Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps. - Yiming Yang; Wolfgang Merkt; Henrique Ferrolho; Vladimir Ivan; Sethu Vijayakumar (IEEE Robotics Autom. Lett., 2017)

Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments. - Henrique Ferrolho; Wolfgang Merkt; Yiming Yang; Vladimir Ivan; Sethu Vijayakumar (Humanoids, 2018)

Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization. - Henrique Ferrolho; Wolfgang Merkt; Carlo Tiseo; Sethu Vijayakumar (CoRR, 2019)

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections. - Henrique Ferrolho; Wolfgang Merkt; Vladimir Ivan; Wouter Wolfslag; Sethu Vijayakumar (IROS, 2020)

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (ICRA, 2021)

Residual force polytope: Admissible task-space forces of dynamic trajectories. - Henrique Ferrolho; Wolfgang Merkt; Carlo Tiseo; Sethu Vijayakumar (Robotics Auton. Syst., 2021)

A feasibility-driven approach to control-limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Henrique Ferrolho; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (Auton. Robots, 2022)

RoLoMa: robust loco-manipulation for quadruped robots with arms. - Henrique Ferrolho; Vladimir Ivan; Wolfgang Merkt; Ioannis Havoutis; Sethu Vijayakumar (Auton. Robots, 2023)