Linking the Heuristic-Systematic Model and Depth of Processing. - Robert J. Griffin; Kurt Neuwirth; James Giese; Sharon Dunwoody (Commun. Res., 2002)

Design of a compliant bipedal walking controller for the DARPA Robotics Challenge. - Michael A. Hopkins; Robert J. Griffin; Alexander Leonessa; Brian Y. Lattimer; Tomonari Furukawa (Humanoids, 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)

Model predictive control for dynamic footstep adjustment using the divergent component of motion. - Robert J. Griffin; Alexander Leonessa (ICRA, 2016)

Disturbance compensation and step optimization for push recovery. - Robert J. Griffin; Alexander Leonessa; Alan T. Asbeck (IROS, 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)

Online estimation of friction constraints for multi-contact whole body control. - Cameron P. Ridgewell; Robert J. Griffin; Tomonari Furukawa; Brian Y. Lattimer (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)

Design and Approach of Team IHMC in the 2016 Cybathlon. - Robert J. Griffin; Tyson Cobb; Travis Craig; Mark Daniel; Nick van Dijk; Jeremy Gines; Koen Kramer; Shriya Shah; Olger Siebinga; Jesper Smith; Peter D. Neuhaus (CoRR, 2017)

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge. - Coleman Knabe; Robert J. Griffin; James Burton 001; Graham Cantor-Cooke; Lakshitha Dantanarayana; Graham Day; Oliver Ebeling-Koning; Eric Hahn; Michael A. Hopkins; Jordan Neal; Jackson Newton; Chris Nogales; et al. (J. Field Robotics, 2017)

Stepping Forward with Exoskeletons: Team IHMC?s Design and Approach in the 2016 Cybathlon. - Robert J. Griffin; Tyson Cobb; Travis Craig; Mark Daniel; Nick van Dijk; Jeremy Gines; Koen Kramer; Shriya Shah; Olger Siebinga; Jesper Smith; Peter D. Neuhaus (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)

Stability of Mina v2 for Robot-Assisted Balance and Locomotion. - Carlotta Mummolo; William Z. Peng; Shlok Agarwal; Robert J. Griffin; Peter D. Neuhaus; Joo H. Kim (Frontiers Neurorobotics, 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)

Model Predictive Control for Stable Walking Using the Divergent Component of Motion with Footstep Location and Yaw Adaptation. - Robert J. Griffin; Alexander Leonessa (Int. J. Humanoid Robotics, 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)

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)

GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots. - Bhavyansh Mishra; Duncan Calvert; Sylvain Bertrand; Stephen McCrory; Robert J. Griffin; Hakki Erhan Sevil (IROS, 2021)

Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling. - Varun Agrawal; Sylvain Bertrand; Robert J. Griffin; Frank Dellaert (Humanoids, 2022)

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)

Perception Engine Using a Multi-Sensor Head to Enable High-level Humanoid Robot Behaviors. - Bhavyansh Mishra; Duncan Calvert; Brendon Ortolano; Max Asselmeier; Luke Fina; Stephen McCrory; Hakki Erhan Sevil; Robert J. Griffin (ICRA, 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)

Editorial: Humanoid Robots for Real-World Applications. - Fumio Kanehiro; Wael Suleiman; Robert J. Griffin (Frontiers Robotics AI, 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)

Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. - Robert J. Griffin; James Foster; Stefan Fasano; Brandon Shrewsbury; Sylvain Bertrand (Humanoids, 2023)

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)

Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting. - Jared M. Li; Owen Winship; Stefan Fasano; Bridget Longo; Nicole M. Esposito; Gregory S. Sawicki; Robert J. Griffin; Gwendolyn M. Bryan (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)

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, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts. - Stefan Fasano; James Foster; Sylvain Bertrand; Christian DeBuys; Robert J. Griffin (ICRA, 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)

Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation. - James Foster; Stephen McCrory; Christian DeBuys; Sylvain Bertrand; Robert J. Griffin (IROS, 2024)

Multi-Contact Inertial Estimation and Localization in Legged Robots. - Sergi Martinez; Robert J. Griffin; Carlos Mastalli (CoRR, 2024)

Mixed Reality Teleoperation Assistance for Direct Control of Humanoids. - Luigi Penco; Kazuhiko Momose; Stephen McCrory; Dexton Anderson; Nicholas Kitchel; Duncan Calvert; Robert J. Griffin (IEEE Robotics Autom. Lett., 2024)

The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control. - Arun L. Bishop; Juan Alvarez-Padilla; Sam Schoedel; Ibrahima Sory Sow; Juee Chandrachud; Sheitej Sharma; Will Kraus; Beomyeong Park; Robert J. Griffin; John M. Dolan; Zachary Manchester (Humanoids, 2025)

Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots. - Luigi Penco; Beomyeong Park; Stefan Fasano; Nehar Poddar; Stephen McCrory; Nicholas Kitchel; Tomasz Bialek; Dexton Anderson; Duncan Calvert; Robert J. Griffin (Humanoids, 2025)

Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots. - Connor W. Herron; Robert Schuller; Benjamin C. Beiter; Robert J. Griffin; Alexander Leonessa; Johannes Englsberger (ICRA, 2025)

Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning. - Zhaoyuan Gu; Junheng Li; Wenlan Shen; Wenhao Yu 003; Zhaoming Xie; Stephen McCrory; Xianyi Cheng; Abdulaziz Shamsah; Robert J. Griffin; C. Karen Liu; Abderrahmane Kheddar; Xue Bin Peng; et al. (CoRR, 2025)

Humanoid Robotics: Integrating Cognitive and Physical Abilities for Human-Centered Environments [From the Guest Editors]. - Oliver Urbann; Fei Chen; Julian Eßer; Robert J. Griffin; Kenji Hashimoto; Fumio Kanehiro; Paul Oh; Olivier Stasse; Yuichi Tazaki (IEEE Robotics Autom. Mag., 2025)

Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots. - Sergi Martinez; Robert J. Griffin; Carlos Mastalli (IEEE Robotics Autom. Lett., 2025)

Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation. - Stephen McCrory; Romeo Orsolino; Dhruv Thanki; Luigi Penco; Robert J. Griffin (IEEE Robotics Autom. Lett., 2025)

A behavior architecture for fast humanoid robot door traversals. - Duncan Calvert; Luigi Penco; Dexton Anderson; Tomasz Bialek; Arghya Chatterjee 003; Bhavyansh Mishra; Geoffrey Clark; Sylvain Bertrand; Robert J. Griffin (Robotics Auton. Syst., 2026)