| From 2D design of underactuated bipedal gaits to 3D implementation: Walking with speed tracking X Da, O Harib, R Hartley, B Griffin, JW Grizzle IEEE Access 4, 3469-3478, 2016 | 68 | 2016 |
| Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field X Da, R Hartley, JW Grizzle 2017 IEEE International Conference on Robotics and Automation (ICRA), 3476-3483, 2017 | 51 | 2017 |
| Supervised learning for stabilizing underactuated bipedal robot locomotion, with outdoor experiments on the wave field X Da, R Hartley, JW Grizzle 2017 IEEE International Conference on Robotics and Automation (ICRA), 3476-3483, 2017 | 51 | 2017 |
| Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway Y Gong, R Hartley, X Da, A Hereid, O Harib, JK Huang, J Grizzle 2019 American Control Conference (ACC), 4559-4566, 2019 | 42 | 2019 |
| Contact-aided invariant extended Kalman filtering for legged robot state estimation R Hartley, MG Jadidi, JW Grizzle, RM Eustice arXiv preprint arXiv:1805.10410, 2018 | 23 | 2018 |
| Contact-aided invariant extended Kalman filtering for robot state estimation R Hartley, M Ghaffari, RM Eustice, JW Grizzle The International Journal of Robotics Research 39 (4), 402-430, 2020 | 22 | 2020 |
| Legged robot state-estimation through combined forward kinematic and preintegrated contact factors R Hartley, J Mangelson, L Gan, MG Jadidi, JM Walls, RM Eustice, ... 2018 IEEE International Conference on Robotics and Automation (ICRA), 4422-4429, 2018 | 16 | 2018 |
| Hybrid contact preintegration for visual-inertial-contact state estimation using factor graphs R Hartley, MG Jadidi, L Gan, JK Huang, JW Grizzle, RM Eustice 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018 | 13 | 2018 |
| Rapid bipedal gait design using c-frost with illustration on a cassie-series robot A Hereid, O Harib, R Hartley, Y Gong, JW Grizzle arXiv preprint arXiv:1807.06614 25, 79, 2018 | 10 | 2018 |
| Stabilization of 3D underactuated biped robots: Using posture adjustment and gait libraries to reject velocity disturbances R Hartley, X Da, JW Grizzle 2017 IEEE Conference on Control Technology and Applications (CCTA), 1262-1269, 2017 | 7 | 2017 |
| Rapid trajectory optimization using c-frost with illustration on a cassie-series dynamic walking biped A Hereid, O Harib, R Hartley, Y Gong, JW Grizzle arXiv preprint arXiv:1807.06614, 2018 | 6 | 2018 |
| Lidartag: A real-time fiducial tag using point clouds JK Huang, M Ghaffari, R Hartley, L Gan, RM Eustice, JW Grizzle arXiv preprint arXiv:1908.10349, 2019 | 2 | 2019 |
| Supplementary material: legged robot state-estimation through combined kinematic and preintegrated contact factors R Hartley, J Mangelson, L Gan, MG Jadidi, JM Walls, RM Eustice, ... University of Michigan, Tech. Rep., Feb, 2017 | 1 | 2017 |
