Fuzzy controlled hopping in a biped robot. - Yiping Liu; Patrick M. Wensing; David E. Orin; James P. Schmiedeler (ICRA, 2011)

A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. - Patrick M. Wensing; Roy Featherstone; David E. Orin (ICRA, 2012)

Generation of dynamic humanoid behaviors through task-space control with conic optimization. - Patrick M. Wensing; David E. Orin (ICRA, 2013)

High-speed humanoid running through control with a 3D-SLIP model. - Patrick M. Wensing; David E. Orin (IROS, 2013)

Optimizing foot Centers of pressure through force Distribution in a humanoid robot. - Patrick M. Wensing; Ghassan Bin Hammam; Behzad Dariush; David E. Orin (Int. J. Humanoid Robotics, 2013)

Development of high-span running long jumps for humanoids. - Patrick M. Wensing; David E. Orin (ICRA, 2014)

3D-SLIP steering for high-speed humanoid turns. - Patrick M. Wensing; David E. Orin (IROS, 2014)

Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model. - Yiping Liu; Patrick M. Wensing; David E. Orin; Yuan F. Zheng (ICRA, 2015)

Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model. - Yiping Liu; Patrick M. Wensing; David E. Orin; Yuan F. Zheng (IROS, 2015)

Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Robotics: Science and Systems, 2015)

Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion. - Patrick M. Wensing; Luther R. Palmer III; David E. Orin (Auton. Robots, 2015)

Kinodynamically Consistent Motion Retargeting for Humanoids. - Ghassan Bin Hammam; Patrick M. Wensing; Behzad Dariush; David E. Orin (Int. J. Humanoid Robotics, 2015)

Sparse Control for Dynamic Movement Primitives. - Patrick M. Wensing; Jean-Jacques E. Slotine (CoRR, 2016)

Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control. - Patrick M. Wensing; David E. Orin (Int. J. Humanoid Robotics, 2016)

Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model. - Yiping Liu; Patrick M. Wensing; James P. Schmiedeler; David E. Orin (IEEE Robotics Autom. Lett., 2016)

Experimental evaluation of simple estimators for humanoid robots. - Thomas Flayols; Andrea Del Prete; Patrick M. Wensing; Alexis Mifsud; Mehdi Benallegue; Olivier Stasse (Humanoids, 2017)

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

Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective. - Patrick M. Wensing; Jean-Jacques E. Slotine (CoRR, 2017)

Observability in Inertial Parameter Identification. - Patrick M. Wensing; Günter Niemeyer; Jean-Jacques E. Slotine (CoRR, 2017)

Design of Dynamic Legged Robots. - Sangbae Kim; Patrick M. Wensing (Found. Trends Robotics, 2017)

High-speed bounding with the MIT Cheetah 2: Control design and experiments. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Int. J. Robotics Res., 2017)

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. - Patrick M. Wensing; Albert Wang; Sangok Seok; David Otten; Jeffrey H. Lang; Sangbae Kim (IEEE Trans. Robotics, 2017)

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

Cooperative Adaptive Control for Cloud-Based Robotics. - Patrick M. Wensing; Jean-Jacques E. Slotine (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)

Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. - Patrick M. Wensing; Sangbae Kim; Jean-Jacques E. Slotine (IEEE Robotics Autom. Lett., 2018)

Formal Connections between Template and Anchor Models via Approximate Simulation. - Vince Kurtz; Rafael Rodrigues da Silva; Patrick M. Wensing; Hai Lin 002 (Humanoids, 2019)

Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors. - Taylor M. Gambon; James P. Schmiedeler; Patrick M. Wensing (ICORR, 2019)

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. - Octavio Antonio Villarreal-Magaña; Victor Barasuol; Patrick M. Wensing; Claudio Semini (CoRR, 2019)

Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model. - Hua Chen 007; Patrick M. Wensing; Wei Zhang 013 (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)

Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. - Vince Kurtz; Patrick M. Wensing; Hai Lin 002 (ACC, 2020)

User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance. - Taylor M. Gambon; James P. Schmiedeler; Patrick M. Wensing (BioRob, 2020)

MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. - Octavio Villarreal; Victor Barasuol; Patrick M. Wensing; Darwin G. Caldwell; Claudio Semini (ICRA, 2020)

Rapid Bipedal Gait Optimization in CasADi. - Martin Fevre; Patrick M. Wensing; James P. Schmiedeler (IROS, 2020)

Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User. - Roopak M. Karulkar; Patrick M. Wensing (IROS, 2020)

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

Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking. - Taylor M. Gambon; James P. Schmiedeler; Patrick M. Wensing (IEEE Access, 2020)

Approximate Simulation for Template-Based Whole-Body Control. - Vince Kurtz; Patrick M. Wensing; Michael D. Lemmon; Hai Lin 002 (CoRR, 2020)

Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems. - Sebastian Echeandia; Patrick M. Wensing (CoRR, 2020)

One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. - Gabriel Bravo-Palacios; Andrea Del Prete; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2020)

Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model. - Hua Chen 007; Patrick M. Wensing; Wei Zhang 013 (IEEE Robotics Autom. Lett., 2020)

Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. - He Li; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2020)

Geometric Robot Dynamic Identification: A Convex Programming Approach. - Taeyoon Lee; Patrick M. Wensing; Frank C. Park 001 (IEEE Trans. Robotics, 2020)

Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. - Vince Kurtz; Patrick M. Wensing; Hai Lin 002 (CDC, 2021)

Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. - Shunpeng Yang; Hua Chen 007; Luyao Zhang; Zhefeng Cao; Patrick M. Wensing; Yizhang Liu; Jianxin Pang; Wei Zhang 013 (ICRA, 2021)

Quadruped Robot Hopping on Two Legs. - Shenggao Li; Hua Chen 007; Wei Zhang 013; Patrick M. Wensing (IROS, 2021)

Exploring the Limits of a Redundant Actuation System Through Co-Design. - Gianluigi Grandesso; Gabriel Bravo-Palacios; Patrick M. Wensing; Marco Fontana; Andrea Del Prete (IEEE Access, 2021)

Tensor-Free Second-Order Differential Dynamic Programming. - John N. Nganga; Patrick M. Wensing (CoRR, 2021)

Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots. - Hua Chen 007; Bingheng Wang; Zejun Hong; Cong Shen; Patrick M. Wensing; Wei Zhang 013 (IEEE Robotics Autom. Lett., 2021)

Approximate Simulation for Template-Based Whole-Body Control. - Vince Kurtz; Patrick M. Wensing; Hai Lin 002 (IEEE Robotics Autom. Lett., 2021)

Model Hierarchy Predictive Control of Robotic Systems. - He Li; Robert J. Frei; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2021)

Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. - Junwei Liu; Hua Chen 007; Patrick M. Wensing; Wei Zhang 013 (IEEE Robotics Autom. Lett., 2021)

Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems. - John N. Nganga; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2021)

The Rapid Rise of Quadruped Robots [Young Professionals]. - Patrick M. Wensing (IEEE Robotics Autom. Mag., 2021)

Jumping over obstacles with MIT Cheetah 2. - Hae-Won Park 002; Patrick M. Wensing; Sangbae Kim (Robotics Auton. Syst., 2021)

Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User. - Roopak M. Karulkar; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2021)

to Control Robot Hopping over Uneven Terrain. - Michael D. Lemmon; Patrick M. Wensing; Vincent Kurtz; Hai Lin 002 (ACC, 2022)

Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction. - David J. Kelly; Patrick M. Wensing (ICORR, 2022)

Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. - Vince Kurtz; He Li; Patrick M. Wensing; Hai Lin 002 (ICRA, 2022)

Large-Scale ADMM-based Co-Design of Legged Robots. - Gabriel Bravo-Palacios; Patrick M. Wensing (IROS, 2022)

Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. - He Li; Wenhao Yu 003; Tingnan Zhang; Patrick M. Wensing (IROS, 2022)

Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IROS, 2022)

Generalization in Supervised Learning Through Riemannian Contraction. - Leo Kozachkov; Patrick M. Wensing; Jean-Jacques E. Slotine (CoRR, 2022)

Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2022)

Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2022)

CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. - Gianluigi Grandesso; Gastone Pietro Rosati Papini; Patrick M. Wensing; Andrea Del Prete (CoRR, 2022)

Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information. - Roopak M. Karulkar; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2022)

A Geometric Sufficient Condition for Contact Wrench Feasibility. - Shenggao Li; Hua Chen 007; Wei Zhang 013; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2022)

Smooth Parameterization of Rigid-Body Inertia. - D. Caleb Rucker; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2022)

Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2022)

Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. - Guillermo Colin; Joseph Byrnes; Youngwoo Sim; Patrick M. Wensing; Joao Ramos (Humanoids, 2023)

Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (Humanoids, 2023)

Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. - He Li; Tingnan Zhang; Wenhao Yu 003; Patrick M. Wensing (ICRA, 2023)

A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. - He Li; Wenhao Yu 003; Tingnan Zhang; Patrick M. Wensing (IROS, 2023)

Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses. - Ryan R. Posh; Jonathan A. Tittle; James P. Schmiedeler; Patrick M. Wensing (IROS, 2023)

On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2023)

Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2023)

Towards Continuous Time Finite Horizon LQR Control in SE(3). - Shivesh Kumar; Andreas Mueller 002; Patrick M. Wensing; Frank Kirchner (CoRR, 2023)

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

Coriolis Factorizations and their Connections to Riemannian Geometry. - Patrick M. Wensing; Johannes Englsberger; Jean-Jacques E. Slotine (CoRR, 2023)

Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning. - Leo Kozachkov; Patrick M. Wensing; Jean-Jacques E. Slotine (Trans. Mach. Learn. Res., 2023)

CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. - Gianluigi Grandesso; Elisa Alboni; Gastone Pietro Rosati Papini; Patrick M. Wensing; Andrea Del Prete (IEEE Robotics Autom. Lett., 2023)

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. - Hua Chen 007; Zejun Hong; Shunpeng Yang; Patrick M. Wensing; Wei Zhang 013 (IEEE Trans. Robotics, 2023)

Balancing on a Rolling Contact. - Federico Allione; Roy Featherstone; Patrick M. Wensing; Darwin G. Caldwell (IEEE Robotics Autom. Lett., 2023)

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

Task-space Control of a Powered Ankle Prosthesis. - David J. Kelly; Ryan R. Posh; Patrick M. Wensing (ICRA, 2024)

Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. - Ryan R. Posh; Jonathan A. Tittle; David J. Kelly; James P. Schmiedeler; Patrick M. Wensing (ICRA, 2024)

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. - Shunpeng Yang; Zejun Hong; Sen Li; Patrick M. Wensing; Wei Zhang 013; Hua Chen 007 (IROS, 2024)

A learning-based framework to adapt legged robots on-the-fly to unexpected disturbances. - Nolan Fey; He Li; Nicholas Adrian; Patrick M. Wensing; Michael D. Lemmon (L4DC, 2024)

Robot Model Identification and Learning: A Modern Perspective. - Taeyoon Lee; Jaewoon Kwon; Patrick M. Wensing; Frank C. Park 001 (Annu. Rev. Control. Robotics Auton. Syst., 2024)

Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses. - Ryan R. Posh; Shenggao Li; Patrick M. Wensing (CoRR, 2024)

A geometric characterization of observability in inertial parameter identification. - Patrick M. Wensing; Günter Niemeyer; Jean-Jacques E. Slotine (Int. J. Robotics Res., 2024)

On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IEEE Trans. Robotics, 2024)

Optimization-Based Control for Dynamic Legged Robots. - Patrick M. Wensing; Michael Posa; Yue Hu 001; Adrien Escande; Nicolas Mansard; Andrea Del Prete (IEEE Trans. Robotics, 2024)

3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies. - Nolan Fey; Robert J. Frei; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2024)

The Impact of Phase Variable Accuracy on Continuous Controller Performance for Knee-Ankle Prostheses: A Case Study. - David J. Kelly; Patrick M. Wensing (ICORR, 2025)

Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control. - He Li; Patrick M. Wensing (IEEE Trans. Robotics, 2025)

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion. - Shunpeng Yang; Zhen Fu; Zhefeng Cao; Junde Guo; Patrick M. Wensing; Wei Zhang 013; Hua Chen 007 (CoRR, 2025)