Gregg, Robert D.
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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
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Decentralized Passivity-Based Control with a Generalized Energy Storage Function for Robust Biped Locomotion
(American Society of Mechanical Engineers (ASME), 2019-06-13)This paper details a decentralized passivity-based control (PBC) to improve the robustness of biped locomotion in the presence of gait-generating external torques and parametric errors in the biped model. Previous work ... -
Mechanical Simplification of Variable-Stiffness Actuators Using Dielectric Elastomer Transducers
(MDPI AG, 2019-05-20)Legged and gait-assistance robots can walk more efficiently if their actuators are compliant. The adjustable compliance of variable-stiffness actuators (VSAs) can enhance this benefit. However, this functionality requires ... -
Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots
This paper offers a novel generalization of a passivity-based, energy tracking controller for robust bipedal walking. Past work has shown that a biped limit cycle with a known, constant mechanical energy can be made robust ... -
Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking
This paper presents a systematic approach to design observer-based output feedback controllers for hybrid dynamical systems arising from bipedal walking. We consider a class of parameterized observer-based output feedback ... -
Exponentially Stabilizing Controllers for Multi-Contact 3d Bipedal Locomotion
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
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 ...
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