Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. - Gerardo Bledt; Patrick M. Wensing; Sangbae Kim (IROS, 2017)

Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. - Gerardo Bledt; Patrick M. Wensing; Sam Ingersoll; Sangbae Kim (ICRA, 2018)

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. - Gerardo Bledt; Matthew J. Powell; Benjamin Katz; Jared Di Carlo; Patrick M. Wensing; Sangbae Kim (IROS, 2018)

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. - Jared Di Carlo; Patrick M. Wensing; Benjamin Katz; Gerardo Bledt; Sangbae Kim (IROS, 2018)

Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization. - Gerardo Bledt; Sangbae Kim (IROS, 2019)

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control. - Donghyun Kim 002; Jared Di Carlo; Benjamin Katz; Gerardo Bledt; Sangbae Kim (CoRR, 2019)

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. - Chiheb Boussema; Matthew J. Powell; Gerardo Bledt; Auke Jan Ijspeert; Patrick M. Wensing; Sangbae Kim (IEEE Robotics Autom. Lett., 2019)

Extracting Legged Locomotion Heuristics with Regularized Predictive Control. - Gerardo Bledt; Sangbae Kim (ICRA, 2020)

Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot. - Donghyun Kim 002; D. Carballo; Jared Di Carlo; Benjamin Katz; Gerardo Bledt; Bryan Lim; Sangbae Kim (ICRA, 2020)

Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments. - Thomas Dudzik; Matthew Chignoli; Gerardo Bledt; Bryan Lim; Adam Miller; Donghyun Kim 002; Sangbae Kim (IROS, 2020)