Gray Cortright Thomas
Gray Cortright Thomas
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Design of a momentum-based control framework and application to the humanoid robot atlas
T Koolen, S Bertrand, G Thomas, T De Boer, T Wu, J Smith, J Englsberger, ...
International Journal of Humanoid Robotics 13 (01), 1650007, 2016
Summary of Team IHMC’s Virtual Robotics Challenge Entry
T Koolen, J Smith, G Thomas, S Bertrand, J Carff, N Mertins, D Stephen, ...
IEEE-RAS International Conference on Humanoid Robots, 2013
Stabilizing series-elastic point-foot bipeds using whole-body operational space control
D Kim, Y Zhao, G Thomas, BR Fernandez, L Sentis
IEEE Transactions on Robotics 32 (6), 1362-1379, 2016
Continuous cyclic stepping on 3d point-foot biped robots via constant time to velocity reversal
D Kim, G Thomas, L Sentis
2014 13th International Conference on Control Automation Robotics & Vision …, 2014
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback
KS Kim, AS Kwok, GC Thomas, L Sentis
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints
P Rao, GC Thomas, L Sentis, AD Deshpande
2017 IEEE International Conference on Robotics and Automation (ICRA), 3447-3452, 2017
Assessing whole-body operational space control in a point-foot series elastic biped: Balance on split terrain and undirected walking
D Kim, Y Zhao, G Thomas, L Sentis
arXiv preprint arXiv:1501.02855, 2015
A perching landing gear for a quadcopter
E Culler, G Thomas, C Lee
53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials …, 2012
Modeling and loop shaping of single-joint amplification exoskeleton with contact sensing and series elastic actuation
B He, GC Thomas, N Paine, L Sentis
2019 American Control Conference (ACC), 4580-4587, 2019
Exploiting the natural dynamics of series elastic robots by actuator-centered sequential linear programming
R Schlossman, GC Thomas, O Campbell, L Sentis
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1405 …, 2018
Towards computationally efficient planning of dynamic multi-contact locomotion
GC Thomas, L Sentis
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
Safety control synthesis with input limits: a hybrid approach
GC Thomas, B He, L Sentis
2018 Annual American Control Conference (ACC), 792-797, 2018
MIMO identification of frequency-domain unreliability in SEAs
GC Thomas, L Sentis
2017 American Control Conference (ACC), 4436-4441, 2017
Complex stiffness model of physical human-robot interaction: Implications for control of performance augmentation exoskeletons
B He, H Huang, GC Thomas, L Sentis
arXiv preprint arXiv:1903.00704, 2019
Controllable, High Force Amplification Using Elastic Cable Capstans
GC Thomas, CC Gimenez, ED Chin, AP Carmedelle, AM Hoover
International Design Engineering Technical Conferences and Computers and …, 2012
Compliance shaping for control of strength amplification exoskeletons with elastic cuffs
GC Thomas, JM Coholich, L Sentis
2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics …, 2019
Quadric Inclusion Programs: An LMI Approach to -Model Identification
GC Thomas, L Sentis
IEEE Transactions on Automatic Control 64 (10), 4229-4236, 2019
A Fixed Structure Gain Selection Strategy for High Impedance Series Elastic Actuator Behavior
K Isik, GC Thomas, L Sentis
Journal of Dynamic Systems, Measurement, and Control 141 (2), 2019
Hybrid multi-contact dynamics for wedge jumping locomotion behaviors
Y Zhao, D Kim, G Thomas, L Sentis
Proceedings of the 18th International Conference on Hybrid Systems …, 2015
Adaptive compliance shaping with human impedance estimation
H Huang, HF Cappel, GC Thomas, B He, L Sentis
2020 American Control Conference (ACC), 5131-5138, 2020
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