Design and experimental implementation of a quasi-direct-drive leg for optimized jumping. - Yanran Ding; Hae-Won Park 002 (IROS, 2017)

Single Leg Dynamic Motion Planning with Mixed-Integer Convex Optimization. - Yanran Ding; Chuanzheng Li; Hae-Won Park 002 (IROS, 2018)

Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots. - Yanran Ding; Abhishek Pandala; Hae-Won Park 002 (ICRA, 2019)

qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications. - Abhishek Goud Pandala; Yanran Ding; Hae-Won Park 002 (IEEE Robotics Autom. Lett., 2019)

Kinodynamic Motion Planning for Multi-Legged Robot Jumping via Mixed-Integer Convex Program. - Yanran Ding; Chuanzheng Li; Hae-Won Park 002 (IROS, 2020)

HOPPY: An open-source and low-cost kit for dynamic robotics education. - Joao Ramos; Yanran Ding; Young-Woo Sim; Kevin Murphy; Daniel Block (CoRR, 2020)

Hybrid Sampling/Optimization-based Planning for Agile Jumping Robots on Challenging Terrains. - Yanran Ding; Mengchao Zhang; Chuanzheng Li; Hae-Won Park 002; Kris Hauser (ICRA, 2021)

HOPPY: An Open-source Kit for Education with Dynamic Legged Robots. - Joao Ramos; Yanran Ding; Young-Woo Sim; Kevin Murphy; Daniel Block (IROS, 2021)

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds. - Yanran Ding; Abhishek Pandala; Chuanzheng Li; Young Ha Shin; Hae-Won Park 002 (IEEE Trans. Robotics, 2021)

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

Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions. - Charles Khazoom; Daniel González-Díaz; Yanran Ding; Sangbae Kim (Humanoids, 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)

Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity. - Yulun Zhuang; Yichen Wang; Yanran Ding (CoRR, 2025)