Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator. - Ruturaj Sambhus; Aydin Gokce; Stephen Welch; Connor W. Herron; Alexander Leonessa (IROS, 2023)

A Nonlinear MPC Framework for Loco-Manipulation of Quadrupedal Robots with Non-Negligible Manipulator Dynamics. - Ruturaj Sambhus; Kapi Ketan Mehta; Ali MirMohammad Sadeghi; Basit Muhammad Imran; Jeeseop Kim; Taizoon Chunawala; Vittorio Pastore; Sujith Vijayan; Kaveh Akbari Hamed (CoRR, 2025)