Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots von Wensing, Patrick M., Wang, Albert, Sangok Seok, Otten, David, Lang, Jeffrey, Sangbae Kim

Volltext

High-speed bounding with the MIT Cheetah 2: Control design and experiments von Park, Hae-Won, Wensing, Patrick M, Kim, Sangbae

Volltext

Beyond convexity—Contraction and global convergence of gradient descent von Wensing, Patrick M, Slotine, Jean-Jacques

Volltext

Center of mass kinematic reconstruction during steady-state walking using optimized template models von Kelly, David J, Wensing, Patrick M

Volltext

The Rapid Rise of Quadruped Robots [Young Professionals] von Wensing, Patrick

Volltext

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance von Chen, Hua, Hong, Zejun, Yang, Shunpeng, Wensing, Patrick M., Zhang, Wei

Volltext

Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds von Chignoli, Matthew, Wensing, Patrick M.

Volltext

Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots von Li, He, Wensing, Patrick M.

Volltext

Geometric Robot Dynamic Identification: A Convex Programming Approach von Lee, Taeyoon, Wensing, Patrick M., Park, Frank C.

Volltext

Engineering Compliance in Legged Robots Via Robust Co-Design von Bravo-Palacios, Gabriel, Li, He, Wensing, Patrick M.

Volltext

Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems von Echeandia, Sebastian, Wensing, Patrick M

Volltext

Finite-State Impedance and Direct Myoelectric Control For Robotic Ankle Prostheses: Comparing their Performance and Exploring their Combination von Posh, Ryan R., Schmiedeler, James P., Wensing, Patrick M.

Volltext

On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation von Singh, Shubham, Russell, Ryan P., Wensing, Patrick M.

Volltext

A geometric characterization of observability in inertial parameter identification von Wensing, Patrick M., Niemeyer, Günter, Slotine, Jean-Jacques E.

Volltext

Optimization-Based Control for Dynamic Legged Robots von Wensing, Patrick M., Posa, Michael, Hu, Yue, Escande, Adrien, Mansard, Nicolas, Prete, Andrea Del

Volltext

Model Hierarchy Predictive Control of Robotic Systems von Li, He, Frei, Robert J., Wensing, Patrick M.

Volltext

Lower-Limb Myoelectric Calibration Postures for Transtibial Prostheses von Posh, Ryan R., Barry, Emmalynn C., Schmiedeler, James P., Wensing, Patrick M.

Volltext

Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution von Wensing, Patrick M., Sangbae Kim, Slotine, Jean-Jacques E.

Volltext

Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots von Chen, Hua, Wang, Bingheng, Hong, Zejun, Shen, Cong, Wensing, Patrick M., Zhang, Wei

Volltext

Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra von Singh, Shubham, Russell, Ryan P., Wensing, Patrick M.

Volltext