Design of a momentum-based control framework and application to the humanoid robot atlas T Koolen, S Bertrand, G Thomas, T De Boer, T Wu, J Smith, J Englsberger, ... International Journal of Humanoid Robotics 13 (01), 1650007, 2016 | 255 | 2016 |
Summary of Team IHMC’s Virtual Robotics Challenge Entry T Koolen, J Smith, G Thomas, S Bertrand, J Carff, N Mertins, D Stephen, ... IEEE-RAS International Conference on Humanoid Robots, 2013 | 99 | 2013 |
Stabilizing series-elastic point-foot bipeds using whole-body operational space control D Kim, Y Zhao, G Thomas, BR Fernandez, L Sentis IEEE Transactions on Robotics 32 (6), 1362-1379, 2016 | 79 | 2016 |
Enhancing voluntary motion with modular, backdrivable, powered hip and knee orthoses C Nesler, G Thomas, N Divekar, EJ Rouse, RD Gregg IEEE robotics and automation letters 7 (3), 6155-6162, 2022 | 33 | 2022 |
Can humans perceive the metabolic benefit provided by augmentative exoskeletons? RL Medrano, GC Thomas, EJ Rouse Journal of neuroengineering and rehabilitation 19 (1), 26, 2022 | 29 | 2022 |
Real-time gait phase and task estimation for controlling a powered ankle exoskeleton on extremely uneven terrain RL Medrano, GC Thomas, CG Keais, EJ Rouse, RD Gregg IEEE Transactions on Robotics 39 (3), 2170-2182, 2023 | 25 | 2023 |
Modeling and loop shaping of single-joint amplification exoskeleton with contact sensing and series elastic actuation B He, GC Thomas, N Paine, L Sentis 2019 American Control Conference (ACC), 4580-4587, 2019 | 18 | 2019 |
Continuous cyclic stepping on 3d point-foot biped robots via constant time to velocity reversal D Kim, G Thomas, L Sentis 2014 13th International Conference on Control Automation Robotics & Vision …, 2014 | 18 | 2014 |
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback KS Kim, AS Kwok, GC Thomas, L Sentis 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014 | 18 | 2014 |
Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints P Rao, GC Thomas, L Sentis, AD Deshpande 2017 IEEE International Conference on Robotics and Automation (ICRA), 3447-3452, 2017 | 16 | 2017 |
Methods for measuring the just noticeable difference for variable stimuli: implications for perception of metabolic rate with exoskeleton assistance RL Medrano, GC Thomas, E Rouse 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and …, 2020 | 13 | 2020 |
A perching landing gear for a quadcopter E Culler, G Thomas, C Lee 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials …, 2012 | 12 | 2012 |
Assessing whole-body operational space control in a point-foot series elastic biped: Balance on split terrain and undirected walking D Kim, Y Zhao, G Thomas, L Sentis arXiv preprint arXiv:1501.02855, 2015 | 11 | 2015 |
Compliance shaping for control of strength amplification exoskeletons with elastic cuffs GC Thomas, JM Coholich, L Sentis 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics …, 2019 | 10 | 2019 |
Optimally biomimetic passivity-based control of a lower-limb exoskeleton over the primary activities of daily life J Lin, NV Divekar, GC Thomas, RD Gregg IEEE open journal of control systems 1, 15-28, 2022 | 9 | 2022 |
A fixed structure gain selection strategy for high impedance series elastic actuator behavior K Isik, GC Thomas, L Sentis Journal of Dynamic Systems, Measurement, and Control 141 (2), 021009, 2019 | 9 | 2019 |
Safety control synthesis with input limits: a hybrid approach GC Thomas, B He, L Sentis 2018 Annual American Control Conference (ACC), 792-797, 2018 | 9 | 2018 |
Analysis of the Bayesian gait-state estimation problem for lower-limb wearable robot sensor configurations RL Medrano, GC Thomas, EJ Rouse, RD Gregg IEEE robotics and automation letters 7 (3), 7463-7470, 2022 | 7 | 2022 |
Complex stiffness model of physical human-robot interaction: Implications for control of performance augmentation exoskeletons B He, H Huang, GC Thomas, L Sentis 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019 | 7 | 2019 |
Exploiting the natural dynamics of series elastic robots by actuator-centered sequential linear programming R Schlossman, GC Thomas, O Campbell, L Sentis 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1405 …, 2018 | 7 | 2018 |