Publications

2024

• Learning Vision-Based Bipedal Locomotion for Challenging Terrain
  Helei Duan, Bikram Pandit, Mohitvishnu S. Gadde, Bart van Marum, Jeremy Dao, Chanho Kim, Alan Fern
  (Accepted) IEEE International Conference on Robotics and Automation (ICRA), May 2024
  Supplemental Video


• Sim-To-Real Learning for Humanoid Box Loco-Manipulation
  Jeremy Dao, Helei Duan, Alan Fern
  (Accepted) IEEE International Conference on Robotics and Automation (ICRA), May 2024
  Supplemental Video

2023

• Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
  Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan Hurst, Alan Fern
  IEEE International Conference on Robotics and Automation (ICRA), July 2023
  

2022

• Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning
  Fangzhou Yu, Ryan Batke, Jeremy Dao, Jonathan Hurst, Kevin Green, Alan Fern
  IEEE International Conference on Humanoid Robots (Humanoids), November 2022
  Preprint


• Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning
  Ryan Batke, Fangzhou Yu, Jeremy Dao, Jonathan Hurst, Ross L. Hatton, Alan Fern, Kevin Green
  IEEE International Conference on Humanoid Robots (Humanoids), November 2022
  Preprint


• Motion Planning for Agile Legged Locomotion using Failure Margin Constraints
  Kevin Green, John Warila, Ross L. Hatton, Jonathan Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS), October 2022.
  Preprint


• Learning Dynamic Bipedal Walking Across Stepping Stones
  Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS), October 2022.
  Preprint, Supplemental Video


• Sim-to-real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads
  Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2022.
  Preprint, Supplemental Video


• Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking
  Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2022.
  Preprint, Supplemental Video

2021

• Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning
  Jonah Siekmann, Kevin Green,John Warila, Alan Fern, Jonathan Hurst
  Proceedings of Robotics: Science and Systems, July 2021.
  Supplemental Video 1, Supplemental Video 2, Conference Presentation


• Learning Spring Mass Locomotion: Guiding Policies with a Reduced-Order Model
  Kevin Green, Yesh Godse, Jeremy Dao, Ross L. Hatton, Alan Fern, Jonathan Hurst
  IEEE Robotics and Automation Letters, February 2021.
  Preprint, Supplemental Video, Conference Presentation


• Learning Task Space Actions for Bipedal Locomotion
  Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2021.
  Finalist: IEEE ICRA Best Paper Award in Cognitive Robotics
  Preprint, Supplemental Video, Conference Presentation


• Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition
  Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2021.
  Finalist: IEEE ICRA Best Conference Paper Award
  Preprint, Supplemental Video, Conference Presentation

2020

• Series Elastic Actuators
  Jonathan Hurst, Kevin Green
  In: Ang M., Khatib O., Siciliano B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg.
  Preprint


• Learning Memory-Based Control for Human-Scale Bipedal Locomotion
  Jonah Siekmann, Srikar Valluri, Jeremy Dao, Lorenzo Bermillo, Helei Duan, Alan Fern, Jonathan Hurst
  Robotics Science and Systems (RSS), July 2020.
  Preprint


• Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem
  Siavash Rezazadeh and Jonathan Hurst
  The International Journal of Robotics Research (IJRR), May 2020.
  Preprint


• Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
  Jesse J. Rond , Michael C. Cardani , Matthew I. Campbell , Jonathan W. Hurst
  ASME Journal of Mechanisms and Robotics, May 2020.
  Preprint


• Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running
  Kevin Green, Ross L Hatton, Jonathan Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2020.
  Preprint

2019

• Feedback Control for Cassie with Deep Reinforcement Learning
  Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan Hurst, and Michiel van de Panne
  IEEE International Conference on Intelligent Robots and Systems (IROS), October 2018.
  Preprint


• Robot Leg Design: A Constructive Framework
  Siavash Rezazadeh, Andy Abate, Ross L. Hatton, and Jonathan Hurst
  IEEE Access, September 2018.


• Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits
  Mike Hector, Kevin Green, Burak Sencer, Jonathan Hurst
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019.


• Eliminating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
  Jesse J. Rond , Michael C. Cardani , Matthew I. Campbell , Jonathan W. Hurst
  ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 2019.


• Building Robots That Can Go Where We Go
  Jonathan Hurst
  IEEE Spectrum, February 2019.

2018

• Fast Online Trajectory Optimization for the Bipedal Robot Cassie
  Taylor Apgar, Patrick Clary, Kevin Green, Alan Fern, and Jonathan Hurst
  Robotics Science and Systems (RSS), June 2018.


• Monte-Carlo Planning for Agile Legged Locomotion
  Patrick Clary, Pedro Morais, Alan Fern, and Jonathan Hurst
  International Conference on Automated Planning and Scheduling (ICAPS), June 2018.


• Walking and Running with Passive Compliance
  Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail Jones, Andrew Peekma, Johnathan Van Why, Ryan Domres, Albert Wu, William Martin, Hartmut Geyer, and Jonathan Hurst
  IEEE Robotics and Automation Magazine, May 2018.

2016

• ATRIAS: Design and Validation of a Tether-free 3D-capable Spring-Mass Bipedal Robot
  Christian Hubicki, Jesse Grimes, Mikhail Jones, Daniel Renjewski, Alexander Sproewitz, Andy Abate, and Jonathan Hurst
  International Journal of Robotics Research (IJRR), October 2016.


• Mechanical Antagonism in Legged Robots
  Andy Abate, Jonathan W. Hurst, and Ross L. Hatton
  Robotics Science and Systems (RSS), June 2016.

2015

• Exciting Engineered Passive Dynamics in a Bipedal Robot
  Daniel Renjewski, Alexander Sproewitz, Andrew Peekema, Mikhail Jones, and Jonathan W. Hurst
  IEEE Transactions on Robotics, Vol. 31, Issue 5, October 2015.


• Spring-mass Walking with ATRIAS in 3D: Robust Gait Control Spanning Zero to 4.3 KPH on a Heavily Underactuated Bipedal Robot
  Siavash Rezazadeh, Christian Hubicki, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Andy Abate and Jonathan W. Hurst
  ASME Dynamic Systems and Control Conference (DSCC), October 2015.


• Touch-down Angle Control for Spring-mass Walking
  Hamid Vejdani, Albert Wu, Hartmut Geyer, and Jonathan W. Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2015.


• Toward Step-by-Step Synthesis of Stable Gaits for Underactuated Compliant Legged Robots
  Siavash Rezazadeh and Jonathan W. Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2015.


• Do Limit Cycles Matter in the Long Run? Stable Orbits and Sliding-Mass Dynamics Emerge in Task-Optimal Locomotion
  Christian Hubicki, Mikhail Jones, Monica A. Daley, Jonathan W. Hurst
  IEEE International Conference on Robotics and Automation (ICRA), May 2015.


• Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
  Ayonga Hereid, Christian Hubicki, Eric Cousineau, Jonathan W. Hurst, and Aaron D. Ames
  IEEE International Conference on Robotics and Automation (ICRA), May 2015.

2014

• Don’t Break a Leg: Running Birds from Quail to Ostrich Prioritise Leg Safety and Economy on Uneven Terrain
  Aleksandra V. Birn-Jeffery*, Christian M. Hubicki*, Yvonne Blum, Daniel Renjewski, Jonathan W. Hurst, Monica A. Daley
  Journal of Experimental Biology, 217, 3786-3796. Featured Article. *Authors contributed equally to the manuscript.
  Article is available open-access at http://jeb.biologists.org/


• Swing-Leg Trajectory of Running Guinea Fowl Suggests Task-Level Priority of Force Regulation Rather than Disturbance Rejection
  Yvonne Blum, Hamid R. Vejdani, Aleksandra V. Birn-Jeffery, Christian M. Hubicki, Jonathan W. Hurst, Monica A. Daley
  PlosOne, DOI: 10.1371/journal.pone.0100399
  The final publication is available at http://www.plosone.org


• On The Optimal Selection of Motors and Transmissions for Electromechanical and Robotic Systems
  Siavash Rezazadeh and Jonathan W. Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS) (10.1109/IROS.2014.6943215), Sept. 2014.


• From Template to Anchor: A Novel Control Strategy for Spring-Mass Running of Bipedal Robots
  Behnam Dadashzadeh, Hamid R. Vejdani, and Jonathan Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS) (10.1109/IROS.2014.6942912), Sept. 2014.


• Dynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired Control
  Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, and Aaron D. Ames
  Hybrid Systems and Control Conference (HSCC) (DOI: 10.1145/2562059.2562143), April 2014.


• Running into a Trap: Numerical Design of Task-Optimal Preflex Behaviors for Delayed Disturbance Responses
  Johnathan Van Why, Christian Hubicki, Mikhail Jones, Monica Daley, and Jonathan Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS) (DOI: 10.1109/IROS.2014.6942908), Sept. 2014.

2013

• Performance Analysis and Feedback Control of ATRIAS, A Three-Dimensional Bipedal Robot
  Alireza Ramezani, Jonathan W. Hurst, Kaveh Akbari Hamed, and J. W. Grizzle
  Journal of Dynamic Systems, Measurement, and Control, December 2013.


• Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance
  Hamid R. Vejdani, Yvonne Blum, Monica A. Daley, and Jonathan W. Hurst
  Bioinspiration & Biomimetics (DOI: 10.1088/1748-3182/8/4/046006), 2013
  The final publication is available at http://iopscience.iop.org/


• Impulse Control for Planar Spring-Mass Running (Pre-Print)
  Devin Koepl and Jonathan W. Hurst
  Journal of Intelligent and Robotic Systems (DOI: 10.1007/s10846-013-9877-8), 2013
  The final publication is available at link.springer.com


• Open-Source Real-Time Robot Operation and Control System for Highly Dynamic, Modular Machines
  Andrew Peekema, Daniel Renjewski and Jonathan W. Hurst
  ASME International Design Engineering Technical (IDET), August 2013.


• Optimal Passive Dynamics for Physical Interaction: Catching a Mass
  Kevin Kemper, Hamid R. Vejdani, Brent Piercy, Jonathan W. Hurst
  Actuators, May 2013.


• Optimal Passive Dynamics for Physical Interaction: Throwing a Mass
  Hamid R. Vejdani, Jonathan W. Hurst
  IEEE Conference on Robotics and Automation (ICRA), May 2013

2012

• The Design of ATRIAS 1.0 a Unique Monopod, Hopping Robot (Awarded Best Technical Paper)
  Jesse A. Grimes and Jonathan W. Hurst
  International Conference on Climbing and Walking Robots (CLAWAR), July 2012.


• Running on Soft Ground: Simple, Energy-Optimal Disturbance Rejection
  Christian M. Hubicki and Jonathan W. Hurst
  International Conference on Climbing and Walking Robots (CLAWAR), July 2012.


• Swing Leg Control for Actuated Spring-Mass Robots
  Hamid R. Vejdani and Jonathan W. Hurst
  International Conference on Climbing and Walking Robots (CLAWAR), July 2012.


• Effects of Leg Configuration on Running and Walking Robots
  Mikhail S. Jones and Jonathan W. Hurst
  International Conference on Climbing and Walking Robots (CLAWAR), July 2012.

2011

• Force Control for Planar Spring-Mass Running
  Devin Koepl and Jonathan W. Hurst
  IEEE International Conference on Intelligent Robots and Systems (IROS), September 2011.


• Optimization-Inspired Control Policies for Analytically and Computationally Intractable Systems (Awarded Best Poster Presentation)
  Christian Hubicki and Jonathan W. Hurst
  Dynamic Walking, Principles and Concepts of Legged Locomotion, July 2011.


• The Electric Cable Differential Leg: A Novel Design Approach for Walking and Running
  Jonathan W. Hurst
  International Journal of Humanoid Robotics, Vol. 8, Issue 2, 301-321, June 2011.


• Artificial Restraint Systems for Walking and Running Robots: An Overview
  Joeseph S. Colett and Jonathan W. Hurst
  International Journal of Humanoid Robotics, June 2011.


• Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter Estimation for Control Design
  Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, and Jessy W. Grizzle
  IEEE Control Systems Magazine, Vol. 31, Issue 2, April 2011. [Cover]

2010

• The Actuator With Mechanically Adjustable Series Compliance
  Jonathan W. Hurst, Joel E. Chestnutt, and Alfred A. Rizzi
  IEEE Transactions on Robotics, Vol. 26, Issue 4, August 2010.


• Rope Selection for Rope Drive Transmissions Used in Robotic Manipulation
  Michael P. Summers, Jonathan W. Hurst
  Honors Baccalaureate of Science in Mechanical Engineering Thesis, August 2010.


• Force Control For Spring-Mass Running and Walking
  Devin Koepl, Kevin Kemper, and Jonathan W. Hurst
  IEEE Conference on Advanced Intelligent Mechatronics, July 2010.


• Optimal Passive Dynamics for Torque/Force Control
  Kevin Kemper, Devin Koepl, and Jonathan W. Hurst
  IEEE Conference on Robotics and Automation, May 2010.

2008

• Series Compliance for an Efficient Running Gait: Lessons Learned from the Electric Cable Differential Leg
  Jonathan W. Hurst and Alfred A. Rizzi
  IEEE Robotics and Automation Magazine, Vol. 15, Issue 3, September 2008.


• The Role and Implementation of Compliance in Legged Locomotion
  Jonathan W. Hurst
  Doctoral dissertation, tech. report CMU-RI-TR-08-48, Robotics Institute, Carnegie Mellon University, August 2008.

2007

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  Jonathan W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April 2007.


• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  Jonathan W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April 2007.

2004

• Physically Variable Compliance in Running
  Jonathan W. Hurst and A. Rizzi
  International Conference on Climbing and Walking Robots, Springer-Verlag, September 2004.


• An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
  Jonathan W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, May 2004.


• Series Elastic Actuation: Potential and Pitfalls
  Jonathan W. Hurst, D. Hobbelen, and A. Rizzi
  International Conference on Climbing and Walking Robots, Springer-Verlag, September 2004.