Jessy W. Grizzle

University of Michigan–Ann Arbor — United States

Engineering · Physical Sciences

61h-index18.7kcitations299works1.62yr avg
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Research Topics

Robotic Locomotion and Control(119), Prosthetics and Rehabilitation Robotics(77), Advanced Control Systems Optimization(42), Adaptive Control of Nonlinear Systems(35), Control and Dynamics of Mobile Robots(27)

Publications299 total

WIP: Calculus for the Modern Engineer: Putting the Joy Back in Learning Advanced Mathematics
2025
Standing Tall: Sim to Real Fall Classification and Lead Time Prediction for Bipedal Robots
ArXiv.org·2025Open Access
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
2024· 1 cited
Fall Prediction for Bipedal Robots: The Standing Phase
2024· 7 cited
Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
arXiv (Cornell University)·2024Open Access
Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
2023· 9 cited
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
2023· 8 cited
CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation
2023· 11 cited
Fall Prediction for Bipedal Robots: The Standing Phase
arXiv (Cornell University)·2023Open Access
The Michigan Robotics Undergraduate Curriculum: Defining the Discipline of Robotics for Equity and Excellence
arXiv (Cornell University)·2023· 1 citedOpen Access
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
2023· 1 cited
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
arXiv (Cornell University)·2023Open Access
Informable Multi-Objective and Multi-Directional RRT<sup>*</sup> System for Robot Path Planning
2023· 5 cited
Optimizing Lead Time in Fall Detection for a Planar Bipedal Robot
arXiv (Cornell University)·2023Open Access
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
arXiv (Cornell University)·2023Open Access
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
IEEE Transactions on Robotics·2023· 40 cited
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
arXiv (Cornell University)·2023Open Access
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles Via Clf-Cbf Constraints
SSRN Electronic Journal·2023· 5 citedOpen Access
Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)·2022· 42 cited
Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
Journal of Dynamic Systems Measurement and Control·2022· 50 citedOpen Access
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Frequent Co-authors

Aaron D. Ames(13), E. R. Westervelt(6), Christine Chevallereau(6), Huei Peng(6), Koushil Sreenath(6), Paulo Tabuada(5), Benjamin Morris(4), Ayonga Hereid(4), Omar Harib(4), Chan-Chiao Lin(3), Kevin S. Galloway(3), Xiangru Xu(3), Hae-Won Park(3), Ross Hartley(3), Maria Domenica Di Benedetto(3), Jun-Mo Kang(2), Gabriel Abba(2), Franck Plestan(2), Ioannis Poulakakis(2), P.E. Moraal(2)