Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing. - Charles Khazoom; Catherine Véronneau; Jean-Philippe Lucking Bigué; Jordane G. Grenier; Alexandre Girard; Jean-Sébastien Plante (IEEE Robotics Autom. Lett., 2019)

A Supernumerary Robotic Leg Powered by Magnetorheological Actuators to Assist Human Locomotion. - Charles Khazoom; Pierre Caillouette; Alexandre Girard; Jean-Sébastien Plante (IEEE Robotics Autom. Lett., 2020)

Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking. - Yanran Ding; Charles Khazoom; Matthew Chignoli; Sangbae Kim (Humanoids, 2022)

Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions. - Charles Khazoom; Daniel González-Díaz; Yanran Ding; Sangbae Kim (Humanoids, 2022)

Humanoid Arm Motion Planning for Improved Disturbance Recovery Using Model Hierarchy Predictive Control. - Charles Khazoom; Sangbae Kim (ICRA, 2022)

Dynamic Walking with Footstep Adaptation on the MIT Humanoid via Linear Model Predictive Control. - Yanran Ding; Charles Khazoom; Matthew Chignoli; Sangbae Kim (CoRR, 2022)

Benchmarking Potential Based Rewards for Learning Humanoid Locomotion. - Se Hwan Jeon; Steve Heim; Charles Khazoom; Sangbae Kim (ICRA, 2023)

Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control. - Charles Khazoom; Steve Heim; Daniel González-Díaz; Sangbae Kim (ICRA, 2023)

Tailoring Solution Accuracy for Fast Whole-Body Model Predictive Control of Legged Robots. - Charles Khazoom; Seungwoo Hong; Matthew Chignoli; Elijah Stanger-Jones; Sangbae Kim (IEEE Robotics Autom. Lett., 2024)

CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control. - Se Hwan Jeon; Seungwoo Hong; Ho Jae Lee; Charles Khazoom; Sangbae Kim (IEEE Robotics Autom. Lett., 2025)