Jessy Grizzle

Jessy W. Grizzle is a (full) Professor in the Biped Robotics Laboratory of the Robotics Department within the College of Engineering at The University of Michigan in Ann Arbor, Michigan..

The activity at Michigan in control systems is very interdisciplinary and moves easily across traditional departmental boundaries. We maintain a very active College of Engineering Control Seminar Series.

• Research Homepage
• ROB 101 Computational Linear Algebra: Math at the Scale of Life
• New Open-source Course for Freshmen: Computational Linear Algebra
• Curriculum Vitae and IEEE-Style BIO
• Grizzle’s Pubs at Google Scholar
• YouTube Channel (Robot Videos).
• Our GitHub site Open-source Software for Estimation and Control
• The home of Michigan Robotics, the Ford Motor Company Robotics Building
• Maps of Campus, and Driving Directions.

Our robot, Cassie (Go) Blue! MARLO and MABEL videos are available on YouTube: Michigan Robotics: Dynamic Legged Locomotion Channel. Robots everywhere in our College of Engineering Michigan Robotics Rocks!This is Michigan Engineering 2012. Robots are featured widely in UofM media: Michigan Halftime Video Victors for Michigan Campaign video short (MABEL is at 0:16) and long version (MABEL is at 2:01). MABEL goes to the Field Museum in Chicago.

Book: Feedback Control of Dynamic Bipedal Robot Locomotion co-authored with Eric R. Westervelt, Christine Chevallereau, Jun-Ho Choi, and Benjamin Morris, published by Taylor & Francis in June, 2007, is available for free  download. It treats virtual constraints and hybrid zero dynamics for the creation of asymptotically stable periodic motions in hybrid systems. I would also suggest the following papers that significantly extend these methods: Machine Learning, Robust Optimization, and Bilinear Matrix Inequalities (BMI), and the excellent 2018 HZD Review paper by Ames and Poulakakis, as well as these survey works: Book Chapter In: Goswami A., Vadakkepat P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht and 2015 Survey on HZD in Automatica.

My primary research area used to be the theory of nonlinear control systems. While I still have strong interest in this subject and feel a sense of community with that body of researchers, my research activities have significantly broadened over time. My work now covers the control of bipedal robots and correct-by-construction control methods for Advanced Driver Assist Systems. From 1986 to 2010, I worked on various aspects of modeling and control of automotive powertrain systems and control of HEVs. From 1991-2001, I applied systems and control techniques to improve the operation of plasma-based microelectronics manufacturing equipment.