Jonathan W. Hurst

According to our database, Jonathan W. Hurst authored at least 48 papers between 2004 and 2023.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2023

Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running.

Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning.

Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern

CoRR, 2022

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints.

Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Learning Dynamic Bipedal Walking Across Stepping Stones.

Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking.

Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads.

Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning.

Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning.

Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model.

Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst

IEEE Robotics Autom. Lett., 2021

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning.

Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition.

Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning Task Space Actions for Bipedal Locomotion.

Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem.

Siavash Rezazadeh, Jonathan W. Hurst

Int. J. Robotics Res., 2020

Learning Memory-Based Control for Human-Scale Bipedal Locomotion.

Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst

Proceedings of the Robotics: Science and Systems XVI, 2020

Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running.

Kevin Green, Ross L. Hatton, Jonathan W. Hurst

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie.

Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne

CoRR, 2019

Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits.

Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real.

Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped.

Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail S. Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William C. Martin, Hartmut Geyer, Jonathan W. Hurst

IEEE Robotics Autom. Mag., 2018

An Overview on Principles for Energy Efficient Robot Locomotion.

Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis

Frontiers Robotics AI, 2018

Robot Leg Design: A Constructive Framework.

Siavash Rezazadeh, Andy Abate, Ross L. Hatton, Jonathan W. Hurst

IEEE Access, 2018

Fast Online Trajectory Optimization for the Bipedal Robot Cassie.

Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan W. Hurst

Proceedings of the Robotics: Science and Systems XIV, 2018

Feedback Control For Cassie With Deep Reinforcement Learning.

Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Monte-Carlo Planning for Agile Legged Locomotion.

Patrick Clary, Pedro Morais, Alan Fern, Jonathan W. Hurst

Proceedings of the Twenty-Eighth International Conference on Automated Planning and Scheduling, 2018

2016

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot.

Christian Hubicki, Jesse Grimes, Mikhail S. Jones, Daniel Renjewski, Alexander Spröwitz, Andy Abate, Jonathan W. Hurst

Int. J. Robotics Res., 2016

Mechanical Antagonism in Legged Robots.

Andy Abate, Jonathan W. Hurst, Ross L. Hatton

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

2015

Exciting Engineered Passive Dynamics in a Bipedal Robot.

Daniel Renjewski, Alexander Spröwitz, Andrew Peekema, Mikhail S. Jones, Jonathan W. Hurst

IEEE Trans. Robotics, 2015

Touch-down angle control for spring-mass walking.

Hamid Reza Vejdani, Albert Wu, Hartmut Geyer, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots.

Siavash Rezazadeh, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion.

Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking.

Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Passive-dynamic leg design for agile robots.

Andy Abate, Ross L. Hatton, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Impulse Control for Planar Spring-Mass Running.

Devin Koepl, Jonathan W. Hurst

J. Intell. Robotic Syst., 2014

Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses.

Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

On the optimal selection of motors and transmissions for electromechanical and robotic systems.

Siavash Rezazadeh, Jonathan W. Hurst

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

From template to anchor: A novel control strategy for spring-mass running of bipedal robots.

Behnam Dadashzadeh, Hamid Reza Vejdani, Jonathan W. Hurst

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control.

Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames

Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control (part of CPS Week), 2014

2013

Optimal passive dynamics for physical interaction: Throwing a mass.

Hamid Reza Vejdani, Jonathan W. Hurst

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Artificial restraint Systems for Walking and Running Robots: an Overview.

Joseph S. Colett, Jonathan W. Hurst

Int. J. Humanoid Robotics, 2012

2011

The Electric Cable Differential Leg: a Novel Design Approach for Walking and Running.

Jonathan W. Hurst

Int. J. Humanoid Robotics, 2011

Force control for planar spring-mass running.

Devin Koepl, Jonathan W. Hurst

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

2010

The Actuator With Mechanically Adjustable Series Compliance.

Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi

IEEE Trans. Robotics, 2010

Optimal passive dynamics for torque/force control.

Kevin Kemper, Devin Koepl, Jonathan W. Hurst

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

MABEL, a new robotic bipedal walker and runner.

J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath

Proceedings of the American Control Conference, 2009

2008

Series compliance for an efficient running gait.

Jonathan W. Hurst, Alfred A. Rizzi

IEEE Robotics Autom. Mag., 2008

2007

A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running.

Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, Alfred A. Rizzi

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Design and Philosophy of the BiMASC, a Highly Dynamic Biped.

Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2004

An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion.

Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi

Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004