Robert Gregg is an Assistant Professor in Bioengineering and was named a Fellow, Eugene McDermott Professor in 2018. He also serves as the head of the Locomotor Control Systems Laboratory. Professor Gregg investigates the control mechanisms of human locomotion for the development of high-performance wearable control systems (e.g., robotic prostheses and orthoses) to enable mobility in persons with disabilities. Learn more about Dr. Gregg on his Home, Departments of Mechanical Engineering and Bioengineering pages, as well as his Research Explorer and Locomotor Control Systems Lab pages.

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Recent Submissions

  • Exponentially Stabilizing Controllers for Multi-Contact 3d Bipedal Locomotion 

    Hamed, K. A.; Gregg, Robert D.; Ames, A. D.
    Models of bipedal walking are hybrid with continuous-time phases representing the Lagrangian stance dynamics and discrete-time transitions representing the impact of the swing leg with the walking surface. The design of ...
  • Evidence for a time-invariant phase variable in human ankle control 

    Gregg, Robert D.; Rouse, Elliott J.; Hargrove, Levi J.; Sensinger, Jonathon W.
    Human locomotion is a rhythmic task in which patterns of muscle activity are modulated by state-dependent feedback to accommodate perturbations. Two popular theories have been proposed for the underlying embodiment of phase ...