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All papers authored by Patrick M. Wensing

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2024 Nolan Fey

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, Robert J. Frei

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, Patrick M. Wensing

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3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies

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Patrick M. Wensing

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, Yue Hu

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, Adrien Escande

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, Nicolas Mansard

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, Andrea Del Prete

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Optimization-Based Control for Dynamic Legged Robots

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Shubham Singh

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, Ryan P. Russell

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, Patrick M. Wensing

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On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation

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Gabriel Bravo-Palacios

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, He Li

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, Patrick M. Wensing

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Engineering Compliance in Legged Robots Via Robust Co-Design

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Ryan R. Posh

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, Emmalynn C. Barry, James P. Schmiedeler

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, Patrick M. Wensing

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Lower-Limb Myoelectric Calibration Postures for Transtibial Prostheses

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2023 Federico Allione

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, Roy Featherstone

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, Patrick M. Wensing

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, Darwin Caldwell

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Balancing on a Rolling Contact

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Gianluigi Grandesso

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, Gastone P. Rosati Papini

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, Patrick M. Wensing

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, Andrea Del Prete

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CACTO: Continuous Actor-Critic With Trajectory Optimization—Towards Global Optimality

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Ryan R. Posh

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, James P. Schmiedeler

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, Patrick M. Wensing

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Finite-State Impedance and Direct Myoelectric Control for Robotic Ankle Prostheses: Comparing Their Performance and Exploring Their Combination

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Hua Chen

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, Shunpeng Yang, Patrick M. Wensing

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Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance

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2022 He Li, Patrick M. Wensing

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, Wenhao Yu, Tingnan Zhang

Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control

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Shubham Singh, Ryan P. Russell, Patrick M. Wensing

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Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics

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Shenggao Li

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, Hua Chen

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, Patrick M. Wensing

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A Geometric Sufficient Condition for Contact Wrench Feasibility

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Roopak M. Karulkar

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, Patrick M. Wensing

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Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information

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David J. Kelly, Patrick M. Wensing

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Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction

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Vince Kurtz, He Li, Patrick M. Wensing

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, Hai Lin

Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics

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Caleb Rucker

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, Patrick M. Wensing

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Smooth Parameterization of Rigid-Body Inertia

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Shubham Singh

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, Ryan P. Russell

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, Patrick M. Wensing

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Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra

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M. D. Lemmon, P. M. Wensing

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, Kurtz, H. Lin

Learning to Control Robot Hopping over Uneven Terrain

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He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing

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Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP

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Shubham Singh, Ryan P. Russell, Patrick M. Wensing

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Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics

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