Robert D. Gregg IV
Orcid: 0000-0002-0729-2857Affiliations:
- University of Texas at Dallas, Department of Mechanical Engineering, USA
According to our database1,
Robert D. Gregg IV
authored at least 103 papers
between 2006 and 2024.
Collaborative distances:
Collaborative distances:
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Online presence:
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on orcid.org
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on utdallas.edu
On csauthors.net:
Bibliography
2024
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots.
IEEE Robotics Autom. Lett., 2024
2023
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.
IEEE Trans. Robotics, June, 2023
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking.
IEEE Trans. Robotics, June, 2023
How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems.
CoRR, 2023
Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters.
IROS, 2023
Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent.
IROS, 2023
Improving Amputee Endurance Over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study.
IROS, 2023
Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Proceedings of the American Control Conference, 2023
2022
Human Leg Kinematics, Kinetics, and EMG during Phase-Shifting Perturbations at Varying Inclines.
Dataset, May, 2022
Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series.
Dataset, May, 2022
Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds.
IEEE Trans. Control. Syst. Technol., 2022
IEEE Trans. Autom. Control., 2022
Enhancing Voluntary Motion With Modular, Backdrivable, Powered Hip and Knee Orthoses.
IEEE Robotics Autom. Lett., 2022
Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations.
IEEE Robotics Autom. Lett., 2022
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction.
CoRR, 2022
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Proceedings of the American Control Conference, 2022
2021
IEEE Control. Syst. Lett., 2021
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics.
IEEE Control. Syst. Lett., 2021
CoRR, 2021
Trajectory-Free Control of Lower-Limb Exoskeletons Through Underactuated Total Energy Shaping.
IEEE Access, 2021
Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
EMMA: Earthworm Mimetic Manipulator Architecture for Access-Constrained Environments.
Proceedings of the 20th International Conference on Advanced Robotics, 2021
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis.
Proceedings of the IEEE Conference on Control Technology and Applications, 2021
2020
Design and Validation of a Powered Knee-Ankle Prosthesis With High-Torque, Low-Impedance Actuators.
IEEE Trans. Robotics, 2020
IEEE Trans. Control. Syst. Technol., 2020
Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton.
IEEE Robotics Autom. Lett., 2020
IEEE Robotics Autom. Lett., 2020
Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds.
Proceedings of the 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, 2020
A Potential Energy Shaping Controller with Ground Reaction Force Feedback for a Multi-Activity Knee-Ankle Exoskeleton.
Proceedings of the 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, 2020
A Task-Invariant Learning Framework of Lower-Limb Exoskeletons for Assisting Human Locomotion.
Proceedings of the 2020 American Control Conference, 2020
2019
Dataset, November, 2019
Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking.
IEEE Trans. Autom. Control., 2019
IEEE Control. Syst. Lett., 2019
A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis.
IEEE Access, 2019
Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation.
Proceedings of the 16th IEEE International Conference on Rehabilitation Robotics, 2019
Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle.
Proceedings of the 16th IEEE International Conference on Rehabilitation Robotics, 2019
Proceedings of the 58th IEEE Conference on Decision and Control, 2019
Proceedings of the 2019 American Control Conference, 2019
Proceedings of the 2019 American Control Conference, 2019
2018
Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.
IEEE Trans. Robotics, 2018
IEEE Trans. Control. Syst. Technol., 2018
Underactuated Potential Energy Shaping With Contact Constraints: Application to a Powered Knee-Ankle Orthosis.
IEEE Trans. Control. Syst. Technol., 2018
A Phase Variable Approach for Improved Volitional and Rhythmic Control of a Powered Knee-Ankle Prosthesis.
CoRR, 2018
Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: a Convex Optimization Framework for Elastic Element Design.
CoRR, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Proceedings of the 57th IEEE Conference on Decision and Control, 2018
Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots.
Proceedings of the 2018 Annual American Control Conference, 2018
Proceedings of the 2018 Annual American Control Conference, 2018
Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking.
Proceedings of the 2018 Annual American Control Conference, 2018
2017
Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.
IEEE Trans. Control. Syst. Technol., 2017
IEEE Trans. Autom. Control., 2017
Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Proceedings of the International Conference on Rehabilitation Robotics, 2017
Proceedings of the IEEE Conference on Control Technology and Applications, 2017
Proceedings of the IEEE Conference on Control Technology and Applications, 2017
Automatic tuning of virtual constraint-based control algorithms for powered knee-ankle prostheses.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017
Proceedings of the 2017 American Control Conference, 2017
2016
IEEE Trans. Robotics, 2016
A Haptic Feedback System for Phase-Based Sensory Restoration in Above-Knee Prosthetic Leg Users.
IEEE Trans. Haptics, 2016
A Perturbation Mechanism for Investigations of Phase-Dependent Behavior in Human Locomotion.
IEEE Access, 2016
Preliminary experiments with a unified controller for a powered knee-ankle prosthetic leg across walking speeds.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Experimental implementation of underactuated potential energy shaping on a powered ankle-foot orthosis.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016
Towards a series elastic actuator with electrically modulated stiffness for Powered Ankle-Foot Orthoses.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2016
Decentralized feedback controllers for exponential stabilization of hybrid periodic orbits: Application to robotic walking.
Proceedings of the 2016 American Control Conference, 2016
Proceedings of the 2016 American Control Conference, 2016
2015
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015
Orthotic body-weight support through underactuated potential energy shaping with contact constraints.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015
Hybrid invariance and stability of a feedback linearizing controller for powered prostheses.
Proceedings of the American Control Conference, 2015
2014
Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments With Transfemoral Amputees.
IEEE Trans. Robotics, 2014
IEEE Trans. Robotics, 2014
IEEE Trans. Control. Syst. Technol., 2014
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014
Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios.
Proceedings of the American Control Conference, 2014
2013
The Difference Between Stiffness and Quasi-Stiffness in the Context of Biomechanical Modeling.
IEEE Trans. Biomed. Eng., 2013
Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation.
IEEE Trans. Autom. Control., 2013
Proceedings of the IEEE 13th International Conference on Rehabilitation Robotics, 2013
Proceedings of the American Control Conference, 2013
2012
Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives.
IEEE Trans. Robotics, 2012
IEEE Trans. Biomed. Eng., 2012
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
2011
Proceedings of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011
2010
PhD thesis, 2010
Int. J. Robotics Res., 2010
Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion.
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Proceedings of the 49th IEEE Conference on Decision and Control, 2010
2009
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Reduction-based control of branched chains: Application to three-dimensional bipedal torso robots.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009
2008
Reduction-based control with application to three-dimensional bipedal walking robots.
Proceedings of the American Control Conference, 2008
2007
Proceedings of the 46th IEEE Conference on Decision and Control, 2007
Proceedings of the American Control Conference, 2007
2006
Proceedings of the American Control Conference, 2006