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Robert D. Gregg
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Journal Articles

Design and Initial Validation of a Multiple Degree-of-Freedom Joint for an Ankle-Foot Orthosis

Toby Elery, Emma Reznick, Staci Shearin, Karen McCain, Robert D. Gregg
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. June 2022, 16(2): 021001.
Paper No: MED-19-1201
https://doi.org/10.1115/1.4053200
Published Online: February 3, 2022
View Article titled, Design and Initial Validation of a Multiple Degree-of-Freedom Joint for an Ankle-Foot Orthosis
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Topics: Design, Kinematics, Muscle, Orthotics, Knee
Journal Articles

Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems

Mark Yeatman, Robert D. Gregg
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2021, 16(9): 091005.
Paper No: CND-20-1342
https://doi.org/10.1115/1.4051589
Published Online: July 19, 2021
View Article titled, Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems
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Topics: Dynamics (Mechanics), Limit cycles, Springs, Locomotives, Pendulums
Journal Articles

Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion

Kaveh Akbari Hamed, Bita Safaee, Robert D. Gregg
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2019, 141(12): 121011.
Paper No: DS-18-1497
https://doi.org/10.1115/1.4044618
Published Online: September 24, 2019
View Article titled, Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion
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Topics: Algorithms, Control equipment, Feedback, Stability, Yaw, Design, Jacobian matrices, Robots, State feedback, Separation (Technology)
Journal Articles

Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves

Alireza Mohammadi, Robert D. Gregg
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. October 2019, 14(10): 101007.
Paper No: CND-18-1443
https://doi.org/10.1115/1.4043002
Published Online: September 9, 2019
View Article titled, Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves
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Topics: Algebra, Knee, Algorithms, Design
Journal Articles

Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion

Mark Yeatman, Ge Lv, Robert D. Gregg
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2019, 141(10): 101007.
Paper No: DS-18-1419
https://doi.org/10.1115/1.4043801
Published Online: June 13, 2019
View Article titled, Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion
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Topics: Control equipment, Dynamics (Mechanics), Errors, Limit cycles, Robustness, Simulation, Storage, Engineering simulation, Stability
Proceedings Papers

Human-Inspired Algebraic Curves for Wearable Robot Control

Alireza Mohammadi, Robert D. Gregg
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T11A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9061
https://doi.org/10.1115/DSCC2018-9061
View Paper titled, Human-Inspired Algebraic Curves for Wearable Robot Control
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Topics: Algebra, Robots, Control equipment, Cycles, Fittings, Algorithms, Design, Engineering design processes, Knee, Pattern recognition
Proceedings Papers

A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories

Siavash Rezazadeh, Robert D. Gregg
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T06A007, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9851
https://doi.org/10.1115/DSCC2016-9851
View Paper titled, A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories
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Topics: Artificial limbs, Control equipment, Design, Engineering simulation, Feedforward control, Humanoid robots, Limit cycles, Prostheses, Robots, Robustness
Proceedings Papers

Simultaneous Control of an Ankle-Foot Prosthesis Model Using a Virtual Constraint

Akshay Nanjangud, Robert D. Gregg
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T04A001, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-5963
https://doi.org/10.1115/DSCC2014-5963
View Paper titled, Simultaneous Control of an Ankle-Foot Prosthesis Model Using a Virtual Constraint
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Topics: Prostheses, Control equipment, Cycles, Design, Robotics, Control systems, Robots, Simulation