Patrick M. Wensing
Orcid: 0000-0002-9041-5175
According to our database1,
Patrick M. Wensing
authored at least 98 papers
between 2011 and 2025.
Collaborative distances:
Collaborative distances:
Timeline
Legend:
Book In proceedings Article PhD thesis Dataset OtherLinks
On csauthors.net:
Bibliography
2025
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control.
IEEE Trans. Robotics, 2025
2024
3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies.
IEEE Robotics Autom. Lett., July, 2024
IEEE Trans. Robotics, 2024
Int. J. Robotics Res., 2024
Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses.
CoRR, 2024
Annu. Rev. Control. Robotics Auton. Syst., 2024
A learning-based framework to adapt legged robots on-the-fly to unexpected disturbances.
Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024
2023
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance.
IEEE Trans. Robotics, June, 2023
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality.
IEEE Robotics Autom. Lett., June, 2023
Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning.
Trans. Mach. Learn. Res., 2023
CoRR, 2023
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives.
CoRR, 2023
CoRR, 2023
Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses.
IROS, 2023
IROS, 2023
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
2022
Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra.
IEEE Robotics Autom. Lett., 2022
IEEE Robotics Autom. Lett., 2022
Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information.
IEEE Robotics Autom. Lett., 2022
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality.
CoRR, 2022
CoRR, 2022
CoRR, 2022
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction.
Proceedings of the International Conference on Rehabilitation Robotics, 2022
Proceedings of the American Control Conference, 2022
2021
Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User.
IEEE Robotics Autom. Lett., October, 2021
IEEE Robotics Autom. Mag., 2021
IEEE Robotics Autom. Lett., 2021
IEEE Robotics Autom. Lett., 2021
IEEE Robotics Autom. Lett., 2021
IEEE Robotics Autom. Lett., 2021
IEEE Robotics Autom. Lett., 2021
IEEE Access, 2021
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
2020
IEEE Trans. Robotics, 2020
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots.
IEEE Robotics Autom. Lett., 2020
Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model.
IEEE Robotics Autom. Lett., 2020
IEEE Robotics Autom. Lett., 2020
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems.
CoRR, 2020
Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking.
IEEE Access, 2020
IEEE Access, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance.
Proceedings of the 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, 2020
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances.
Proceedings of the 2020 American Control Conference, 2020
2019
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set.
IEEE Robotics Autom. Lett., 2019
CoRR, 2019
Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors.
Proceedings of the 16th IEEE International Conference on Rehabilitation Robotics, 2019
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019
2018
Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution.
IEEE Robotics Autom. Lett., 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots.
IEEE Trans. Robotics, 2017
Int. J. Robotics Res., 2017
Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective.
CoRR, 2017
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017
2016
IEEE Robotics Autom. Lett., 2016
Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control.
Int. J. Humanoid Robotics, 2016
2015
Int. J. Humanoid Robotics, 2015
Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion.
Auton. Robots, 2015
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015
Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
2013
Int. J. Humanoid Robotics, 2013
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Generation of dynamic humanoid behaviors through task-space control with conic optimization.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
2012
A reduced-order recursive algorithm for the computation of the operational-space inertia matrix.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
2011
Proceedings of the IEEE International Conference on Robotics and Automation, 2011