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Image of Dr. Robert D. Gregg
 Contact InformationHelpHelp  
Dr. Robert D. Gregg
Assistant Professor-Bioengineering, Assistant Professor-Biomedical Engineering
Contact Address   800 W Campbell Road, Richardson, TX 75080-3021     Office MailstopMail Box: EC38, Room No.: ECN3202 
Email Address    Primary Phone Number 972-883-4657    URL Personal Webpage    Media Contact
Keywords Legged robots, prosthetics and orthotics, human locomotion, modeling and simulation, nonlinear control theory.   
 Professional Preparation
 PhDElectrical and Computer EngineeringUniversity of Illinois at Urbana-Champaign2010
 MSElectrical and Computer EngineeringUniversity of Illinois at Urbana-Champaign2007
 BSElectrical Engineering and Computer SciencesUniversity of California-Berkeley2006
Collapse Section Expand Section Publications
 1  2 3  
  YearPublication  Type

D. Quintero, A. Martin, and R. Gregg, “Unifying the Gait Cycle in the Control of a Powered Prosthetic Leg,” in IEEE Int Conf Rehabilitation Robotics, Singapore

Peer reviewed

A. Martin and R. Gregg, “Hybrid Invariance and Stability of a Feedback Linearizing Controller for Powered Prostheses,” in American Control Conf, pp. 4670-4676

Peer reviewed

G. Lv and R. Gregg, “Orthotic Body-Weight Support Through Underactuated Potential Energy Shaping with Contact Constraints,” in IEEE Conf Decision and Control, Osaka, Japan

Peer reviewed

D. Villarreal, H. Poonawala, and R. Gregg, “A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations,” IEEE Trans Robotics, under review

Peer reviewed

G. Lv and R. Gregg, “Underactuated Potential Energy Shaping with Contact Constraints: Application to a Powered Knee-Ankle Orthosis,” IEEE Trans Control Systems Technology, under review

Peer reviewed
Collapse Section Expand Section Appointments
DurationRankDepartment / SchoolCollege / OfficeUniversity / Company
2011-2013Research ScientistCenter for Bionic Medicine Rehabilitation Institute of Chicago
2010-2011Postdoctoral FellowMechanical EngineeringMcCormick School of EngineeringNorthwestern University
2013-2018Phase-Based Control of Locomotion for High-Performance Prostheses and OrthosesNational Institutes of Health2,295,000Current
2012-2017From Machine to Biomimetic Control in Robot-Assisted WalkingBurroughs Wellcome Fund500,000Current
       Teaching HelpHelp  
 Additional Information
Awards and Honors
  • 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.

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