Terrain-Aware Foot Placement for Bipedal Locomotion Combining Model Predictive Control, Virtual Constraints, and the ALIP. - Grant Gibson; Oluwami Dosunmu-Ogunbi; Yukai Gong; Jessy W. Grizzle (CoRR, 2021)

Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints. - Grant Gibson; Oluwami Dosunmu-Ogunbi; Yukai Gong; Jessy W. Grizzle (IROS, 2022)

Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control. - Oluwami Dosunmu-Ogunbi; Aayushi Shrivastava; Grant Gibson; Jessy W. Grizzle (IROS, 2023)

Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. - Oluwami Dosunmu-Ogunbi; Aayushi Shrivastava; Jessy W. Grizzle (IROS, 2024)