Patrick M. Wensing

124 papers A* 13A 16C 2Journal 81Unranked 12

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Correction to "Smooth Parameterization of Rigid-Body Inertia". IEEE Robotics Autom. Lett. Caleb Rucker, Patrick M. Wensing
2025	J	`jnl`	A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops. IEEE Trans. Robotics Matthew Chignoli, Nicholas Adrian, Sangbae Kim, Patrick M. Wensing
2025	J	`jnl`	Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control. IEEE Trans. Robotics He Li, Patrick M. Wensing
2025	J	`jnl`	Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion. CoRR Shunpeng Yang, Zhen Fu, Zhefeng Cao, Junde Guo, Patrick M. Wensing, Wei Zhang, Hua Chen
2025	A	`conf`	Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses. IROS Ryan R. Posh, Shenggao Li, Patrick M. Wensing
2025	J	`jnl`	The 2025 Summer School on Optimization for Robotics [Education]. IEEE Robotics Autom. Mag. Konstantinos I. Chatzilygeroudis, Shivesh Kumar, Brian Plancher, Zachary Manchester, Enrico Mingo Hoffman, Patrick M. Wensing
2025	—	`conf`	The Impact of Phase Variable Accuracy on Continuous Controller Performance for Knee-Ankle Prostheses: A Case Study. ICORR David J. Kelly, Patrick M. Wensing
2024	J	`jnl`	3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies. IEEE Robotics Autom. Lett. Nolan Fey, Robert J. Frei, Patrick M. Wensing
2024	J	`jnl`	A geometric characterization of observability in inertial parameter identification. Int. J. Robotics Res. Patrick M. Wensing, Günter Niemeyer, Jean-Jacques E. Slotine
2024	—	`conf`	A learning-based framework to adapt legged robots on-the-fly to unexpected disturbances. L4DC Nolan Fey, He Li, Nicholas Adrian, Patrick M. Wensing, Michael D. Lemmon
2024	J	`jnl`	Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control. CoRR He Li, Patrick M. Wensing
2024	A*	`conf`	Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. ICRA Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing
2024	J	`jnl`	On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation. IEEE Trans. Robotics Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2024	J	`jnl`	Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2024	J	`jnl`	Robot Model Identification and Learning: A Modern Perspective. Annu. Rev. Control. Robotics Auton. Syst. Taeyoon Lee, Jaewoon Kwon, Patrick M. Wensing, Frank C. Park
2024	J	`jnl`	Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses. CoRR Ryan R. Posh, Shenggao Li, Patrick M. Wensing
2024	A	`conf`	Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. IROS Shunpeng Yang, Zejun Hong, Sen Li, Patrick M. Wensing, Wei Zhang, Hua Chen
2024	J	`jnl`	Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. CoRR Shunpeng Yang, Zejun Hong, Sen Li, Patrick M. Wensing, Wei Zhang, Hua Chen
2024	A*	`conf`	Task-space Control of a Powered Ankle Prosthesis. ICRA David J. Kelly, Ryan R. Posh, Patrick M. Wensing
2024	—	`conf`	URDF+: An Enhanced URDF for Robots with Kinematic Loops. Humanoids Matthew Chignoli, Jean-Jacques E. Slotine, Patrick M. Wensing, Sangbae Kim
2024	J	`jnl`	URDF+: An Enhanced URDF for Robots with Kinematic Loops. CoRR Matthew Chignoli, Jean-Jacques E. Slotine, Patrick M. Wensing, Sangbae Kim
2023	A	`conf`	A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. IROS He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
2023	J	`jnl`	A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. CoRR He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
2023	—	`conf`	Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. Humanoids Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2023	J	`jnl`	Balancing on a Rolling Contact. IEEE Robotics Autom. Lett. Federico Allione, Roy Featherstone, Patrick M. Wensing, Darwin G. Caldwell
2023	J	`jnl`	CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. IEEE Robotics Autom. Lett. Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
2023	A	`conf`	Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses. IROS Ryan R. Posh, Jonathan A. Tittle, James P. Schmiedeler, Patrick M. Wensing
2023	J	`jnl`	Coriolis Factorizations and their Connections to Riemannian Geometry. CoRR Patrick M. Wensing, Johannes Englsberger, Jean-Jacques E. Slotine
2023	J	`jnl`	Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning. Trans. Mach. Learn. Res. Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine
2023	J	`jnl`	Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. CoRR Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing
2023	J	`jnl`	Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives. CoRR Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2023	J	`jnl`	On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation. CoRR Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2023	J	`jnl`	Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. IEEE Trans. Robotics Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang
2023	J	`jnl`	Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops. CoRR Matthew Chignoli, Nicholas Adrian, Sangbae Kim, Patrick M. Wensing
2023	J	`jnl`	Towards Continuous Time Finite Horizon LQR Control in SE(3). CoRR Shivesh Kumar, Andreas Mueller, Patrick M. Wensing, Frank Kirchner
2023	A*	`conf`	Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. ICRA He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
2023	—	`conf`	Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. Humanoids Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, João Ramos
2023	J	`jnl`	Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. CoRR Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, João Ramos
2022	J	`jnl`	A Geometric Sufficient Condition for Contact Wrench Feasibility. IEEE Robotics Autom. Lett. Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing
2022	A	`conf`	Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. IROS Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2022	J	`jnl`	CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. CoRR Gianluigi Grandesso, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
2022	J	`jnl`	Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2022	J	`jnl`	Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2022	J	`jnl`	Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra. IEEE Robotics Autom. Lett. Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2022	J	`jnl`	Generalization in Supervised Learning Through Riemannian Contraction. CoRR Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine
2022	A	`conf`	Large-Scale ADMM-based Co-Design of Legged Robots. IROS Gabriel Bravo-Palacios, Patrick M. Wensing
2022	A*	`conf`	Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. ICRA Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin
2022	J	`jnl`	Optimization-Based Control for Dynamic Legged Robots. CoRR Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
2022	—	`conf`	Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction. ICORR David J. Kelly, Patrick M. Wensing
2022	J	`jnl`	Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information. IEEE Robotics Autom. Lett. Roopak M. Karulkar, Patrick M. Wensing
2022	J	`jnl`	Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. CoRR Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang
2022	J	`jnl`	Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics Autom. Lett. D. Caleb Rucker, Patrick M. Wensing
2022	J	`jnl`	Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP. CoRR He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
2022	A	`conf`	Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. IROS He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
2022	J	`jnl`	Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. CoRR He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
2022	C	`conf`	to Control Robot Hopping over Uneven Terrain. ACC Michael D. Lemmon, Patrick M. Wensing, Vincent Kurtz, Hai Lin
2021	J	`jnl`	Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems. IEEE Robotics Autom. Lett. John N. Nganga, Patrick M. Wensing
2021	J	`jnl`	Approximate Simulation for Template-Based Whole-Body Control. IEEE Robotics Autom. Lett. Vince Kurtz, Patrick M. Wensing, Hai Lin
2021	—	`conf`	Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CDC Vince Kurtz, Patrick M. Wensing, Hai Lin
2021	J	`jnl`	Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CoRR Vince Kurtz, Patrick M. Wensing, Hai Lin
2021	J	`jnl`	Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra. CoRR Shubham Singh, Ryan P. Russell, Patrick M. Wensing
2021	J	`jnl`	Exploring the Limits of a Redundant Actuation System Through Co-Design. IEEE Access Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete
2021	J	`jnl`	Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. CoRR Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang
2021	J	`jnl`	Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. IEEE Robotics Autom. Lett. Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang
2021	J	`jnl`	Jumping over obstacles with MIT Cheetah 2. Robotics Auton. Syst. Hae-Won Park, Patrick M. Wensing, Sangbae Kim
2021	J	`jnl`	Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. CoRR Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin
2021	J	`jnl`	Model Hierarchy Predictive Control of Robotic Systems. IEEE Robotics Autom. Lett. He Li, Robert J. Frei, Patrick M. Wensing
2021	A	`conf`	Quadruped Robot Hopping on Two Legs. IROS Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing
2021	A*	`conf`	Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. ICRA Shunpeng Yang, Hua Chen, Luyao Zhang, Zhefeng Cao, Patrick M. Wensing, Yizhang Liu, Jianxin Pang, Wei Zhang
2021	J	`jnl`	Tensor-Free Second-Order Differential Dynamic Programming. CoRR John N. Nganga, Patrick M. Wensing
2021	J	`jnl`	The Rapid Rise of Quadruped Robots [Young Professionals]. IEEE Robotics Autom. Mag. Patrick M. Wensing
2021	J	`jnl`	Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots. IEEE Robotics Autom. Lett. Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang
2021	J	`jnl`	Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User. IEEE Robotics Autom. Lett. Roopak M. Karulkar, Patrick M. Wensing
2020	A	`conf`	Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User. IROS Roopak M. Karulkar, Patrick M. Wensing
2020	J	`jnl`	Approximate Simulation for Template-Based Whole-Body Control. CoRR Vince Kurtz, Patrick M. Wensing, Michael D. Lemmon, Hai Lin
2020	J	`jnl`	Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking. IEEE Access Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
2020	J	`jnl`	Geometric Robot Dynamic Identification: A Convex Programming Approach. IEEE Trans. Robotics Taeyoon Lee, Patrick M. Wensing, Frank C. Park
2020	J	`jnl`	Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. CoRR He Li, Patrick M. Wensing
2020	J	`jnl`	Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. IEEE Robotics Autom. Lett. He Li, Patrick M. Wensing
2020	A*	`conf`	MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini
2020	J	`jnl`	Model Hierarchy Predictive Control of Robotic Systems. CoRR He Li, Robert J. Frei, Patrick M. Wensing
2020	J	`jnl`	Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems. CoRR Sebastian Echeandia, Patrick M. Wensing
2020	J	`jnl`	One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. IEEE Robotics Autom. Lett. Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
2020	J	`jnl`	Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model. IEEE Robotics Autom. Lett. Hua Chen, Patrick M. Wensing, Wei Zhang
2020	A	`conf`	Rapid Bipedal Gait Optimization in CasADi. IROS Martin Fevre, Patrick M. Wensing, James P. Schmiedeler
2020	C	`conf`	Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. ACC Vince Kurtz, Patrick M. Wensing, Hai Lin
2020	J	`jnl`	Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. CoRR Vince Kurtz, Patrick M. Wensing, Hai Lin
2020	J	`jnl`	Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots. CoRR Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang
2020	—	`conf`	User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance. BioRob Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
2020	J	`jnl`	Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds. IEEE Access Matthew Chignoli, Patrick M. Wensing
2019	—	`conf`	Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors. ICORR Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
2019	—	`conf`	Formal Connections between Template and Anchor Models via Approximate Simulation. Humanoids Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin
2019	J	`jnl`	Formal Connections between Template and Anchor Models via Approximate Simulation. CoRR Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin
2019	J	`jnl`	MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini
2019	J	`jnl`	Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. IEEE Robotics Autom. Lett. Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim
2019	J	`jnl`	Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model. CoRR Hua Chen, Patrick M. Wensing, Wei Zhang
2018	A*	`conf`	Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. ICRA Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, Sangbae Kim
2018	A*	`conf`	Cooperative Adaptive Control for Cloud-Based Robotics. ICRA Patrick M. Wensing, Jean-Jacques E. Slotine
2018	A	`conf`	Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. IROS Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim
2018	J	`jnl`	Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. IEEE Robotics Autom. Lett. Patrick M. Wensing, Sangbae Kim, Jean-Jacques E. Slotine
2018	A	`conf`	MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. IROS Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
2017	J	`jnl`	Cooperative Adaptive Control for Cloud-Based Robotics. CoRR Patrick M. Wensing, Jean-Jacques E. Slotine
2017	J	`jnl`	Design of Dynamic Legged Robots. Found. Trends Robotics Sangbae Kim, Patrick M. Wensing
2017	—	`conf`	Experimental evaluation of simple estimators for humanoid robots. Humanoids Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
2017	J	`jnl`	High-speed bounding with the MIT Cheetah 2: Control design and experiments. Int. J. Robotics Res. Hae-Won Park, Patrick M. Wensing, Sangbae Kim
2017	J	`jnl`	Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective. CoRR Patrick M. Wensing, Jean-Jacques E. Slotine
2017	J	`jnl`	Observability in Inertial Parameter Identification. CoRR Patrick M. Wensing, Günter Niemeyer, Jean-Jacques E. Slotine
2017	A	`conf`	Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. IROS Gerardo Bledt, Patrick M. Wensing, Sangbae Kim
2017	J	`jnl`	Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. IEEE Trans. Robotics Patrick M. Wensing, Albert Wang, Sangok Seok, David Otten, Jeffrey H. Lang, Sangbae Kim
2016	J	`jnl`	Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control. Int. J. Humanoid Robotics Patrick M. Wensing, David E. Orin
2016	J	`jnl`	Sparse Control for Dynamic Movement Primitives. CoRR Patrick M. Wensing, Jean-Jacques E. Slotine
2016	J	`jnl`	Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model. IEEE Robotics Autom. Lett. Yiping Liu, Patrick M. Wensing, James P. Schmiedeler, David E. Orin
2015	A*	`conf`	Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model. ICRA Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng
2015	J	`jnl`	Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion. Auton. Robots Patrick M. Wensing, Luther R. Palmer III, David E. Orin
2015	J	`jnl`	Kinodynamically Consistent Motion Retargeting for Humanoids. Int. J. Humanoid Robotics Ghassan Bin Hammam, Patrick M. Wensing, Behzad Dariush, David E. Orin
2015	—	`conf`	Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. Robotics: Science and Systems Hae-Won Park, Patrick M. Wensing, Sangbae Kim
2015	A	`conf`	Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model. IROS Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng
2014	A	`conf`	3D-SLIP steering for high-speed humanoid turns. IROS Patrick M. Wensing, David E. Orin
2014	A*	`conf`	Development of high-span running long jumps for humanoids. ICRA Patrick M. Wensing, David E. Orin
2013	A*	`conf`	Generation of dynamic humanoid behaviors through task-space control with conic optimization. ICRA Patrick M. Wensing, David E. Orin
2013	A	`conf`	High-speed humanoid running through control with a 3D-SLIP model. IROS Patrick M. Wensing, David E. Orin
2013	J	`jnl`	Optimizing foot Centers of pressure through force Distribution in a humanoid robot. Int. J. Humanoid Robotics Patrick M. Wensing, Ghassan Bin Hammam, Behzad Dariush, David E. Orin
2012	A*	`conf`	A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. ICRA Patrick M. Wensing, Roy Featherstone, David E. Orin
2011	A*	`conf`	Fuzzy controlled hopping in a biped robot. ICRA Yiping Liu, Patrick M. Wensing, David E. Orin, James P. Schmiedeler