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Robert J. Griffin

12 accepted papers

2025

Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots

Connor W. Herron, Robert Schuller, Benjamin C. Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
ICRA 2025

In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds an angular objective to the existing linear DCM theory. To incorporate the angular component into the framework, a disc

Cited by 1Source ↗Scholar ↗
2025

Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots

Sergi Martinez, Robert J. Griffin, Carlos Mastalli
RA-L 2025

Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and challenging optimization problems efficiently. To tackle this, we (i)

Cited by 3Source ↗Scholar ↗
2025

Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation

Stephen McCrory, Romeo Orsolino, Dhruv Thanki, Luigi Penco, Robert J. Griffin
RA-L 2025

Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using hand contacts and non-coplanar surfaces, often leading to motor torque saturation or loss of stability through slipping

Cited by 0Source ↗Scholar ↗
2024

Mixed Reality Teleoperation Assistance for Direct Control of Humanoids

Luigi Penco, Kazuhiko Momose, Stephen McCrory, Dexton Anderson, Nicholas Kitchel, Duncan Calvert +1
RA-L 2024

Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This letter introduces a novel approach that utilizes mixed reali

Cited by 22Source ↗Scholar ↗
2023

Comparing the Effectiveness of Control Methodologies of a Hip-Knee-Ankle Exoskeleton During Squatting

Jared M. Li, Owen Winship, Stefan Fasano, Bridget Longo, Nicole M. Esposito, Gregory S. Sawicki +2
IROS 2023poster

Manual materials handling occupations often involve repetitive lifting, lowering, and carrying motions, which can lead to muscular fatigue and/or injury. The risk increases when loads must be worn on the body for the entirety of a job shift. Exoskeletons have been developed to assist these types of…

Cited by 0Source ↗Scholar ↗
2020

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas

Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry Pratt
IROS 2020poster

Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear trajectory optimization method for generating step-up motions. W…

Cited by 23Source ↗Scholar ↗
2019

Balancing Using Vertical Center-of-Mass Motion: A 2-D Analysis From Model to Robot

Boris Jacob van Hofslot, Robert J. Griffin, Sylvain Bertrand, Jerry E. Pratt
RA-L 2019

Balancing strategies for humanoid robots often include the center-of-pressure control (“ankle” strategies), change of body's angular momentum (e.g., “hip” strategies), and taking a step. In this letter, we propose using vertical center-of-mass motion as an additional input for balance control. First

Cited by 11Source ↗Scholar ↗
2018

Inclusion of Angular Momentum During Planning for Capture Point Based Walking

Tim Seyde, Apoorv Shrivastava, Johannes Englsberger, Sylvain Bertrand, Jerry Pratt, Robert J. Griffin
ICRA 2018poster

When walking at high speeds, the swing legs of robots produce a non-negligible angular momentum rate. To accommodate this, we provide a reference trajectory generator for bipedal walking that incorporates predicted centroidal angular momentum at the planning stage. This can be done efficiently as th…

Cited by 30Source ↗Scholar ↗
2018

Straight-Leg Walking Through Underconstrained Whole-Body Control

Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry Pratt
ICRA 2018poster

We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a whole-body controller to determine the straightest possible leg configuration at run-time. The controller solutions are bia…

Cited by 52Source ↗Scholar ↗
2017

Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas

Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry Pratt
IROS 2017poster

While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to combine traditional “ankle strategy” balancing with step timing an…

Cited by 127Source ↗Scholar ↗
2016

Model predictive control for dynamic footstep adjustment using the divergent component of motion

Robert J. Griffin, Alexander Leonessa
ICRA 2016

This paper presents an extension of previous model predictive control (MPC) schemes to the stabilization of the time-varying divergent component of motion (DCM). To address the control authority limitations caused by fixed footholds, the step positions and rotations are treated as control inputs, al

Cited by 40Source ↗Scholar ↗