Akbari Hamed; Brian G. Buss; Jessy W. Grizzle (Int. J. Robotics Res., 2016)

Correct-by-Construction Adaptive Cruise Control: Two Approaches. - Petter Nilsson; Omar Hussien; Ayca Balkan; Yuxiao Chen 001; Aaron D. Ames; Jessy W. Grizzle; Necmiye Ozay; Huei Peng; Paulo Tabuada (IEEE Trans. Control. Syst. Technol., 2016)

Decentralized chassis control with guaranteed performance: A Lyapunov approach. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle (ACC, 2017)

Correct by construction design of autonomous vehicles through a barrier function method. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle (ACC, 2017)

Closed-form controlled invariant sets for pedestrian avoidance. - Yasser Shoukry; Paulo Tabuada; Stephanie Tsuei; Mark B. Milam; Jessy W. Grizzle; Aaron D. Ames (ACC, 2017)

Stabilization of 3D underactuated biped robots: Using posture adjustment and gait libraries to reject velocity disturbances. - Ross Hartley; Xingye Da; Jessy W. Grizzle (CCTA, 2017)

Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. - Xiangru Xu; Thomas Waters; Daniel Pickem; Paul Glotfelter; Magnus Egerstedt; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (CCTA, 2017)

Data-driven control for feedback linearizable single-input systems. - Paulo Tabuada; Wen-Loong Ma; Jessy W. Grizzle; Aaron D. Ames (CDC, 2017)

Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field. - Xingye Da; Ross Hartley; Jessy W. Grizzle (ICRA, 2017)

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. - Quan Nguyen 004; Ayush Agrawal; Xingye Da; William C. Martin; Hartmut Geyer; Jessy W. Grizzle; Koushil Sreenath (Robotics: Science and Systems, 2017)

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. - Ayush Agrawal; Omar Harib; Ayonga Hereid; Sylvain Finet; Matthieu Masselin; Laurent Praly; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (IEEE Access, 2017)

Fast Trajectory Planning and Robust Trajectory Tracking for Pedestrian Avoidance. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle (IEEE Access, 2017)

Symmetry in legged locomotion: a new method for designing stable periodic gaits. - Hamed Razavi; Anthony M. Bloch; Christine Chevallereau; Jessy W. Grizzle (Auton. Robots, 2017)

Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion. - Jessy W. Grizzle; Christine Chevallereau (CoRR, 2017)

Synthesis of safe controller via supervised learning for truck lateral control. - Yuxiao Chen 001; Ayonga Hereid; Huei Peng; Jessy W. Grizzle (CoRR, 2017)

Nonholonomic virtual constraints and gait optimization for robust walking control. - Brent A. Griffin; Jessy W. Grizzle (Int. J. Robotics Res., 2017)

Control Barrier Function Based Quadratic Programs for Safety Critical Systems. - Aaron D. Ames; Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada (IEEE Trans. Autom. Control., 2017)

Data-Driven Computation of Minimal Robust Control Invariant Set. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle; Necmiye Ozay (CDC, 2018)

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. - Thomas Gurriet; Sylvain Finet; Guilhem Boeris; Alexis Duburcq; Ayonga Hereid; Omar Harib; Matthieu Masselin; Jessy W. Grizzle; Aaron D. Ames (ICRA, 2018)

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. - Ross Hartley; Josh Mangelson; Lu Gan 006; Maani Ghaffari Jadidi; Jeffrey M. Walls; Ryan M. Eustice; Jessy W. Grizzle (ICRA, 2018)

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs. - Ross Hartley; Maani Ghaffari Jadidi; Lu Gan 006; Jiunn-Kai Huang; Jessy W. Grizzle; Ryan M. Eustice (IROS, 2018)

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. - Ross Hartley; Maani Ghaffari Jadidi; Jessy W. Grizzle; Ryan M. Eustice (Robotics: Science and Systems, 2018)

Hybrid Electric Powertrain Design Methodology With Planetary Gear Sets for Performance and Fuel Economy. - Oguz Hasan Dagci; Huei Peng; Jessy W. Grizzle (IEEE Access, 2018)

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. - Omar Harib; Ayonga Hereid; Ayush Agrawal; Thomas Gurriet; Sylvain Finet; Guilhem Boeris; Alexis Duburcq; Margaret Eva Mungai; Matthieu Masselin; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (CoRR, 2018)

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs. - Ross Hartley; Maani Ghaffari Jadidi; Lu Gan 006; Jiunn-Kai Huang; Jessy W. Grizzle; Ryan M. Eustice (CoRR, 2018)

Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot. - Ayonga Hereid; Omar Harib; Ross Hartley; Yukai Gong; Jessy W. Grizzle (CoRR, 2018)

Self-synchronization and self-stabilization of 3D bipedal walking gaits. - Christine Chevallereau; Hamed Razavi; Damien Six; Yannick Aoustin; Jessy W. Grizzle (Robotics Auton. Syst., 2018)

Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. - Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada; Aaron D. Ames (IEEE Trans Autom. Sci. Eng., 2018)

Obstacle Avoidance for Low-Speed Autonomous Vehicles With Barrier Function. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle (IEEE Trans. Control. Syst. Technol., 2018)

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. - Yukai Gong; Ross Hartley; Xingye Da; Ayonga Hereid; Omar Harib; Jiunn-Kai Huang; Jessy W. Grizzle (ACC, 2019)

Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. - Ayonga Hereid; Omar Harib; Ross Hartley; Yukai Gong; Jessy W. Grizzle (IROS, 2019)

Continuous Direct Sparse Visual Odometry from RGB-D Images. - Maani Ghaffari Jadidi; William A. Clark; Anthony M. Bloch; Ryan Eustice; Jessy W. Grizzle (Robotics: Science and Systems, 2019)

LiDARTag: A Real-Time Fiducial Tag using Point Clouds. - Jiunn-Kai Huang; Maani Ghaffari Jadidi; Ross Hartley; Lu Gan 006; Ryan M. Eustice; Jessy W. Grizzle (CoRR, 2019)

Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping. - Lu Gan 006; Ray Zhang 001; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari Jadidi (CoRR, 2019)

Adaptive Continuous Visual Odometry from RGB-D Images. - Tzu-Yuan Lin; William A. Clark; Ryan M. Eustice; Jessy W. Grizzle; Anthony M. Bloch; Maani Ghaffari Jadidi (CoRR, 2019)

Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots. - Xingye Da; Jessy W. Grizzle (Int. J. Robotics Res., 2019)

Validating Noncooperative Control Designs Through a Lyapunov Approach. - Yuxiao Chen 001; Huei Peng; Jessy W. Grizzle (IEEE Trans. Control. Syst. Technol., 2019)

Improvements to Target-Based 3D LiDAR to Camera Calibration. - Jiunn-Kai Huang; Jessy W. Grizzle (IEEE Access, 2020)

Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller. - Yukai Gong; Jessy W. Grizzle (CoRR, 2020)

Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs. - Jiunn-Kai Huang; Chenxi Feng; Madhav Achar; Maani Ghaffari Jadidi; Jessy W. Grizzle (CoRR, 2020)

Contact-aided invariant extended Kalman filtering for robot state estimation. - Ross Hartley; Maani Ghaffari Jadidi; Ryan M. Eustice; Jessy W. Grizzle (Int. J. Robotics Res., 2020)

Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping. - Lu Gan 006; Ray Zhang 001; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari Jadidi (IEEE Robotics Autom. Lett., 2020)

One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller. - Yukai Gong; Jessy W. Grizzle (ICRA, 2021)

A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. - Ray Zhang 001; Tzu-Yuan Lin; Chien Erh Lin; Steven A. Parkison; William A. Clark; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari (ICRA, 2021)

Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons. - Margaret Eva Mungai; Jessy W. Grizzle (IEEE Access, 2021)

IEEE Access Special Section Editorial: Real-Time Machine Learning Applications in Mobile Robotics. - Aysegül Uçar; Jessy W. Grizzle; Maani Ghaffari; Mattias Wahde; H. Levent Akin; Jacky Baltes; H. Isil Bozma; Jaime Valls Miró (IEEE Access, 2021)

Toward Safety-Aware Informative Motion Planning for Legged Robots. - Sangli Teng; Yukai Gong; Jessy W. Grizzle; Maani Ghaffari (CoRR, 2021)

Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion. - Yukai Gong; Jessy W. Grizzle (CoRR, 2021)

Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. - Lu Gan 006; Youngji Kim; Jessy W. Grizzle; Jeffrey M. Walls; Ayoung Kim; Ryan M. Eustice; Maani Ghaffari (CoRR, 2021)

Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP. - Grant Gibson; Oluwami Dosunmu-Ogunbi; Yukai Gong; Jessy W. Grizzle (CoRR, 2021)

Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. - Vaiyee Huynh; Guillaume Burger; Quoc Viet Dang; Raphaël Pelgé; Guilhem Boéris; Jessy W. Grizzle; Aaron D. Ames; Matthieu Masselin (Frontiers Robotics AI, 2021)

A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. - Henrik I. Christensen; Nancy M. Amato; Holly A. Yanco; Maja J. Mataric; Howie Choset; Ann W. Drobnis; Ken Goldberg; Jessy W. Grizzle; Gregory D. Hager; John M. Hollerbach; Seth Hutchinson 001; Venkat Krovi; et al. (Found. Trends Robotics, 2021)

LiDARTag: A Real-Time Fiducial Tag System for Point Clouds. - Jiunn-Kai Huang; Shoutian Wang; Maani Ghaffari; Jessy W. Grizzle (IEEE Robotics Autom. Lett., 2021)

Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints. - Grant Gibson; Oluwami Dosunmu-Ogunbi; Yukai Gong; Jessy W. Grizzle (IROS, 2022)

Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning. - Jiunn-Kai Huang; Yingwen Tan; Dongmyeong Lee; Vishnu R. Desaraju; Jessy W. Grizzle (CoRR, 2022)

Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. - Lu Gan 006; Jessy W. Grizzle; Ryan M. Eustice; Maani Ghaffari (IEEE Robotics Autom. Lett., 2022)

Optimal Target Shape for LiDAR Pose Estimation. - Jiunn-Kai Huang; William A. Clark; Jessy W. Grizzle (IEEE Robotics Autom. Lett., 2022)

Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning. - Jiunn-Kai Huang; Yingwen Tan; Dongmyeong Lee; Vishnu R. Desaraju; Jessy W. Grizzle (ICRA, 2023)

Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots. - Alphonsus Adu-Bredu; Grant Gibson; Jessy W. Grizzle (IROS, 2023)

Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control. - Oluwami Dosunmu-Ogunbi; Aayushi Shrivastava; Grant Gibson; Jessy W. Grizzle (IROS, 2023)

CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation. - Jinze Liu; Minzhe Li; Jessy W. Grizzle; Jiunn-Kai Huang (IROS, 2023)

Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints. - Jinze Liu; Minzhe Li; Jiunn-Kai Huang; Jessy W. Grizzle (CoRR, 2023)

Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot. - Margaret Eva Mungai; Jessy W. Grizzle (CoRR, 2023)

The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence. - Odest Chadwicke Jenkins; Jessy W. Grizzle; Ella M. Atkins; Leia Stirling 001; Elliott J. Rouse; Mark Guzdial; Damen Provost; Kimberly Mann; Joanna Millunchick (CoRR, 2023)

Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. - Lu Gan 006; Youngji Kim; Jessy W. Grizzle; Jeffrey M. Walls; Ayoung Kim; Ryan M. Eustice; Maani Ghaffari (IEEE Trans. Robotics, 2023)

Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. - Jiunn-Kai Huang; Jessy W. Grizzle (IEEE Trans. Robotics, 2023)

Fall Prediction for Bipedal Robots: The Standing Phase. - Margaret Eva Mungai; Gokul Prabhakaran; Jessy W. Grizzle (ICRA, 2024)

Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. - Oluwami Dosunmu-Ogunbi; Aayushi Shrivastava; Jessy W. Grizzle (IROS, 2024)

Standing Tall: Robust Fall Prediction for Bipedal Robots. - Gokul Prabhakaran; Jessy W. Grizzle; Margaret Eva Mungai (CoRR, 2025)