Papers
7
Total Citations
110
H-Index
5
About
Jeffrey Duperret’s research lies at the intersection of legged robotics, bio-inspired locomotion, and formal safety verification. He is best known for his work on quadrupedal agility, particularly the design and control of robots with actively powered elastic spines. His 2017 paper, “Empirical validation of a spined sagittal-plane quadrupedal model” (24 citations), demonstrated stable bounding on the Inu quadruped and introduced a reduced-order model that accurately captures spine-driven dynamics—a key step toward more agile, animal-like robots. Earlier, his 2013 study on the power-autonomous robot Canid (23 citations) pioneered free-standing leaping experiments using a parallel actuated elastic spine, bridging biological hypotheses with robotic platforms. Duperret also contributed to safety-critical multi-robot systems, co-authoring a 2010 paper (18 citations) that formally designed a provably safe robotic roundabout. His work on Raibert’s Scissor algorithm and transitional maneuvers further explores dynamic, reactive control for legged robots. With over 110 total citations and a focus on both empirical validation and formal methods, Duperret’s research offers foundational insights for students and engineers advancing agile, safe, and biologically inspired robotic locomotion.
Research Focus
Key Achievements
Top Papers
- 1Towards a Comparative Measure of Legged Agility26 citations · 2015
- 2Empirical validation of a spined sagittal-plane quadrupedal model24 citations · 2017
- 3
- 4Formal design of a provably safe robotic roundabout system18 citations · 2010
- 5
- 6
- 7Towards Reactive Control of Transitional Legged Robot Maneuvers2 citations · 2019