2.5k citations · 3.8k across the 40 of their papers we have counts for
42 papers
Standing Tall: Sim to Real Fall Classification and Lead Time Prediction for Bipedal Robots
Gokul Prabhakaran, Jessy W. Grizzle, M. Eva Mungai
This paper extends a previously proposed fall prediction algorithm to a real-time (online) setting, with implementations in both hardware and simulation. The system is validated on…
Calculus for the Modern Engineer: Putting the Joy Back in Learning Advanced Mathematics
Jessy Grizzle
Many engineering students enter college excited about math and physics, only to have their enthusiasm dimmed by a rigid, outdated calculus curriculum. The University of Michigan's…
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Jessy W Grizzle
This work explores an innovative algorithm designed to enhance the mobility of underactuated bipedal robots across challenging terrains, especially when navigating through spaces w…
Fall Prediction for Bipedal Robots: The Standing Phase
M. Eva Mungai, Gokul Prabhakaran, Jessy W. Grizzle
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and…
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence
Odest Chadwicke Jenkins, Jessy Grizzle, Ella Atkins +6
The Robotics Major at the University of Michigan was successfully launched in the 2022-23 academic year as an innovative step forward to better serve students, our communities, and…
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava, Grant Gibson +1
A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of…
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
M. Eva Mungai, Jessy Grizzle
For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through t…
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
Alphonsus Adu-Bredu, Grant Gibson, Jessy W. Grizzle
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen externa…
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
Jinze Liu, Minzhe Li, Jiunn-Kai Huang +1
This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable contr…
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
Lu Gan, Jessy W. Grizzle, Ryan M. Eustice +1
This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and propriocepti…
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning
Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee +2
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for…
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints
Grant Gibson, Oluwami Dosunmu-Ogunbi, Yukai Gong +1
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these consid…
Optimal Target Shape for LiDAR Pose Estimation
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
Targets are essential in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and simultaneous localization and m…
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
Jiunn-Kai Huang, Jessy W. Grizzle
We propose and experimentally demonstrate a reactive planning system for bipedal robots on unexplored, challenging terrains. The system consists of a low-frequency planning thread…
Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference
Lu Gan, Youngji Kim, Jessy W. Grizzle +4
This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metri…
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Yukai Gong, Jessy Grizzle
Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand is the community of researchers that bases feedback control design on pendulum models sele…
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle +1
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense st…
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs
Jiunn-Kai Huang, Chenxi Feng, Madhav Achar +2
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on…
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin +5
This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels in…
Fractional non-homogeneous Poisson and Pólya-Aeppli processes of order and beyond
Tetyana Kadankova, Nikolai Leonenko, Enrico Scalas
We introduce two non-homogeneous processes: a fractional non-homogeneous Poisson process of order and and a fractional non-homogeneous Pólya-Aeppli process of order . We cha…
Improvements to Target-Based 3D LiDAR to Camera Calibration
Jiunn-Kai Huang, Jessy W. Grizzle
The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered gla…
Adaptive Continuous Visual Odometry from RGB-D Images
Tzu-Yuan Lin, William Clark, Ryan M. Eustice +3
In this paper, we extend the recently developed continuous visual odometry framework for RGB-D cameras to an adaptive framework via online hyperparameter learning. We focus on the…
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping
Lu Gan, Ray Zhang, Jessy W. Grizzle +2
This paper develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binar…
LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari +1
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based…