Jenna Reher
Papers
6
Total Citations
52
H-Index
4
About
Jenna Reher is a leading roboticist whose research focuses on the control and locomotion of underactuated bipedal robots—machines that walk without actuated feet. Her work tackles the fundamental challenge of achieving stable, dynamic walking on highly compliant and underactuated platforms. Reher’s major contributions include pioneering global position control for 3D bipedal robots through the application of Hybrid-Linear Inverted Pendulum (H-LIP) based step planning, a method that addresses the inherent instability of underactuated walking. She has also developed sophisticated trajectory planning and control architectures, such as inverse dynamics control for compliant hybrid zero dynamic walking, enabling robots to walk at a variety of speeds. Her work on learning controller gains from user preferences has the potential to democratize robot control, reducing the need for expert tuning. With her most-cited paper accumulating 27 citations, Reher’s research is establishing foundational methods for more agile and practical bipedal robots. Her achievements include the end-to-end realization of Control Lyapunov Functions on compliant robots, bringing formal guarantees to nonlinear control in practice.
Research Focus
Key Achievements
Top Papers
- 1
- 2Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking9 citations · 2021
- 3
- 4Learning Controller Gains on Bipedal Walking Robots via User Preferences4 citations · 2022
- 5Passive Dynamic Balancing and Walking in Actuated Environments2 citations · 2020
- 6Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking2 citations · 2021