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2020 – today
- 2024
[j37]Taeyoon Lee, Jaewoon Kwon, Patrick M. Wensing, Frank C. Park:
Robot Model Identification and Learning: A Modern Perspective. Annu. Rev. Control. Robotics Auton. Syst. 7(1) (2024)- [j36]Nolan Fey
, Robert J. Frei, Patrick M. Wensing:
3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies. IEEE Robotics Autom. Lett. 9(7): 6194-6201 (2024) - [j35]Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete:
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40: 43-63 (2024) - [j34]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation. IEEE Trans. Robotics 40: 2233-2253 (2024) - [c40]Matthew Chignoli, Jean-Jacques E. Slotine, Patrick M. Wensing, Sangbae Kim:
URDF+: An Enhanced URDF for Robots with Kinematic Loops. Humanoids 2024: 197-204 - [c39]David J. Kelly, Ryan R. Posh, Patrick M. Wensing:
Task-space Control of a Powered Ankle Prosthesis. ICRA 2024: 3262-3268 - [c38]Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing:
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. ICRA 2024: 4555-4561 - [c37]Nolan Fey, He Li, Nicholas Adrian, Patrick M. Wensing, Michael D. Lemmon:
A learning-based framework to adapt legged robots on-the-fly to unexpected disturbances. L4DC 2024: 1161-1173 - [i36]He Li, Patrick M. Wensing:
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control. CoRR abs/2403.03995 (2024) - [i35]Shunpeng Yang, Zejun Hong, Sen Li, Patrick M. Wensing, Wei Zhang, Hua Chen:
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. CoRR abs/2404.00591 (2024) - 2023
- [j33]Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete:
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. IEEE Robotics Autom. Lett. 8(6): 3318-3325 (2023) - [j32]Federico Allione, Roy Featherstone, Patrick M. Wensing, Darwin G. Caldwell:
Balancing on a Rolling Contact. IEEE Robotics Autom. Lett. 8(12): 8184-8191 (2023) - [j31]Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine:
Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning. Trans. Mach. Learn. Res. 2023 (2023) - [j30]Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang:
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. IEEE Trans. Robotics 39(3): 2111-2130 (2023) - [c36]Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos:
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. Humanoids 2023: 1-8 - [c35]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. Humanoids 2023: 1-8 - [c34]He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing:
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. ICRA 2023: 9988-9994 - [c33]Ryan R. Posh, Jonathan A. Tittle, James P. Schmiedeler, Patrick M. Wensing:
Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses. IROS 2023: 1-6 - [c32]He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing:
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. IROS 2023: 9978-9985 - [i34]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation. CoRR abs/2302.06001 (2023) - [i33]Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos:
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. CoRR abs/2307.10533 (2023) - [i32]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives. CoRR abs/2307.12606 (2023) - [i31]Shivesh Kumar, Andreas Mueller, Patrick M. Wensing, Frank Kirchner:
Towards Continuous Time Finite Horizon LQR Control in SE(3). CoRR abs/2307.14164 (2023) - [i30]He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing:
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. CoRR abs/2309.07872 (2023) - [i29]Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing:
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. CoRR abs/2309.15955 (2023) - [i28]Matthew Chignoli, Nicholas Adrian, Sangbae Kim, Patrick M. Wensing:
Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops. CoRR abs/2311.13732 (2023) - [i27]Patrick M. Wensing, Johannes Englsberger, Jean-Jacques E. Slotine:
Coriolis Factorizations and their Connections to Riemannian Geometry. CoRR abs/2312.14425 (2023) - 2022
- [j29]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra. IEEE Robotics Autom. Lett. 7(2): 1776-1783 (2022) - [j28]D. Caleb Rucker, Patrick M. Wensing:
Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics Autom. Lett. 7(2): 2771-2778 (2022) - [j27]Roopak M. Karulkar, Patrick M. Wensing:
Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information. IEEE Robotics Autom. Lett. 7(4): 9723-9730 (2022) - [j26]Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing:
A Geometric Sufficient Condition for Contact Wrench Feasibility. IEEE Robotics Autom. Lett. 7(4): 12411-12418 (2022) - [c31]Michael D. Lemmon, Patrick M. Wensing, Vincent Kurtz, Hai Lin:
to Control Robot Hopping over Uneven Terrain. ACC 2022: 520-525 - [c30]David J. Kelly, Patrick M. Wensing:
Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction. ICORR 2022: 1-6 - [c29]Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin:
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. ICRA 2022: 4635-4641 - [c28]Gabriel Bravo-Palacios, Patrick M. Wensing:
Large-Scale ADMM-based Co-Design of Legged Robots. IROS 2022: 8842-8849 - [c27]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. IROS 2022: 11781-11788 - [c26]He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing:
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. IROS 2022: 11971-11977 - [i26]Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine:
Generalization in Supervised Learning Through Riemannian Contraction. CoRR abs/2201.06656 (2022) - [i25]Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang:
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. CoRR abs/2201.11928 (2022) - [i24]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR abs/2203.00679 (2022) - [i23]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR abs/2203.01497 (2022) - [i22]He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing:
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. CoRR abs/2209.14123 (2022) - [i21]He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing:
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP. CoRR abs/2209.14138 (2022) - [i20]Gianluigi Grandesso, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete:
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. CoRR abs/2211.06625 (2022) - [i19]Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete:
Optimization-Based Control for Dynamic Legged Robots. CoRR abs/2211.11644 (2022) - 2021
- [j25]Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete:
Exploring the Limits of a Redundant Actuation System Through Co-Design. IEEE Access 9: 56802-56811 (2021) - [j24]Vince Kurtz, Patrick M. Wensing, Hai Lin:
Approximate Simulation for Template-Based Whole-Body Control. IEEE Robotics Autom. Lett. 6(2): 558-565 (2021) - [j23]Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang:
Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots. IEEE Robotics Autom. Lett. 6(2): 747-754 (2021) - [j22]He Li, Robert J. Frei, Patrick M. Wensing:
Model Hierarchy Predictive Control of Robotic Systems. IEEE Robotics Autom. Lett. 6(2): 3373-3380 (2021) - [j21]Roopak M. Karulkar, Patrick M. Wensing:
Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User. IEEE Robotics Autom. Lett. 6(4): 6781-6788 (2021) - [j20]Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang:
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. IEEE Robotics Autom. Lett. 6(4): 7421-7428 (2021) - [j19]John N. Nganga, Patrick M. Wensing:
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems. IEEE Robotics Autom. Lett. 6(4): 7659-7666 (2021) - [j18]Patrick M. Wensing:
The Rapid Rise of Quadruped Robots [Young Professionals]. IEEE Robotics Autom. Mag. 28(3): 168 (2021) - [j17]Hae-Won Park, Patrick M. Wensing, Sangbae Kim:
Jumping over obstacles with MIT Cheetah 2. Robotics Auton. Syst. 136: 103703 (2021) - [c25]Vince Kurtz, Patrick M. Wensing, Hai Lin:
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CDC 2021: 6125-6130 - [c24]Shunpeng Yang, Hua Chen, Luyao Zhang, Zhefeng Cao, Patrick M. Wensing, Yizhang Liu, Jianxin Pang, Wei Zhang:
Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. ICRA 2021: 3054-3060 - [c23]Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing:
Quadruped Robot Hopping on Two Legs. IROS 2021: 7448-7455 - [i18]John N. Nganga, Patrick M. Wensing:
Tensor-Free Second-Order Differential Dynamic Programming. CoRR abs/2103.03293 (2021) - [i17]Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra. CoRR abs/2105.05102 (2021) - [i16]Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang:
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. CoRR abs/2106.14741 (2021) - [i15]Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin:
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. CoRR abs/2109.04424 (2021) - [i14]Vince Kurtz, Patrick M. Wensing, Hai Lin:
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CoRR abs/2109.13349 (2021) - 2020
- [j16]Matthew Chignoli, Patrick M. Wensing:
Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds. IEEE Access 8: 49785-49797 (2020) - [j15]Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing:
Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking. IEEE Access 8: 224071-224082 (2020) - [j14]Hua Chen, Patrick M. Wensing, Wei Zhang:
Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model. IEEE Robotics Autom. Lett. 5(2): 307-314 (2020) - [j13]Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing:
One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. IEEE Robotics Autom. Lett. 5(2): 1680-1687 (2020) - [j12]He Li, Patrick M. Wensing:
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. IEEE Robotics Autom. Lett. 5(4): 5448-5455 (2020) - [j11]Taeyoon Lee, Patrick M. Wensing, Frank C. Park:
Geometric Robot Dynamic Identification: A Convex Programming Approach. IEEE Trans. Robotics 36(2): 348-365 (2020) - [c22]Vince Kurtz, Patrick M. Wensing, Hai Lin:
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. ACC 2020: 5352-5357 - [c21]Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing:
User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance. BioRob 2020: 1115-1121 - [c20]Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA 2020: 2436-2442 - [c19]Roopak M. Karulkar, Patrick M. Wensing:
Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User. IROS 2020: 3452-3458 - [c18]Martin Fevre, Patrick M. Wensing, James P. Schmiedeler:
Rapid Bipedal Gait Optimization in CasADi. IROS 2020: 3672-3678 - [i13]Vince Kurtz, Patrick M. Wensing, Hai Lin:
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. CoRR abs/2003.04136 (2020) - [i12]He Li, Patrick M. Wensing:
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. CoRR abs/2006.08102 (2020) - [i11]Vince Kurtz, Patrick M. Wensing, Michael D. Lemmon, Hai Lin:
Approximate Simulation for Template-Based Whole-Body Control. CoRR abs/2006.09921 (2020) - [i10]Sebastian Echeandia, Patrick M. Wensing:
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems. CoRR abs/2010.01033 (2020) - [i9]He Li, Robert J. Frei, Patrick M. Wensing:
Model Hierarchy Predictive Control of Robotic Systems. CoRR abs/2010.08881 (2020) - [i8]Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang:
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots. CoRR abs/2012.06156 (2020)
2010 – 2019
- 2019
- [j10]Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim:
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. IEEE Robotics Autom. Lett. 4(2): 1611-1618 (2019) - [c17]Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin:
Formal Connections between Template and Anchor Models via Approximate Simulation. Humanoids 2019: 64-71 - [c16]Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing:
Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors. ICORR 2019: 471-476 - [i7]Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin:
Formal Connections between Template and Anchor Models via Approximate Simulation. CoRR abs/1909.09693 (2019) - [i6]Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini:
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR abs/1909.13842 (2019) - [i5]Hua Chen, Patrick M. Wensing, Wei Zhang:
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model. CoRR abs/1911.07168 (2019) - 2018
- [j9]Patrick M. Wensing, Sangbae Kim, Jean-Jacques E. Slotine:
Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. IEEE Robotics Autom. Lett. 3(1): 60-67 (2018) - [c15]Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, Sangbae Kim:
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. ICRA 2018: 1-8 - [c14]Patrick M. Wensing, Jean-Jacques E. Slotine:
Cooperative Adaptive Control for Cloud-Based Robotics. ICRA 2018: 6401-6408 - [c13]Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim:
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. IROS 2018: 1-9 - [c12]Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim:
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. IROS 2018: 2245-2252 - 2017
- [j8]Sangbae Kim, Patrick M. Wensing:
Design of Dynamic Legged Robots. Found. Trends Robotics 5(2): 117-190 (2017) - [j7]Hae-Won Park, Patrick M. Wensing, Sangbae Kim:
High-speed bounding with the MIT Cheetah 2: Control design and experiments. Int. J. Robotics Res. 36(2): 167-192 (2017) - [j6]Patrick M. Wensing, Albert Wang, Sangok Seok, David Otten, Jeffrey H. Lang, Sangbae Kim:
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. IEEE Trans. Robotics 33(3): 509-522 (2017) - [c11]Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse:
Experimental evaluation of simple estimators for humanoid robots. Humanoids 2017: 889-895 - [c10]Gerardo Bledt, Patrick M. Wensing, Sangbae Kim:
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. IROS 2017: 4102-4109 - [i4]Patrick M. Wensing, Jean-Jacques E. Slotine:
Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective. CoRR abs/1701.04395 (2017) - [i3]Patrick M. Wensing, Jean-Jacques E. Slotine:
Cooperative Adaptive Control for Cloud-Based Robotics. CoRR abs/1709.07112 (2017) - [i2]Patrick M. Wensing, Günter Niemeyer, Jean-Jacques E. Slotine:
Observability in Inertial Parameter Identification. CoRR abs/1711.03896 (2017) - 2016
- [j5]Patrick M. Wensing, David E. Orin:
Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control. Int. J. Humanoid Robotics 13(1): 1550039:1-1550039:23 (2016) - [j4]Yiping Liu, Patrick M. Wensing, James P. Schmiedeler, David E. Orin:
Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model. IEEE Robotics Autom. Lett. 1(2): 1073-1080 (2016) - [i1]Patrick M. Wensing, Jean-Jacques E. Slotine:
Sparse Control for Dynamic Movement Primitives. CoRR abs/1611.05066 (2016) - 2015
- [j3]Patrick M. Wensing, Luther R. Palmer III, David E. Orin:
Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion. Auton. Robots 38(4): 363-381 (2015) - [j2]Ghassan Bin Hammam, Patrick M. Wensing, Behzad Dariush, David E. Orin:
Kinodynamically Consistent Motion Retargeting for Humanoids. Int. J. Humanoid Robotics 12(4): 1550017:1-1550017:27 (2015) - [c9]Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng:
Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model. ICRA 2015: 5710-5717 - [c8]Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng:
Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model. IROS 2015: 374-380 - [c7]Hae-Won Park, Patrick M. Wensing, Sangbae Kim:
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. Robotics: Science and Systems 2015 - 2014
- [c6]Patrick M. Wensing, David E. Orin:
Development of high-span running long jumps for humanoids. ICRA 2014: 222-227 - [c5]Patrick M. Wensing, David E. Orin:
3D-SLIP steering for high-speed humanoid turns. IROS 2014: 4008-4013 - 2013
- [j1]Patrick M. Wensing, Ghassan Bin Hammam, Behzad Dariush, David E. Orin:
Optimizing foot Centers of pressure through force Distribution in a humanoid robot. Int. J. Humanoid Robotics 10(3) (2013) - [c4]Patrick M. Wensing, David E. Orin:
Generation of dynamic humanoid behaviors through task-space control with conic optimization. ICRA 2013: 3103-3109 - [c3]Patrick M. Wensing, David E. Orin:
High-speed humanoid running through control with a 3D-SLIP model. IROS 2013: 5134-5140 - 2012
- [c2]Patrick M. Wensing, Roy Featherstone, David E. Orin:
A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. ICRA 2012: 4911-4917 - 2011
- [c1]Yiping Liu, Patrick M. Wensing, David E. Orin, James P. Schmiedeler:
Fuzzy controlled hopping in a biped robot. ICRA 2011: 1982-1989
Coauthor Index
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