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Robert Gregg

E-mail: Phone: 972-883-4657
Office: ECSN 3.202
800 West Campbell Road
Mailstop: EC-38
Richardson, TX 75080-3021

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Robert D. Gregg

Assistant Professor of Mechanical Engineering

PhD, Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, 2010
MS, Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, 2007
BS, Electrical Engineering and Computer Sciences, University of California-Berkeley, 2006

Research Interests
Legged robots, prosthetics and orthotics, neural mechanisms of human locomotion, modeling and simulation, nonlinear control theory

Five Most Recent Journal Publications, Book Chapters, and Books

  • Gregg and J. Sensinger, "Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg," IEEE Trans. Control Systems Technology, 2013, in press.
  • Gregg and L. Righetti, "Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation," IEEE Trans. Automatic Control, 2013, in press.
  • Rouse, R. Gregg, L. Hargrove, and J. Sensinger, "The Difference Between Mechanical Stiffness and Quasi-Stiffness in the Context of Biomechanical Modeling," IEEE Trans. Biomedical Engineering, 60(2): 562-568, 2013.
  • Gregg, Y. Dhaher, A. Degani, and K. Lynch, "On the Mechanics of Functional Asymmetry in Bipedal Walking," IEEE Trans. Biomedical Engineering, 59(5): 1310-1318, 2012.
  • Gregg, A. Tilton, S. Candido, T. Bretl, and M. Spong, "Control and Planning of 3D Dynamic Walking with Asymptotically Stable Gait Primitives," IEEE Trans. Robotics, 28(6): 1415-1423, 2012.

Major Honors and Awards

  • Career Award at the Scientific Interface, Burroughs Wellcome Fund, 2012
  • CLAWAR Association Best Technical Paper Award, International Conference on Climbing and Walking Robots, Paris, France, 2011.
  • Engineering into Medicine Postdoctoral Fellowship, Northwestern University Clinical and Translational Sciences Institute, Chicago, IL, 2010.
  • O. Hugo Schuck Award (Best Theory Paper), IFAC American Automatic Control Council, 2009.
  • Best Student Paper Award, American Control Conference, Seattle, WA, 2008.
  • Warren Dere Design Award, University of California-Berkeley, 2007.
  • First Place, NATCAR Design Contest, University of California, Davis, 2006.
  • Arthur M. Hopkin Award, University of California-Berkeley, 2006.
  • Christie Senior Research Award, California Alumni Association, University of California-Berkeley, 2006.