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)

Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds. - Matthew Chignoli; Patrick M. Wensing (IEEE Access, 2020)

The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors. - Matthew Chignoli; Donghyun Kim 002; Elijah Stanger-Jones; Sangbae Kim (HUMANOIDS, 2021)

Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot. - Matthew Chignoli; Sangbae Kim (ICRA, 2021)

Rapid and Reliable Trajectory Planning Involving Omnidirectional Jumping of Quadruped Robots. - Matthew Chignoli; Savva Morozov; Sangbae Kim (CoRR, 2021)

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

Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping. - Matthew Chignoli; Savva Morozov; 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)

Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform. - Andrew SaLoutos; Elijah Stanger-Jones; Yanran Ding; Matthew Chignoli; Sangbae Kim (Humanoids, 2023)

Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control. - AJ Miller; Shamel Fahmi; Matthew Chignoli; Sangbae Kim (CoRR, 2023)

Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops. - Matthew Chignoli; Nicholas Adrian; Sangbae Kim; Patrick M. Wensing (CoRR, 2023)

URDF+: An Enhanced URDF for Robots with Kinematic Loops. - Matthew Chignoli; Jean-Jacques E. Slotine; Patrick M. Wensing; Sangbae Kim (Humanoids, 2024)

Probabilistic Homotopy Optimization for Dynamic Motion Planning. - Shayan Pardis; Matthew Chignoli; Sangbae Kim (IROS, 2024)

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)