Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. - Kenneth Y. Chao; Matthew J. Powell; Aaron D. Ames; Pilwon Hur (ACC, 2016)

A step towards generating human-like walking gait via trajectory optimization through contact for a bipedal robot with one-sided springs on toes. - Kenneth Y. Chao; Pilwon Hur (IROS, 2017)

Consolidated control framework to control a powered transfemoral prosthesis over inclined terrain conditions. - Woolim Hong; Victor Paredes; Kenneth Y. Chao; Shawanee Patrick; Pilwon Hur (ICRA, 2019)

Generalized Contact Constraints of Hybrid Trajectory optimization for Different Terrains and Analysis of Sensitivity to Randomized Initial Guesses. - Kenneth Y. Chao; Pilwon Hur (IROS, 2019)