Robert J. Griffin

According to our database, Robert J. Griffin authored at least 43 papers between 2002 and 2024.

Collaborative distances:

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

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., February, 2024

Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots.

Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger

CoRR, 2024

Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation.

James Foster, Stephen McCrory, Christian DeBuys, Sylvain Bertrand, Robert J. Griffin

CoRR, 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

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts.

Stefan Fasano, James Foster, Sylvain Bertrand, Christian DeBuys, Robert J. Griffin

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

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, Cody Castello, Bingyin Ma, Kartik Suryavanshi, Patrick Dills, Jerry E. Pratt, Victor Ragusila, Brandon Shrewsbury, Robert J. Griffin

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

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

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

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

Integrable Whole-Body Orientation Coordinates for Legged Robots.

Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt

IROS, 2023

Generating Humanoid Multi-Contact Through Feasibility Visualization.

Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery.

Robert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

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, David Handelman, Robert J. Griffin, Sisir Karumanchi, Christian Hubicki, Brett Kennedy, Jonathan E. Clark, Jerry E. Pratt, Dilip Patel, Jason L. Pusey

Field Robotics, March, 2022

Quadrupedal Walking over Complex Terrain with a Quasi-Direct Drive Actuated Robot.

Robert J. Griffin, Stephen McCrory, Sylvain Bertrand, Duncan Calvert, Inho Lee, Peter D. Neuhaus, Douglas Stephen, Jay Jasper, Sisir Karumanchi, Ara Kourchians, Blair Emanuel, Emma Holmes, Rachel Hegeman, Jason L. Pusey, Jerry E. Pratt

Field Robotics, March, 2022

Angular Center of Mass for Humanoid Robots.

Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt

CoRR, 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

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

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

A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions.

Duncan Calvert, Bhavyansh Mishra, Stephen McCrory, Sylvain Bertrand, Robert J. Griffin, Jerry E. Pratt

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

Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling.

Varun Agrawal, Sylvain Bertrand, Robert J. Griffin, Frank Dellaert

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

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

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Time-Varying Model Predictive Control for Highly Dynamic Motions of Quadrupedal Robots.

Gabriel García, Robert J. Griffin, Jerry E. Pratt

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

MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics.

Gabriel García, Robert J. Griffin, Jerry E. Pratt

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

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

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Detecting Usable Planar Regions for Legged Robot Locomotion.

Sylvain Bertrand, Inho Lee, Bhavyansh Mishra, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

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

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

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

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, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman Quispe, Robert J. Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry E. Pratt, Joshua S. Mehling

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Footstep Planning for Autonomous Walking Over Rough Terrain.

Robert J. Griffin, Georg Wiedebach, Stephen McCrory, Sylvain Bertrand, Inho Lee, Jerry E. Pratt

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

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

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

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Straight-Leg Walking Through Underconstrained Whole-Body Control.

Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry E. Pratt

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

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

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge.

Coleman Knabe, Robert J. Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dantanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael A. Hopkins, Jordan Neal, Jackson Newton, Chris Nogales, Viktor L. Orekhov, John Peterson, Michael Rouleau, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Y. Lattimer, Tomonari Furukawa

J. Field Robotics, 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

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

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Online estimation of friction constraints for multi-contact whole body control.

Cameron P. Ridgewell, Robert J. Griffin, Tomonari Furukawa, Brian Y. Lattimer

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Capture point trajectories for reduced knee bend using step time optimization.

Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, Jerry E. Pratt

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Disturbance compensation and step optimization for push recovery.

Robert J. Griffin, Alexander Leonessa, Alan T. Asbeck

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Model predictive control for dynamic footstep adjustment using the divergent component of motion.

Robert J. Griffin, Alexander Leonessa

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

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

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

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

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2002

Linking the Heuristic-Systematic Model and Depth of Processing.

Robert J. Griffin, Kurt Neuwirth, James Giese, Sharon Dunwoody

Commun. Res., 2002