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Jonathan W. Hurst
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2020 – today
- 2023
- [c34]Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern:
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. ICRA 2023: 12205-12211 - 2022
- [c33]Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green:
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. Humanoids 2022: 714-721 - [c32]Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern:
Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. Humanoids 2022: 903-910 - [c31]Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. ICRA 2022: 10428-10434 - [c30]Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. ICRA 2022: 10449-10455 - [c29]Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst:
Learning Dynamic Bipedal Walking Across Stepping Stones. IROS 2022: 6746-6752 - [c28]Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst:
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. IROS 2022: 10350-10355 - [i15]Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. CoRR abs/2203.07589 (2022) - [i14]Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst:
Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. CoRR abs/2203.15107 (2022) - [i13]Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. CoRR abs/2204.04340 (2022) - [i12]Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst:
Learning Dynamic Bipedal Walking Across Stepping Stones. CoRR abs/2205.01807 (2022) - [i11]Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan W. Hurst, Ross L. Hatton, Alan Fern, Kevin Green:
Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. CoRR abs/2207.04163 (2022) - [i10]Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan W. Hurst, Kevin Green, Alan Fern:
Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning. CoRR abs/2207.07835 (2022) - 2021
- [j12]Kevin Green
, Yesh Godse, Jeremy Dao, Ross L. Hatton
Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. IEEE Robotics Autom. Lett. 6(2): 3926-3932 (2021) - [c27]Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst:
Learning Task Space Actions for Bipedal Locomotion. ICRA 2021: 1276-1282 - [c26]Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. ICRA 2021: 7309-7315 - [c25]Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst:
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. Robotics: Science and Systems 2021 - [i9]Jonah Siekmann, Kevin Green, John Warila, Alan Fern, Jonathan W. Hurst:
Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. CoRR abs/2105.08328 (2021) - [i8]Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst:
Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. CoRR abs/2111.14987 (2021) - 2020
- [j11]Siavash Rezazadeh
Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem. Int. J. Robotics Res. 39(7) (2020) - [c24]Kevin Green
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. ICRA 2020: 1445-1451 - [c23]Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst:
Learning Memory-Based Control for Human-Scale Bipedal Locomotion. Robotics: Science and Systems 2020 - [i7]Kevin Green, Ross L. Hatton, Jonathan W. Hurst:
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. CoRR abs/2001.10629 (2020) - [i6]Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan W. Hurst:
Learning Memory-Based Control for Human-Scale Bipedal Locomotion. CoRR abs/2006.02402 (2020) - [i5]Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan W. Hurst:
Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model. CoRR abs/2010.11234 (2020) - [i4]Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst:
Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. CoRR abs/2011.01387 (2020) - [i3]Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst:
Learning Task Space Actions for Bipedal Locomotion. CoRR abs/2011.04741 (2020)
2010 – 2019
- 2019
- [c22]Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne:
Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. CoRL 2019: 317-329 - [c21]Mike Hector, Kevin Green
Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. IROS 2019: 5491-5497 - [i2]Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne:
Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. CoRR abs/1903.09537 (2019) - 2018
- [j10]Siavash Rezazadeh
Robot Leg Design: A Constructive Framework. IEEE Access 6: 54369-54387 (2018) - [j9]Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5: 129 (2018) - [j8]Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail S. Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William C. Martin
Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. IEEE Robotics Autom. Mag. 25(3): 23-39 (2018) - [c20]Patrick Clary, Pedro Morais, Alan Fern, Jonathan W. Hurst:
Monte-Carlo Planning for Agile Legged Locomotion. ICAPS 2018: 446-450 - [c19]Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne:
Feedback Control For Cassie With Deep Reinforcement Learning. IROS 2018: 1241-1246 - [c18]Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, Jonathan W. Hurst:
Fast Online Trajectory Optimization for the Bipedal Robot Cassie. Robotics: Science and Systems 2018 - [i1]Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne:
Feedback Control For Cassie With Deep Reinforcement Learning. CoRR abs/1803.05580 (2018) - 2016
- [j7]Christian Hubicki, Jesse Grimes, Mikhail S. Jones, Daniel Renjewski
ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. Int. J. Robotics Res. 35(12): 1497-1521 (2016) - [c17]Andy Abate, Jonathan W. Hurst, Ross L. Hatton:
Mechanical Antagonism in Legged Robots. Robotics: Science and Systems 2016 - 2015
- [j6]Daniel Renjewski
Exciting Engineered Passive Dynamics in a Bipedal Robot. IEEE Trans. Robotics 31(5): 1244-1251 (2015) - [c16]Andy Abate, Ross L. Hatton, Jonathan W. Hurst:
Passive-dynamic leg design for agile robots. ICRA 2015: 4519-4524 - [c15]Siavash Rezazadeh, Jonathan W. Hurst:
Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots. ICRA 2015: 4532-4538 - [c14]Hamid Reza Vejdani
Touch-down angle control for spring-mass walking. ICRA 2015: 5101-5106 - [c13]Christian Hubicki, Mikhail S. Jones, Monica A. Daley
Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. ICRA 2015: 5113-5120 - [c12]Ayonga Hereid
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA 2015: 5734-5740 - 2014
- [j5]Devin Koepl, Jonathan W. Hurst:
Impulse Control for Planar Spring-Mass Running. J. Intell. Robotic Syst. 74(3-4): 589-603 (2014) - [c11]Ayonga Hereid
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC 2014: 263-272 - [c10]Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley
Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. IROS 2014: 2537-2542 - [c9]Behnam Dadashzadeh, Hamid Reza Vejdani
From template to anchor: A novel control strategy for spring-mass running of bipedal robots. IROS 2014: 2566-2571 - [c8]Siavash Rezazadeh, Jonathan W. Hurst:
On the optimal selection of motors and transmissions for electromechanical and robotic systems. IROS 2014: 4605-4611 - 2013
- [c7]Hamid Reza Vejdani
Optimal passive dynamics for physical interaction: Throwing a mass. ICRA 2013: 796-801 - 2012
- [j4]Joseph S. Colett, Jonathan W. Hurst:
Artificial restraint Systems for Walking and Running Robots: an Overview. Int. J. Humanoid Robotics 9(1) (2012) - 2011
- [j3]Jonathan W. Hurst:
The Electric Cable Differential Leg: a Novel Design Approach for Walking and Running. Int. J. Humanoid Robotics 8(2): 301-321 (2011) - [c6]Devin Koepl, Jonathan W. Hurst:
Force control for planar spring-mass running. IROS 2011: 3758-3763 - 2010
- [j2]Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi:
The Actuator With Mechanically Adjustable Series Compliance. IEEE Trans. Robotics 26(4): 597-606 (2010) - [c5]Kevin Kemper, Devin Koepl, Jonathan W. Hurst:
Optimal passive dynamics for torque/force control. ICRA 2010: 2149-2154
2000 – 2009
- 2009
- [c4]J. W. Grizzle, Jonathan W. Hurst, Benjamin Morris, Hae-Won Park, Koushil Sreenath:
MABEL, a new robotic bipedal walker and runner. ACC 2009: 2030-2036 - 2008
- [j1]Jonathan W. Hurst, Alfred A. Rizzi:
Series compliance for an efficient running gait. IEEE Robotics Autom. Mag. 15(3): 42-51 (2008) - 2007
- [c3]Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, Alfred A. Rizzi:
A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running. ICRA 2007: 1455-1460 - [c2]Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi:
Design and Philosophy of the BiMASC, a Highly Dynamic Biped. ICRA 2007: 1863-1868 - 2004
- [c1]Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi:
An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion. ICRA 2004: 4662-4667
Coauthor Index
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