A convex model of humanoid momentum dynamics for multi-contact motion generation. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (Humanoids, 2016)

On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions. - Brahayam Pontón; Stefan Schaal; Ludovic Righetti (WAFR, 2016)

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

Risk sensitive nonlinear optimal control with measurement uncertainty. - Brahayam Ponton; Stefan Schaal; Ludovic Righetti (CoRR, 2016)

Learning optimal gait parameters and impedance profiles for legged locomotion. - Elco Heijmink; Andreea Radulescu; Brahayam Ponton; Victor Barasuol; Darwin G. Caldwell; Claudio Semini (Humanoids, 2017)

On Time Optimisation of Centroidal Momentum Dynamics. - Brahayam Ponton; Alexander Herzog; Stefan Schaal; Ludovic Righetti (CoRR, 2017)

On Time Optimization of Centroidal Momentum Dynamics. - Brahayam Ponton; Alexander Herzog; Andrea Del Prete; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. - Yu-Chi Lin; Brahayam Ponton; Ludovic Righetti; Dmitry Berenson (ICRA, 2019)

Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (CoRR, 2020)

Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics. - Brahayam Ponton; Majid Khadiv; Avadesh Meduri; Ludovic Righetti (IEEE Trans. Robotics, 2021)

Efficient Extrinsic Calibration of Multi-Sensor 3D LiDAR Systems for Autonomous Vehicles using Static Objects Information. - Brahayam Ponton; Magda Ferri; Lars König; Marcus Bartels (IROS, 2022)