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<!doctype html>
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<title>Gray Cortright Thomas's Publications</title>
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<h1 class="title"><a class="Gray">Gray</a> C. Thomas, Ph.D.</h1>
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Research Investigator at the University of Michigan in direct human control of physically interactive robots.
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<h1>Publications</h1>
<!-- bib -->
<!-- <p>
C. Nesler, <b>G. C. Thomas</b>N. Divekar, E. J. Rouse, R. D. Gregg, “Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses,” <i>(Under Review)</i> <a href="Preprints/NeslerThomasDivekarRouseGregg2022RALpre.pdf">[pdf]</a>
</p> -->
<!-- <p>
R. L. Medrano, <b>G. C. Thomas</b>, E. Rouse, "Can humans perceive the metabolic benefit provided by augmentative exoskeletons?" <i>(Under Review)</i> <a href="Preprints/MedranoThomasRouse2021JNERpre.pdf">[pdf]</a>
</p> -->
<!-- <p>
R. L. Medrano, <b>G. C. Thomas</b>, E. Rouse, R. D. Gregg, "Real-Time Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain," <i>(In Preparation)</i>. <a href="Preprints/MedranoThomasRouseGregg2021TROpre.pdf">[pdf]</a> <a href="https://www.youtube.com/watch?v=xmJwKG_eP6U">[YouTube]</a>
</p> -->
<!-- <p>
J. Lin, N. V. Divekar, <b>G. C. Thomas</b>, R. D. Gregg, "Task-Invariant Passivity-Based Control of a Knee-Ankle Exoskeleton over the Primary Activities of Daily Life," <i>(In Preparation)</i>. <a href="Preprints/LinDivekarThomasGregg2021pre.pdf">[pdf]</a>
</p> -->
<h3>Journal</h3>
<p>
<b>G. C. Thomas</b>, O. Campbell IV, N. Nichols, N. Brissonneau, B. He, J. James, N. Paine, and L. Sentis, "Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons," <i>Frontiers in Robotics and AI</i>, vol. 8, pp. 295, Sept. 2021. <a href="Preprints/ThomasEA2021FrontiersPre.pdf">[pdf]</a> <a href="https://www.frontiersin.org/articles/10.3389/frobt.2021.720231">[Frontiers]</a> </p>
<p>
R. L. Medrano, <b>G. C. Thomas</b>, E. J. Rouse, R. D. Gregg, “Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations,” <i>IEEE Robotics and Automation Letters</i>, vol. 7, no. 3, pp. 7463 - 7470, July 2022, doi: 10.1109/LRA.2022.3183790. <a href="https://ieeexplore.ieee.org/abstract/document/9798814">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/MedranoThomasRouseGregg2022RALpre.pdf">[pdf]</a>
</p>
<p>
C. Nesler, <b>G. C. Thomas</b>, N. Divekar, E. J. Rouse, R. D. Gregg, “Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses,” <i>IEEE Robotics and Automation Letters</i>, vol. 7, no. 3, pp. 6155-6162, July 2022, doi: 10.1109/LRA.2022.3145580. <a href="https://ieeexplore.ieee.org/document/9691920">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/NeslerThomasDivekarRouseGregg2022RAL.pdf">[pdf]</a>
</p>
<p>
J. Lin, N. V. Divekar, <b>G. C. Thomas</b>, R. D. Gregg, “Optimally Biomimetic Passivity-Based Control of a Lower-Limb Exoskeleton Over the Primary Activities of Daily Life,” <i>IEEE Open Journal of Control Systems</i>, vol. 1, pp. 15 - 28, April 2022, doi: 10.1109/OJCSYS.2022.3165733. <a href="https://ieeexplore.ieee.org/document/9756252">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/LinDivekarThomasGregg2021pre.pdf">[pdf]</a>
</p>
<p>
R. L. Medrano, <b>G. C. Thomas</b>, E. Rouse, “Can humans perceive the metabolic benefit provided by augmentative exoskeletons?” <i>Journal of NeuroEngineering and Rehabilitation</i>, vol 19, no. 26, February 2022, doi: 10.1186/s12984-022-01002-w <a href="https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-022-01002-w">[Springer]</a> <a href="https://graythomas.github.io/Preprints/MedranoThomasRouse2021JNERpre.pdf">[pdf]</a>
</p>
<p>
R. L. Medrano, E. Rouse, <b>G. C. Thomas</b>, "Biological Joint Loading and Exoskeleton Design," <i>IEEE Transactions on Medical Robotics and Bionics</i>, vol. 3, no. 3, pp. 847-851, Aug. 2021. <a href="https://ieeexplore.ieee.org/document/9492308">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/MedranoRouseThomas2020TMRBpre.pdf">[pdf]</a> <a href="https://codeocean.com/capsule/8239141/tree/v1">[CodeOcean]</a>
</p><!-- vol. 3, no. 3, pp. 847-851, Aug. 2021 -->
<p>
N. Brissonneau, B. He, <b>G. C. Thomas</b>, and L. Sentis, "Biologically-Inspired Impedance
Control with Hysteretic Damping," <i>IEEE Control Systems Letters</i>, vol. 5, no. 5, pp. 1717-1722,
Nov. 2021. (early access) <a href="https://ieeexplore.ieee.org/document/9291396">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/BrissonneauHeThomasSentis2020LCSSpre.pdf">[pdf]</a>
</p>
<p>
<b>G. C. Thomas</b>, J. Mehling, J. Holley, and L. Sentis, "Phase-Relaxed-Passive Full State Feedback Gain Limits for Series Elastic Actuators," <i>IEEE/ASME Transactions on Mechatronics,</i> vo. 26, no. 1, pp. 586-591, Feb. 2021. <a href="https://ieeexplore.ieee.org/document/9250572">[IEEE]</a> <a href="https://graythomas.github.io/Preprints/ThomasMehlingHolleySentis2020TMechpre.pdf">[pdf]</a>
</p>
<p>
B. He, H. Huang, <b>G. C. Thomas</b>, and L. Sentis, "A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control," <i>IEEE Transactions on Neural Systems and Rehabilitation Engineering</i>, vol. 28, no. 11, pp. 2468-2477, Nov. 2020. <a href="https://arxiv.org/abs/2009.12446">[ArXiv]</a> <a href="https://ieeexplore.ieee.org/document/9207922">[IEEE]</a>
</p>
<p>
<b>G. C. Thomas</b>, and L. Sentis, "Quadric Inclusion Programs: an LMI Approach to H[infinity]-Model Identification," <i>IEEE Transactions on Automatic Control</i>, vol. 64, no. 10, pp. 4229-4236, Oct. 2019. <a href="https://doi.org/10.1109/TAC.2019.2897886">[doi]</a> <a href="https://ieeexplore.ieee.org/document/8636188">[IEEE]</a> <a href="https://codeocean.com/capsule/7861079/tree/v1">[CodeOcean]</a> <a href="https://arxiv.org/pdf/1802.07695">[ArXiv]</a>
</p>
<p>
K. Isik, <b>G. C. Thomas</b>, and L. Sentis, "A Fixed Structure Gain Selection Strategy for High Impedance Series Elastic Actuator Behavior," <i> Journal of Dynamic Systems, Measurement, and Control</i>, vol. 141, no. 2, Oct. 2018, <a href="https://doi.org/10.1115/1.4041449">doi: 10.1115/1.4041449</a>. <a href="http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2702914">[ASME]</a> <!-- <a href="bib/gray.bib.html#IsikThomasSentis2018JDSMC">[.bib]</a> -->
</p>
<p>
D. Kim, Y. Zhao, <b>G. C. Thomas</b>, and L. Sentis, "Stabilizing Series-Elastic Point-Foot Bipeds Using Whole-Body Operational Space Control," <i>IEEE Transactions on Robotics</i>, vol. 32, no. 6, pp. 1362-1379, Dec. 2016. [Finalist, Best WBC Paper 2016][Finalist, Best WBC-Video 2016]<a href="https://doi.org/10.1109/TRO.2016.2597314">[doi]</a><a href="http://ieeexplore.ieee.org/abstract/document/7736085/">[IEEE]</a><a href="https://www.researchgate.net/profile/Donghyun_Kim34/publication/309706836_Stabilizing_Series-Elastic_Point-Foot_Bipeds_Using_Whole-Body_Operational_Space_Control/links/5823f06408ae61258e3cd0c5.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#KimEA2016TRO">[.bib]</a> -->
</p>
<p>
T. Koolen, S. Bertrand, <b>G. C. Thomas</b>, T. de Boer, T. Wu, J. Smith, J. Englsberger, and J. E. Pratt, "Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas," <i>International Journal of Humanoid Robotics</i>, vol. 13, no. 1, pp. 1650007, Mar. 2016. <a href="http://humanoids2017.loria.fr/index.html%3Fp=338.html">[Winner, IJHR 2016 Best Paper Awards]</a>[Finalist, Best WBC Paper 2016]<a href="http://www.worldscientific.com/doi/abs/10.1142/S0219843616500079">[IJHR]</a> <!-- <a href="bib/gray.bib.html#KoolenEA2016IJHR">[.bib]</a> -->
</p>
<h3>Conference</h3>
<p>
<b>G. C. Thomas</b>, R. D. Gregg, "An Energy Shaping Exoskeleton Controller for Human Strength Amplification,” in <i> The 2021 IEEE Conference on Decision and Control</i>, pp. 1419-1425, doi: 10.1109/CDC45484.2021.9682793 <a href="Preprints/ThomasGregg2021CDCpre.pdf">[pdf]</a> <a href="https://ieeexplore.ieee.org/document/9682793">[IEEE]</a>
</p>
<p>
E. Bolívar-Nieto, <b>G. C. Thomas</b>, E. Rouse, R. D. Gregg, "Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice," in the <i>2021 IEEE/RSJ International Conference on Intelligent Robotics and Systems</i>, pp. 9327-9332, 2021. <a href="https://web.eecs.umich.edu/locolab/documents/BolivarGregg-IROS2021.pdf">[pdf]</a>
</p>
<p>
R. Medrano, <b>G. C. Thomas</b>, and E. Rouse. "Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance." in <i>The 8th IEEE RAS/EMBS International Conference for Biomedical
Robotics and Biomechatronics</i>, pp. 483-490, New York City, NY, 2020. <a href="https://ieeexplore.ieee.org/document/9224374">[IEEE]</a>
</p>
<p>
B. He, <b>G. C. Thomas</b>, and L. Sentis. "Robust Estimator-Based Safety Verification: A Vector Norm Approach." In <i>The 2020 American Control Conference</i>, pp. 3419-3424.
<a href="https://arxiv.org/abs/1910.02317">[ArXiv]</a> <a href="https://ieeexplore.ieee.org/document/9147276">[IEEE]</a>
</p>
<p>
H. Huang, H. Cappel, <b>G. C. Thomas</b>, B. He, and L. Sentis. "Adaptive Compliance Shaping with Human Impedance Estimation." In <i>The 2020 American Control Conference</i>, pp. 3419-3424.
<a href="https://arxiv.org/abs/1910.12902">[ArXiv]</a> <a href="https://ieeexplore.ieee.org/document/9147875">[IEEE]</a>
</p>
<p>
<b>G. C. Thomas</b>, J. M. Coholich, and L. Sentis. "Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs." Presented at <i>The 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics</i>, Hong Kong, China, pp. 1199-1206. IEEE, 2019.
<a href="https://ieeexplore.ieee.org/document/8868484">[IEEE]</a>
<!-- <a href="bib/gray.bib.html#ThomasCoholichSentis2019pre">[.bib]</a> -->
<a href="https://arxiv.org/abs/1903.09673">[ArXiv]</a>
</p>
<p>
B. He, H. Huang, <b>G. C. Thomas</b>, and L. Sentis. "Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons." In <i>The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, Macau, China, pp. 6748-6755. IEEE, 2019.
<a href="https://ieeexplore.ieee.org/document/8968005">[IEEE]</a>
<a href="https://doi.org/10.1109/IROS40897.2019.8968005">[doi]</a>
<!-- <a href="bib/gray.bib.html#HeHuangThomasSentis2019pre">[.bib]</a> -->
<a href="https://arxiv.org/abs/1903.00704">[ArXiv]</a>
</p>
<p>
B. He, <b>G. C. Thomas</b>, N. A. Paine, and L. Sentis. "Modeling and Loop Shaping of Single-Joint Amplification Exoskeleton with Contact Sensing and Series Elastic Actuation." In <i>The 2019 American Control Conference</i>, Philadelphia, PA, pp. 4580-4587. IEEE, 2019.
<a href="https://ieeexplore.ieee.org/abstract/document/8814421">[IEEE]</a>
<!-- <a href="bib/gray.bib.html#HeThomasPaineSentis2019ACC">[.bib]</a> -->
<a href="https://arxiv.org/abs/1809.10560">[ArXiv]</a>
</p>
<p>
R. Schlossman, <b>G. C. Thomas</b>, O. Campbell, and L. Sentis, "Toward Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Program," <i>The IEEE International Conference on Robotics and Biomimetics</i>, Kuala Lumpur, Malaysia, 2018
<a href="https://ieeexplore.ieee.org/abstract/document/8665239">[IEEE]</a> <a href="https://arxiv.org/pdf/1802.10190.pdf">[ArXiv]</a>
</p>
<p>
<b>G. C. Thomas</b>, B. He, and L. Sentis, "Safety Control Synthesis with Input Limits: a Hybrid Approach," <i>The American Control Conference</i>, Milwaukee, WI, 2018
<a href="https://ieeexplore.ieee.org/abstract/document/8431457">[IEEE]</a>
<a href="https://arxiv.org/pdf/1802.10188.pdf">[ArXiv]</a>
<!-- <a href="bib/gray.bib.html#ThomasHeSentis2018ACC">[.bib]</a> -->
</p>
<p>
<b>G. C. Thomas</b>, and L. Sentis, "MIMO Identification of Frequency-Domain Unreliability in SEAs," <i>The American Control Conference</i>, Seattle, WA, 2017
<a href="http://ieeexplore.ieee.org/abstract/document/7963638/">[IEEE]</a><a href="Preprints/ThomasSentis2017ACC.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#ThomasSentis2017ACC">[.bib]</a> -->
</p>
<p>
P. Rao, <b>G. C. Thomas</b>, L. Sentis, and A. Deshpande "Analyzing Achievable Stiffness Control Bounds of Robotic Hands With Coupled Finger Joints," <i>IEEE Conference on Robotics and Automation</i>, Singapore, 2017 <a href="http://www.icra2017.org/conference/awards#Manipulation">[Winner, Best ICRA 2017 Manipulation Paper]</a> <a href="http://ieeexplore.ieee.org/document/7989393/">[IEEE]</a> <a href="Preprints/RaoThomasSentisDeshpande2017ICRA.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#RaoThomasSentisDeshpande2017ICRA">[.bib]</a> -->
<!-- <a href="Preprints/ThomasSentis2017ACC.pdf">[preprint]</a> -->
</p>
<p>
<b>G. C. Thomas</b>, and L. Sentis, "Towards Computationally Efficient Planning of Dynamic Multi-Contact Locomotion," in <i>The IEEE/RSJ International Conference on Intelligent Robots and Systems</i>, Daejeon, South Korea, 2016, doi: 10.1109/IROS.2016.7759571 <a href="http://ieeexplore.ieee.org/abstract/document/7759571/">[IEEE]</a> <a href="http://sites.utexas.edu/hcrl/files/2016/01/IROS16_1631_FI.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#ThomasSentis2016IROS">[.bib]</a> -->
</p>
<p>
D. Kim, <b>G. C. Thomas</b>, and L. Sentis, "A Method for Dynamically Balancing a Point Foot Robot," in <i>The 15th IEEE-RAS International Conference on Humanoid Robots</i>, 2015, doi: 10.1109/HUMANOIDS.2015.7363468 <a href="http://ieeexplore.ieee.org/document/7363468/">[IEEE]</a> <a href="https://www.researchgate.net/profile/Donghyun_Kim34/publication/308836829_A_method_for_dynamically_balancing_a_point_foot_robot/links/58135a3308aeb720f6828d0b.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#KimThomasSentis2015Humanoids">[.bib]</a> -->
</p>
<p>
D. Kim, <b>G. C. Thomas</b>, and L. Sentis, "Continuous Cyclic Stepping on 3D Point-Foot Biped Robots Via Constant Time to Velocity Reversal," in <i>Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on.</i>, IEEE. 2014, doi: 10.1109/ICARCV.2014.7064561 <a href="http://ieeexplore.ieee.org/document/7064561/">[IEEE]</a><!-- <a href="bib/gray.bib.html#KimThomasSentis2014ICARCV">[.bib]</a> -->
</p>
<p>
D. Kim, Y. Zhao, <b>G. C. Thomas</b>, and L. Sentis, "Empirical Modifications to a Phase Space Planner which Compensates for Low Stiffness Actuation in a Planar, Point-Foot, Biped Robot," in <i>ASME 2014 Dynamics Systems and Control Conference</i>, San Antonio, TX, 2014, doi: 10.1115/DSCC2014-6033 <a href="http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=20860930">[ASME]</a><!-- <a href="bib/gray.bib.html#KimZhaoThomasSentis2014DSC">[.bib]</a> -->
</p>
<p>
K.S. Kim, <b>G. C. Thomas</b>, and L. Sentis, "Fully Omnidirectional Compliance in Mobile Robots Via Drive-Torque Sensor Feedback" in <i>IEEE International Conference of Intelligent Robots and Systems</i>, 2014, doi: 10.1109/IROS.2014.6943239 <a href="http://ieeexplore.ieee.org/document/6943239/">[IEEE]</a> <a href="https://www.researchgate.net/profile/Kwan_Suk_Kim2/publication/272089263_Fully_Omnidirectional_Compliance_in_Mobile_Robots_Via_Drive-Torque_Sensor_Feedback/links/54da3b820cf2970e4e7eff14.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#KimKwokThomasSentis2014IROS">[.bib]</a> -->
</p>
<p>
T. Koolen, J. Smith, <b>G. C. Thomas</b>, S. Bertrand, J. Carff, N. Mertins, D. Stephen et al., "Summary of team IHMC’s virtual robotics challenge entry," in <i>Proceedings of the IEEE-RAS International Conference on Humanoid Robots</i>, 2013, doi: 10.1109/HUMANOIDS.2013.7029992 <a href="http://ieeexplore.ieee.org/document/7029992/">[IEEE]</a><!-- <a href="bib/gray.bib.html#KoolenEA2013Humanoids">[.bib]</a> -->
</p>
<p>
<b>G. C. Thomas</b>, C. Gimenez, E. Chin, A. Carmedelle, and A. M. Hoover, "Controllable, High Force Amplification Using Elastic Cable Capstans," in <i>ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B.</i>, Chicago, IL, 2012, pp.885-889. <a href="http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1736546">[ASME]</a> <a href="http://orb.olin.edu/pub/DETC_2012.pdf">[pdf]</a><!-- <a href="bib/gray.bib.html#ThomasGimenezChinCarmedelleHoover2012IDETC">[.bib]</a> -->
</p>
<p>
E. Culler, <b>G. C. Thomas</b>, and C. L. Lee, "A Perching Landing Gear for a Quadcopter," in <i>53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, Structures, Structural Dynamics, and Materials and Co-located Conferences.</i>, Honolulu, HI, 2012, doi: 10.2514/6.2012-1722 <a href="http://arc.aiaa.org/doi/abs/10.2514/6.2012-1722">[AIAA]</a><!-- <a href="bib/gray.bib.html#CullerThomasLee2012SDM">[.bib]</a> -->
</p>
<!-- <h3>ArXiv</h3> -->
<h3>Oral</h3>
<p>
I. Olaru, C. Schmidt-Wetekam, N. Payton, <b>G. C. Thomas</b>, J. Godowski, J. Pratt and S. Cotton, "Mechanical Design of the FastRunner Leg," at <i>International Conference on Robotics and Automation: Orals and Tutorials, Design and Control of High-Performance Hydraulic Robots: Recent Advances and Perspectives</i>, 2013 <a href="http://techtalks.tv/talks/mechanical-design-of-the-fastrunner-leg/59101/">[Talk]</a>
</p>
<h3>Poster</h3>
<p>
<b>G. C. Thomas</b>, and E. Rouse, "Stiffening Cantilever-Disk Springs for the OSL," at <i>Dynamic Walking</i>, 2021 <a href="Preprints/ThomasRouse2021DWAbstract.pdf">[abstract]</a>
</p>
<p>
R. L. Medrano, <b>G. C. Thomas</b>, and E. Rouse, "Measuring the Just Noticeable Difference of Metabolic Rate with Exoskeleton Assistance," at <i>Dynamic Walking</i>, 2021 <a href="Preprints/MedranoThomasRouse2021DWAbstract.pdf">[abstract]</a>
</p>
<p>
J. A. Montes Pérez, <b>G. C. Thomas</b>, and R. D. Gregg, "Low-Dimensional Individualized Continuous-Task Joint Kinematic Modelling," at <i>Dynamic Walking</i>, 2021 <a href="Preprints/MontesperezThomasGregg2021DWAbstract.pdf">[abstract]</a>
</p>
<p>
<b>G. C. Thomas</b>, J. Lin, N. Divekar, C. Nestler, R. D. Gregg, "Task-Invariant Assistance using Backdrivable, Powered Orthoses," at <a href="https://www.nichd.nih.gov/about/meetings/2020/101520">NIH Rehabilitation Research 2020: Envisioning a Functional Future</a>, October 2020 <a href="Preprints/ThomasLinDivekarNeslerGreggREHABPoster2020.pdf">[poster]</a>
</p>
<p>
R. L. Medrano, <b>G. C. Thomas</b>, and E. Rouse, "Quantifying Perception of Metabolic Changes from Exoskeleton Assistance," at <i>Dynamic Walking</i>, May 2020 <a href="https://www.seas.upenn.edu/~posa/DynamicWalking2020/612-889-1-RV.pdf">[pdf]</a>
</p>
<p>
<b>G. C. Thomas</b>, and L. Sentis, "Monte Carlo UQ for Control Systems With Convex Optimization" (Originally: "Identifying Bounded Uncertainty Models with Convex Optimization"), at <i>Uncertainty Quantification and Data-Driven Modeling</i>, Austin, Texas, 2017 <a href="http://uqpm2017.usacm.org/program">[conference]</a><a href="Preprints/ThomasSentis_UncertaintyQuantification2017.pdf">[pdf]</a>
</p>
<p>
<b>G. C. Thomas</b>, and L. Sentis, "Identification of Frequency-Domain Uncertainty for Series Elastic Actuators," in <i>IROS 2016 Workshop on The Mechatronics behind Force/Torque Controlled Robot Actuation: Secrets and Challenges</i>, Daejeon, South Korea, 2016 <a href="http://walk-man.eu/results/workshops/iros-2016-workshop-force-torque-controlled-actuation/submitted-contribution/57-submission-by-gray-thomas/file">[pdf]</a>
</p>
<p>
Y. Zhao, D. Kim, <b>G. C. Thomas</b>, and L. Sentis, "Hybrid Multi-Contact Dynamics for Wedge Jumping Locomotion Behaviors," in <i>Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control</i>, 2015, doi: 10.1145/2728606.2728645 <a href="http://dl.acm.org/citation.cfm?id=2728645">[Link]</a>
</p>
<p>
D.H. Kim, Y. Zhao, <b>G. C. Thomas</b>, and L. Sentis, "Towards Agility in Compliant Point-Foot Bipeds," at <i>Dynamic Walking</i>, June 2014 <a href="https://dhkim0821.github.io/papers/DW14Abstract.pdf">[pdf]</a>
</p>
<h3>Other</h3>
<p>
<b>G. C. Thomas</b>, N. Hobbs. "Using LabVIEW to Rapidly Build an Autonomous Robot and Compete in the Intelligent Ground Vehicle Competition", National Instruments Case Study http://sine.ni.com/cs/app/doc/p/id/cs-13114
</p>
<p>
<b>G. C. Thomas</b>, M. Alvarado, L. Hill, J. McCandless, J. Regulinski, V. Mani, C. Marra, T. Lamar, N. Hobbs. "Dave: Franklin W. Olin College of Engineering 2011 Intelligent Ground Vehicle Competition Entry" Design Report, Intelligent Ground Vehicle Competition, 2011, Oakland University in Rochester, Michigan.
</p>
<p>
N. Hobbs, R. Cherney, D. Grieneisen, J. Izraelevitz, <b>G. C. Thomas</b>, J. Noglows, E. Kolker, L. Hill. "Athena: Franklin W. Olin College of Engineering 2010 Intelligent Ground Vehicles Competition Entry" Design Report, Intelligent Ground Vehicle Competition, 2010, Oakland University in Rochester, Michigan.
</p>
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