Patrick M. Wensing

IEEE Robotics Autom. Lett., July, 2024

Optimization-Based Control for Dynamic Legged Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion.

[BibT_eX]

[DOI]

CoRR, 2024

Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control.

[BibT_eX]

[DOI]

He Li

CoRR, 2024

Robot Model Identification and Learning: A Modern Perspective.

[BibT_eX]

[DOI]

Annu. Rev. Control. Robotics Auton. Syst., 2024

A learning-based framework to adapt legged robots on-the-fly to unexpected disturbances.

[BibT_eX]

[DOI]

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Task-space Control of a Powered Ankle Prosthesis.

[BibT_eX]

[DOI]

David J. Kelly

Ryan R. Posh

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

URDF+: An Enhanced URDF for Robots with Kinematic Loops.

[BibT_eX]

[DOI]

Matthew Chignoli

Gastone Pietro Rosati Papini

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

2023

Balancing on a Rolling Contact.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., December, 2023

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, June, 2023

CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality.

[BibT_eX]

[DOI]

Gianluigi Grandesso

Elisa Alboni

IEEE Robotics Autom. Lett., June, 2023

Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning.

[BibT_eX]

[DOI]

Leo Kozachkov

Trans. Mach. Learn. Res., 2023

Coriolis Factorizations and their Connections to Riemannian Geometry.

[BibT_eX]

[DOI]

Johannes Englsberger

CoRR, 2023

Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops.

[BibT_eX]

[DOI]

CoRR, 2023

Towards Continuous Time Finite Horizon LQR Control in SE(3).

[BibT_eX]

[DOI]

CoRR, 2023

Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives.

[BibT_eX]

[DOI]

CoRR, 2023

On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation.

[BibT_eX]

[DOI]

CoRR, 2023

Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses.

[BibT_eX]

[DOI]

IROS, 2023

A Unified Perspective on Multiple Shooting In Differential Dynamic Programming.

[BibT_eX]

[DOI]

IROS, 2023

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

2022

Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Smooth Parameterization of Rigid-Body Inertia.

[BibT_eX]

[DOI]

D. Caleb Rucker

IEEE Robotics Autom. Lett., 2022

A Geometric Sufficient Condition for Contact Wrench Feasibility.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information.

[BibT_eX]

[DOI]

Roopak M. Karulkar

Gastone Pietro Rosati Papini

IEEE Robotics Autom. Lett., 2022

CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality.

[BibT_eX]

[DOI]

Gianluigi Grandesso

CoRR, 2022

Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics.

[BibT_eX]

[DOI]

CoRR, 2022

Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics.

[BibT_eX]

[DOI]

CoRR, 2022

Generalization in Supervised Learning Through Riemannian Contraction.

[BibT_eX]

[DOI]

Leo Kozachkov

CoRR, 2022

Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Large-Scale ADMM-based Co-Design of Legged Robots.

[BibT_eX]

[DOI]

Gabriel Bravo-Palacios

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.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction.

[BibT_eX]

[DOI]

David J. Kelly

Proceedings of the International Conference on Rehabilitation Robotics, 2022

to Control Robot Hopping over Uneven Terrain.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2022

2021

Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User.

[BibT_eX]

[DOI]

Roopak M. Karulkar

IEEE Robotics Autom. Lett., October, 2021

Jumping over obstacles with MIT Cheetah 2.

[BibT_eX]

[DOI]

Hae-Won Park

Robotics Auton. Syst., 2021

The Rapid Rise of Quadruped Robots [Young Professionals].

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2021

Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems.

[BibT_eX]

[DOI]

John N. Nganga

IEEE Robotics Autom. Lett., 2021

Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Model Hierarchy Predictive Control of Robotic Systems.

[BibT_eX]

[DOI]

He Li

Robert J. Frei

IEEE Robotics Autom. Lett., 2021

Approximate Simulation for Template-Based Whole-Body Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Tensor-Free Second-Order Differential Dynamic Programming.

[BibT_eX]

[DOI]

John N. Nganga

CoRR, 2021

Exploring the Limits of a Redundant Actuation System Through Co-Design.

[BibT_eX]

[DOI]

Gianluigi Grandesso

Gabriel Bravo-Palacios

Marco Fontana

IEEE Access, 2021

Quadruped Robot Hopping on Two Legs.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control.

[BibT_eX]

[DOI]

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

2020

Geometric Robot Dynamic Identification: A Convex Programming Approach.

[BibT_eX]

[DOI]

Taeyoon Lee

Frank C. Park

IEEE Trans. Robotics, 2020

Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots.

[BibT_eX]

[DOI]

He Li

IEEE Robotics Autom. Lett., 2020

Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model.

[BibT_eX]

[DOI]

Hua Chen

Wei Zhang

IEEE Robotics Autom. Lett., 2020

One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming.

[BibT_eX]

[DOI]

Gabriel Bravo-Palacios

IEEE Robotics Autom. Lett., 2020

Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems.

[BibT_eX]

[DOI]

Sebastian Echeandia

CoRR, 2020

Approximate Simulation for Template-Based Whole-Body Control.

[BibT_eX]

[DOI]

CoRR, 2020

Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking.

[BibT_eX]

[DOI]

Taylor M. Gambon

IEEE Access, 2020

Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds.

[BibT_eX]

[DOI]

Matthew Chignoli

IEEE Access, 2020

Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User.

[BibT_eX]

[DOI]

Roopak M. Karulkar

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Rapid Bipedal Gait Optimization in CasADi.

[BibT_eX]

[DOI]

Martin Fevre

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance.

[BibT_eX]

[DOI]

Taylor M. Gambon

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.

[BibT_eX]

[DOI]

Proceedings of the 2020 American Control Conference, 2020

2019

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model.

[BibT_eX]

[DOI]

Hua Chen

Octavio Antonio Villarreal-Magaña

Wei Zhang

CoRR, 2019

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion.

[BibT_eX]

[DOI]

Victor Barasuol

Claudio Semini

CoRR, 2019

Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors.

[BibT_eX]

[DOI]

Taylor M. Gambon

Proceedings of the 16th IEEE International Conference on Rehabilitation Robotics, 2019

Formal Connections between Template and Anchor Models via Approximate Simulation.

[BibT_eX]

[DOI]

Rafael Rodrigues da Silva

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.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Cooperative Adaptive Control for Cloud-Based Robotics.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2017

High-speed bounding with the MIT Cheetah 2: Control design and experiments.

[BibT_eX]

[DOI]

Hae-Won Park

Int. J. Robotics Res., 2017

Design of Dynamic Legged Robots.

[BibT_eX]

[DOI]

Found. Trends Robotics, 2017

Observability in Inertial Parameter Identification.

[BibT_eX]

[DOI]

Günter Niemeyer

CoRR, 2017

Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective.

[BibT_eX]

[DOI]

CoRR, 2017

Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah.

[BibT_eX]

[DOI]

Gerardo Bledt

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Experimental evaluation of simple estimators for humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2016

Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2016

Sparse Control for Dynamic Movement Primitives.

[BibT_eX]

[DOI]

CoRR, 2016

2015

Kinodynamically Consistent Motion Retargeting for Humanoids.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2015

Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion.

[BibT_eX]

[DOI]

Luther R. Palmer III

Auton. Robots, 2015

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds.

[BibT_eX]

[DOI]

Hae-Won Park

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.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

3D-SLIP steering for high-speed humanoid turns.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Development of high-span running long jumps for humanoids.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Optimizing foot Centers of pressure through force Distribution in a humanoid robot.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2013

High-speed humanoid running through control with a 3D-SLIP model.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Roy Featherstone