Robert D. Gregg
Robert D. Gregg
Associate Professor, University of Michigan
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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
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
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 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
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 Systemsá…, 2016
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
On the design and control of highly backdrivable lower-limb exoskeletons: A discussion of past and ongoing work
G Lv, H Zhu, RD Gregg
IEEE Control Systems Magazine 38 (6), 88-113, 2018
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
Stably extending two-dimensional bipedal walking to three dimensions
AD Ames, RD Gregg
2007 American Control Conference, 2848-2854, 2007
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
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
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
A survey of phase variable candidates of human locomotion
DJ Villarreal, RD Gregg
2014 36th Annual International Conference of the IEEE Engineering iná…, 2014
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
Design and benchtop validation of a powered knee-ankle prosthesis with high-torque, low-impedance actuators
T Elery, S Rezazadeh, C Nesler, J Doan, H Zhu, RD Gregg
2018 IEEE International Conference on Robotics and Automation (ICRA), 2788-2795, 2018
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
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