Robert Gregg
Professor, Robotics
Studies control of legged robots and powered prostheses and orthoses, drawing on nonlinear control and biomechanics of human locomotion.
Robert Gregg's lab at Michigan works on legged locomotion & humanoids and planning, control & multi-robot systems. 38 papers since 2023, 9 at top venues, mostly IROS and ICRA. 12 PhD students. 56 alumni, most often to Abbott Labs and Amazon. Applications close .
At a glance
- papers, 2023–2026
- 10/ year
- at T1 venues
- 24%
- PhD students
- 12
- MS students
- 0
- alumni listed
- 56
Papers by yearfrom the lab homepage, 2023–2026
- 4 papers2026 · T1 1 · collecting
- 12 papers2025 · T1 0
- 10 papers2024 · T1 2
- 12 papers2023 · T1 6
T1 venuesOtherVenues: IROS, ICRA, T-RO, ACC, Science Robotics
Research focuspaper titles that use each topic's words
- Planning, control & multi-robot systems16 papers
- powered16 papers
- biomechanics1 paper
- Legged locomotion & humanoids0 papers
- prostheses0 papers
Paper list
From the lab homepage.
20264 papers
- IEEE Trans. Neural Systems and Rehabilitation EngineeringControlling Powered Prosthesis Joint Impedance over Continuous Stance Transitions Between Walking and Stair Ascent/Descent
- IEEE Trans. Neural Systems and Rehabilitation EngineeringEffects of a Powered Knee-Ankle Prosthesis on Intact Joint Biomechanics Across Sustained Activities of Daily Life: A Case Series
- T-RO (T1)Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons
- IEEE Trans. Neural Systems and Rehabilitation EngineeringVersatile Exoskeleton Control Supports Elderly Joint Energetics During Hip-Intensive Tasks
202512 papers
- IEEE J. Translational Engineering in Health and MedicineA Clinical Tuning Framework for Continuous Kinematic and Impedance Control of a Powered Knee-Ankle Prosthesis
- ICORRA Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing
- ICORRA Task-Agnostic Hip Exoskeleton for Osteoarthritis Pain Relief: Energetic Control Across Activities of Daily Life
- ICORRA Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study
- ICORRAdapting Biomimetic Kinematics for Controlling a Powered-Knee, Passive-Ankle Prosthesis Across Inclines
- IEEE Trans. RoboticsAmbilateral Activity Recognition and Continuous Adaptation with a Powered Knee-Ankle Prosthesis
- IEEE Open J Eng Medicine & BiologyCustomizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: Case Series
- ICORRHuman-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment
- ICORRImplementation and Validation of a Data-Driven Variable Impedance Controller on the Össur Power Knee
- EMBCTask-Agnostic Exoskeleton Torque Assistance Reduces Ankle Osteoarthritis Pain: A Pilot Study
- Journal of NeuroEngineering and RehabilitationThe clinical effects of the Össur Power Knee with phase-based and default control during sitting, standing, and walking
- EMBCVibrotactile Haptic and Gesture Feedback in a Smartwatch for Controlling a Multi-Activity Powered Knee-Ankle Prosthesis
202410 papers
- IEEE/ASME Trans. MechatronicsA Compensated Open-Loop Impedance Controller Evaluated on the Second Generation Open-Source Leg Prosthesis
- IEEE Robotics & Automation LettersA Control Framework for Accurate Mechanical Impedance Rendering with Series-Elastic Joints in Prosthetic Applications
- IEEE Trans. Control Systems TechnologyA Modular Framework for Task-Agnostic, Energy Shaping Control of Lower-Limb Exoskeletons
- Science Robotics (T1)A Versatile Knee Exoskeleton Mitigates Quadriceps Fatigue in Lifting, Lowering, and Carrying Tasks
- IEEE Trans. Neural Systems and Rehabilitation EngineeringControlling Powered Prosthesis Kinematics over Continuous Inter-Leg Transitions Between Walking and Stair Ascent/Descent
- IEEE Robotics & Automation LettersImproving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification
- IEEE Int. Conf. Biomedical Robotics and BiomechatronicsOur existing modular, backdrivable exoskeleton system (M-BLUE) uses quasi-direct drive actuators at the hip and/or knee to deliver high assistive torques alongside low dynamic backdrive torques, enabling natural interaction with users with remnant voluntary motion
- IEEE Robotics & Automation LettersRobustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots
- ICRA (T1)Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines
- IEEE Robotics & Automation LettersTransfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets
202312 papers
- IROS (T1)An Energetic Approach to Task-Invariant Ankle Exoskeleton Control
- IEEE Trans. Biomedical EngAutomatic Stub Avoidance for a Powered Prosthetic Leg over Stairs and Obstacles
- IROS (T1)Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent
- IEEE Trans. Medical Robotics and BionicsData-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent
- IEEE Trans. RoboticsData-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking
- IROS (T1)Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters
- ICRA (T1)Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes
- IROS (T1)Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study
- IEEE Trans. Neural Systems and Rehabilitation EngineeringImproving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis
- ACCOptimal Energy Shaping Control for a Backdrivable Hip Exoskeleton
- IEEE Open Journal of Engineering in Medicine and BiologyPredicting Individualized Joint Kinematics over Continuous Variations of Walking, Running, and Stair Climbing
- T-RO (T1)Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain
Where alumni went56 listed, 48% to industry
Industry 16Academia 17
Most often to
- Abbott Labs
- Amazon
- Control Systems Engineer
Also to
- Boston Dynamics AI Institute
- Clemson University
- Institute for Human & Machine Cognition
Apply to MichiganFall 2027
Michigan CSE Computer Science PhD
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- Opens
- —
- GRE
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- English
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- Fee
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Not yet confirmed for this intake.
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