Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. - Johnathan Van Why; Christian Hubicki; Mikhail S. Jones; Monica A. Daley; Jonathan W. Hurst (IROS, 2014)

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. - Ayonga Hereid; Christian Hubicki; Eric A. Cousineau; Jonathan W. Hurst; Aaron D. Ames (ICRA, 2015)

Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. - Christian Hubicki; Mikhail S. Jones; Monica A. Daley; Jonathan W. Hurst (ICRA, 2015)

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. - Ayonga Hereid; Eric A. Cousineau; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. - Christian M. Hubicki; Ayonga Hereid; Michael X. Grey; Andrea Lockerd Thomaz; Aaron D. Ames (ICRA, 2016)

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. - Jacob Reher; Eric A. Cousineau; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Tractable terrain-aware motion planning on granular media: An impulsive jumping study. - Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames (IROS, 2016)

Efficient HZD gait generation for three-dimensional underactuated humanoid running. - Wen-Loong Ma; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (IROS, 2016)

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. - Jacob P. Reher; Ayonga Hereid; Shishir Kolathaya; Christian M. Hubicki; Aaron D. Ames (WAFR, 2016)

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. - Christian Hubicki; Jesse Grimes; Mikhail S. Jones; Daniel Renjewski; Alexander Spröwitz; Andy Abate; Jonathan W. Hurst (Int. J. Robotics Res., 2016)

Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. - Eric R. Ambrose; Wen-Loong Ma; Christian Hubicki; Aaron D. Ames (CCTA, 2017)

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. - Wen-Loong Ma; Shishir Kolathaya; Eric R. Ambrose; Christian M. Hubicki; Aaron D. Ames (HSCC, 2017)

Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (ICRA, 2017)

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. - Jonathan R. Gosyne; Christian M. Hubicki; Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (Humanoids, 2018)

Soft Robotic Burrowing Device with Tip-Extension and Granular Fluidization. - Nicholas D. Naclerio; Christian M. Hubicki; Yasemin Ozkan Aydin; Daniel I. Goldman; Elliot W. Hawkes (IROS, 2018)

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. - Christian Hubicki; Andy Abate; Patrick Clary; Siavash Rezazadeh; Mikhail S. Jones; Andrew Peekema; Johnathan Van Why; Ryan Domres; Albert Wu; William C. Martin; Hartmut Geyer; Jonathan W. Hurst (IEEE Robotics Autom. Mag., 2018)

Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. - Ayonga Hereid; Christian M. Hubicki; Eric A. Cousineau; Aaron D. Ames (IEEE Trans. Robotics, 2018)

Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. - Alexander H. Chang; Christian Hubicki; Aaron D. Ames; Patricio A. Vela (ICRA, 2019)

Do Intermediate Gaits Matter When Rapidly Accelerating? - Callen Fisher; Christian Hubicki; Amir Patel (IEEE Robotics Autom. Lett., 2019)

Fast, Versatile, and Open-loop Stable Running Behaviors with Proprioceptive-only Sensing using Model-based Optimization. - Wei Gao; Charles Young; John V. Nicholson; Christian Hubicki; Jonathan E. Clark (ICRA, 2020)

Force-based Control of Bipedal Balancing on Dynamic Terrain with the "Tallahassee Cassie" Robotic Platform. - Jason White; Dylan Swart; Christian Hubicki (ICRA, 2020)

Risk-constrained Motion Planning for Robot Locomotion: Formulation and Running Robot Demonstration. - Jacob Hackett; Wei Gao; Monica A. Daley; Jonathan E. Clark; Christian Hubicki (IROS, 2020)

LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot. - John V. Nicholson; Jay Jasper; Ara Kourchians; Greg McCutcheon; Max P. Austin; Mark Gonzalez; Jason L. Pusey; Sisir Karumanchi; Christian Hubicki; Jonathan E. Clark (IROS, 2020)

Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (IEEE Trans. Control. Syst. Technol., 2021)

Optimizing Dynamic Legged Locomotion in Mixed, Resistive Media. - Max P. Austin; John V. Nicholson; Jason White; Sean W. Gart; Ashley Chase; Jason L. Pusey; Christian Hubicki; Jonathan E. Clark (AIM, 2022)

Locomotion as a Risk-mitigating Behavior in Uncertain Environments: A Rapid Planning and Few-shot Failure Adaptation Approach. - Jacob Hackett; Dylan Epstein-Gross; Monica A. Daley; Christian Hubicki (ICRA, 2022)

Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots. - Adwait Mane; Dylan Swart; Jason White; Christian Hubicki (ICRA, 2022)

Trajectory Planning for Sensors and Payloads Moving Through Mixed and Uncertain Media. - Camilo Ordonez; David Jay; Christian Hubicki (ICRA, 2022)

Avoiding Dynamic Obstacles with Real-time Motion Planning using Quadratic Programming for Varied Locomotion Modes. - Jason White; David Jay; Tianze Wang; Christian Hubicki (IROS, 2022)

Lessons Learned from two iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot. - Jay Jasper; Ara Kourchians; Mark Gonzalez; Blair Emanuel; John V. Nicholson; Greg McCutcheon; Max P. Austin; Matt Kozlowski; Emma Holmes; Rachel Hegeman; Stephen McCrory; Michael Zeher; et al. (Field Robotics, 2022)

Real-Time Failure-Adaptive Control for Dynamic Robots. - Jacob Hackett; Christian Hubicki (IROS, 2023)

Real-time Dynamic Bipedal Avoidance. - Tianze Wang; Jason White; Christian Hubicki (IROS, 2023)

Single-Stage Optimization of Open-loop Stable Limit Cycles with Smooth, Symbolic Derivatives. - Muhammad Saud Ul Hassan; Christian Hubicki (CoRR, 2023)

Real-Time Control for Assisted Sit-to-Stand via Legged Robotic Helpers. - Camilo Ordonez; Christian Hubicki (EMBC, 2024)

Rolling with Planar Parametric Curves for Real-time Robot Locomotion Algorithms. - Adwait Mane; Christian Hubicki (ICRA, 2024)

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing. - Tianze Wang; Christian Hubicki (CoRR, 2025)