Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback. - Ahmad Gazar; Gabriele Nava; Francisco Javier Andrade Chavez; Daniele Pucci (CoRR, 2019)

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (HUMANOIDS, 2021)

Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback. - Ahmad Gazar; Gabriele Nava; Francisco Javier Andrade Chavez; Daniele Pucci (IEEE Trans. Robotics, 2021)

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots. - Ahmad Gazar; Majid Khadiv; Sébastien Kleff; Andrea Del Prete; Ludovic Righetti (ISRR, 2022)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Majid Khadiv (CoRR, 2022)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Maren Bennewitz; Majid Khadiv (ICRA, 2023)

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty. - Ahmad Gazar; Majid Khadiv; Andrea Del Prete; Ludovic Righetti (CoRR, 2023)