Robert D. Gregg, IV

University of Illinois at Urbana-Champaign

Publications

• Asymptotically Stable Gait Primitives for Planning Dynamic Bipedal Locomotion in Three Dimensions. R. Gregg, T. Bretl, and M. Spong. Submitted to the 2010 International Conference on Robotics and Automation, Anchorage, AK.
  (Submission PDF, Random Walk Movie, Planning with Gait Primitives Movie)



• Bringing the Compass-Gait Bipedal Walker to Three Dimensions. R. Gregg and M. Spong. In the 2009 International Conference on Intelligent Robots and Systems, St. Louis, MO.
  (PDF, 4-DOF Equations, 5-DOF Equations, 4-DOF Turning Movie, 5-DOF Turning Movie)



• Reduction-Based Control of Branched Chains: Application to Three-Dimensional Bipedal Torso Robots. R. Gregg and M. Spong. To appear in the 2009 Conference on Decision and Control, Shanghai, China.
  (PDF, Supplemental Equations, Straight Walking Movie, Turning Movie)



• Reduction-Based Control of Three-Dimensional Bipedal Walking Robots. R. Gregg and M. Spong. International Journal of Robotics Research, OnlineFirst May 2009, Pre-print.
  (Full Text, Supplemental Equations, Straight Walking Movie, Turning Movie)



• Reduction-based Control with Application to Three-Dimensional Bipedal Walking Robots. R. Gregg and M. Spong. In the 2008 American Control Conference, Seattle, WA.
  (PDF, Supplemental Equations, Straight Walking Movie, Turning Movie)



• A Geometric Approach to Three-Dimensional Hipped Bipedal Robotic Walking.
  A. Ames, R. Gregg, and M. Spong. In the 2007 Conference on Decision and Control, New Orleans, LA. (PDF)



• Stably Extending Two-Dimensional Bipedal Robotic Walking to Three Dimensions.
  A. Ames and R. Gregg. In the 2007 American Control Conference, New York City, New York. (PDF)



• Towards the Geometric Reduction of Controlled 3-D Bipedal Walking Robots.
  A. Ames, R. Gregg, E. Wendel, S. Sastry. In the IFAC 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, Japan.



• Is there Life after Zeno? Taking Executions past the Breaking (Zeno) Point. A. Ames, H. Zheng, R. Gregg, S. Sastry. In the 2006 American Control Conference, Minneapolis, MN.