Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion. - Karthik Urs; Challen Enninful Adu; Elliott J. Rouse; Talia Y. Moore (IROS, 2022)

Alternative Metrics to Select Motors for Quasi-Direct Drive Actuators. - Karthik Urs; Challen Enninful Adu; Elliott J. Rouse; Talia Y. Moore (CoRR, 2022)

RADIUS: Risk-Aware, Real-Time, Reachability-Based Motion Planning. - Challen Enninful Adu; Jinsun Liu; Lucas Lymburner; Vishrut Kaushik; Lena Trang; Ram Vasudevan (Robotics: Science and Systems, 2023)

Not All Actions Are Created Equal: Bayesian Optimal Experimental Design for Safe and Optimal Nonlinear System Identification. - Parker Ewen; Gitesh Gunjal; Joey Wilson; Jinsun Liu; Challen Enninful Adu; Ram Vasudevan (CoRR, 2023)

SKOOTR: A SKating, Omni-Oriented, Tripedal Robot. - Adam Joshua Hung; Challen Enninful Adu; Talia Y. Moore (CoRR, 2024)

Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions. - Jonathan B. Michaux; Qingyi Chen; Challen Enninful Adu; Jinsun Liu; Ram Vasudevan (CoRR, 2024)

Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat. - Jonathan B. Michaux; Seth Isaacson; Challen Enninful Adu; Adam Li; Rahul Kashyap Swayampakula; Parker Ewen; Sean Rice; Katherine A. Skinner; Ram Vasudevan (CoRR, 2024)

Let us Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat. - Jonathan B. Michaux; Seth Isaacson; Challen Enninful Adu; Adam Li; Rahul Kashyap Swayampakula; Parker Ewen; Sean Rice; Katherine A. Skinner; Ram Vasudevan (IEEE Trans. Robotics, 2025)

Bring the Heat: Rapid Trajectory Optimization With Pseudospectral Techniques and the Affine Geometric Heat Flow Equation. - Challen Enninful Adu; César E. Ramos Chuquiure; Bohao Zhang; Ram Vasudevan (IEEE Robotics Autom. Lett., 2025)

Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints. - Challen Enninful Adu; César E. Ramos Chuquiure; Yutong Zhou; Pearl Lin; Ruikai Yang; Bohao Zhang; Shubham Singh; Ram Vasudevan (CoRR, 2025)