Robert D. Gregg
Robert D. Gregg
Associate Professor, University of Michigan
Verified email at - Homepage
Cited by
Cited by
Virtual constraint control of a powered prosthetic leg: From simulation to experiments with transfemoral amputees
RD Gregg, T Lenzi, LJ Hargrove, JW Sensinger
IEEE Transactions on Robotics, 2014
Is there life after Zeno? Taking executions past the breaking (Zeno) point
AD Ames, H Zheng, RD Gregg, S Sastry
2006 American control conference, 6 pp., 2006
The Difference between Stiffness and Quasi-stiffness in the Context of Biomechanical Modeling
E Rouse, R Gregg, L Hargrove, J Sensinger
IEEE Transactions on Biomedical Engineering 60 (2), 562-568, 2013
Reduction-based control of three-dimensional bipedal walking robots
RD Gregg, MW Spong
The International Journal of Robotics Research 29 (6), 680-702, 2010
Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg
RD Gregg, JW Sensinger
Control Systems Technology, IEEE Transactions on 22 (1), 246-254, 2014
A geometric approach to three-dimensional hipped bipedal robotic walking
AD Ames, RD Gregg, MW Spong
2007 46th IEEE Conference on Decision and Control, 5123-5130, 2007
Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives
RD Gregg, AK Tilton, S Candido, T Bretl, MW Spong
IEEE Transactions on Robotics 28 (6), 1415-1423, 2012
Preliminary experiments with a unified controller for a powered knee-ankle prosthetic leg across walking speeds
D Quintero, DJ Villarreal, RD Gregg
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
Stably extending two-dimensional bipedal walking to three dimensions
AD Ames, RD Gregg
2007 American Control Conference, 2848-2854, 2007
Continuous-phase control of a powered knee–ankle prosthesis: Amputee experiments across speeds and inclines
D Quintero, DJ Villarreal, DJ Lambert, S Kapp, RD Gregg
IEEE Transactions on Robotics 34 (3), 686-701, 2018
A robust parameterization of human gait patterns across phase-shifting perturbations
DJ Villarreal, HA Poonawala, RD Gregg
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2016
Evidence for a time-invariant phase variable in human ankle control
RD Gregg, EJ Rouse, LJ Hargrove, JW Sensinger
PloS one 9 (2), e89163, 2014
On the mechanics of functional asymmetry in bipedal walking
RD Gregg, YY Dhaher, A Degani, KM Lynch
IEEE transactions on biomedical engineering 59 (5), 1310-1318, 2012
Experimental effective shape control of a powered transfemoral prosthesis
RD Gregg, T Lenzi, N Fey, LJ Hargrove, JW Sensinger
IEEE Int. Conf. Rehab. Robotics, 2013
Stable, robust hybrid zero dynamics control of powered lower-limb prostheses
AE Martin, RD Gregg
IEEE transactions on automatic control 62 (8), 3930-3942, 2017
Reduction-based control with application to three-dimensional bipedal walking robots
RD Gregg, MW Spong
2008 American Control Conference, 880-887, 2008
A survey of phase variable candidates of human locomotion
DJ Villarreal, RD Gregg
2014 36th Annual International Conference of the IEEE Engineering in …, 2014
On the geometric reduction of controlled three-dimensional bipedal robotic walkers
A Ames, R Gregg, E Wendel, S Sastry
Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, 183-196, 2007
Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions
RD Gregg, T Bretl, MW Spong
2010 IEEE International Conference on Robotics and Automation, 1695-1702, 2010
Design and validation of a torque dense, highly backdrivable powered knee-ankle orthosis
H Zhu, J Doan, C Stence, G Lv, T Elery, R Gregg
2017 IEEE International Conference on Robotics and Automation (ICRA), 504-510, 2017
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