Patrick M. Wensing

ORCID

Publication Activity (10 Years)

Years Active: 2011-2024
Publications (10 Years): 96

Top Venues

CoRR

IEEE Robotics Autom. Lett.

IROS

ICRA

Publications

Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40 (2024)
Matthew Chignoli, Nicholas Adrian, Sangbae Kim, Patrick M. Wensing
Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops. CoRR (2023)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation. CoRR (2023)
Ryan R. Posh, Jonathan A. Tittle, James P. Schmiedeler, Patrick M. Wensing
Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses. IROS (2023)
Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. IEEE Trans. Robotics 39 (3) (2023)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives. CoRR (2023)
Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. Humanoids (2023)
Patrick M. Wensing, Johannes Englsberger, Jean-Jacques E. Slotine
Coriolis Factorizations and their Connections to Riemannian Geometry. CoRR (2023)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. CoRR (2023)
Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine
Generalization as Dynamical Robustness-The Role of Riemannian Contraction in Supervised Learning. Trans. Mach. Learn. Res. 2023 (2023)
Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. CoRR (2023)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. IROS (2023)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. Humanoids (2023)
Gianluigi Grandesso, Elisa Alboni, Gastone Pietro Rosati Papini, Patrick M. Wensing, Andrea Del Prete
CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality. IEEE Robotics Autom. Lett. 8 (6) (2023)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. ICRA (2023)
Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. CoRR (2023)
Federico Allione, Roy Featherstone, Patrick M. Wensing, Darwin G. Caldwell
Balancing on a Rolling Contact. IEEE Robotics Autom. Lett. 8 (12) (2023)
Hua Chen, Zejun Hong, Shunpeng Yang, Patrick M. Wensing, Wei Zhang
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance. CoRR (2022)
He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. IROS (2022)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra. IEEE Robotics Autom. Lett. 7 (2) (2022)
Leo Kozachkov, Patrick M. Wensing, Jean-Jacques E. Slotine
Generalization in Supervised Learning Through Riemannian Contraction. CoRR (2022)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP. CoRR (2022)
He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing
Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. CoRR (2022)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. IROS (2022)
Roopak M. Karulkar, Patrick M. Wensing
Personalized Estimation of Intended Gait Speed for Lower-Limb Exoskeleton Users via Data Augmentation Using Mutual Information. IEEE Robotics Autom. Lett. 7 (4) (2022)
Gabriel Bravo-Palacios, Patrick M. Wensing
Large-Scale ADMM-based Co-Design of Legged Robots. IROS (2022)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR (2022)
D. Caleb Rucker, Patrick M. Wensing
Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics Autom. Lett. 7 (2) (2022)
Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. ICRA (2022)
Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing
A Geometric Sufficient Condition for Contact Wrench Feasibility. IEEE Robotics Autom. Lett. 7 (4) (2022)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. CoRR (2022)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. CoRR (2022)
Michael D. Lemmon, Patrick M. Wensing, Vincent Kurtz, Hai Lin
to Control Robot Hopping over Uneven Terrain. ACC (2022)
Gianluigi Grandesso, Gastone P. Rosati Papini, Patrick M. Wensing, Andrea Del Prete
CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality. CoRR (2022)
David J. Kelly, Patrick M. Wensing
Optimizing Template Models to Quantifiably Assess Center of Mass Kinematic Reconstruction. ICORR (2022)
John N. Nganga, Patrick M. Wensing
Tensor-Free Second-Order Differential Dynamic Programming. CoRR (2021)
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete
Exploring the Limits of a Redundant Actuation System Through Co-Design. IEEE Access 9 (2021)
Vince Kurtz, Patrick M. Wensing, Hai Lin
Approximate Simulation for Template-Based Whole-Body Control. IEEE Robotics Autom. Lett. 6 (2) (2021)
Vince Kurtz, Patrick M. Wensing, Hai Lin
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CoRR (2021)
Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. CoRR (2021)
Roopak M. Karulkar, Patrick M. Wensing
Using Footsteps to Estimate Changes in the Desired Gait Speed of an Exoskeleton User. IEEE Robotics Autom. Lett. 6 (4) (2021)
Patrick M. Wensing
The Rapid Rise of Quadruped Robots [Young Professionals]. IEEE Robotics Autom. Mag. 28 (3) (2021)
Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. IEEE Robotics Autom. Lett. 6 (4) (2021)
Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra. CoRR (2021)
He Li, Robert J. Frei, Patrick M. Wensing
Model Hierarchy Predictive Control of Robotic Systems. IEEE Robotics Autom. Lett. 6 (2) (2021)
Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang
Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots. IEEE Robotics Autom. Lett. 6 (2) (2021)
Shunpeng Yang, Hua Chen, Luyao Zhang, Zhefeng Cao, Patrick M. Wensing, Yizhang Liu, Jianxin Pang, Wei Zhang
Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. ICRA (2021)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Jumping over obstacles with MIT Cheetah 2. Robotics Auton. Syst. 136 (2021)
Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing
Quadruped Robot Hopping on Two Legs. IROS (2021)
Vince Kurtz, Patrick M. Wensing, Hai Lin
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. CDC (2021)
Junwei Liu, Hua Chen, Patrick M. Wensing, Wei Zhang
Instantaneous Capture Input for Balancing the Variable Height Inverted Pendulum. CoRR (2021)
John N. Nganga, Patrick M. Wensing
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems. IEEE Robotics Autom. Lett. 6 (4) (2021)
Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. ICRA (2020)
Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
Effects of User Intent Changes on Onboard Sensor Measurements During Exoskeleton-Assisted Walking. IEEE Access 8 (2020)
Vince Kurtz, Patrick M. Wensing, Hai Lin
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. CoRR (2020)
Hua Chen, Bingheng Wang, Zejun Hong, Cong Shen, Patrick M. Wensing, Wei Zhang
Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots. CoRR (2020)
Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
User Intent Identification in a Lower-Extremity Exoskeleton via the Mahalanobis Distance. BioRob (2020)
He Li, Robert J. Frei, Patrick M. Wensing
Model Hierarchy Predictive Control of Robotic Systems. CoRR (2020)
Hua Chen, Patrick M. Wensing, Wei Zhang
Optimal Control of a Differentially Flat Two-Dimensional Spring-Loaded Inverted Pendulum Model. IEEE Robotics Autom. Lett. 5 (2) (2020)
Vince Kurtz, Patrick M. Wensing, Hai Lin
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances. ACC (2020)
Martin Fevre, Patrick M. Wensing, James P. Schmiedeler
Rapid Bipedal Gait Optimization in CasADi. IROS (2020)
Vince Kurtz, Patrick M. Wensing, Michael D. Lemmon, Hai Lin
Approximate Simulation for Template-Based Whole-Body Control. CoRR (2020)
Taeyoon Lee, Patrick M. Wensing, Frank C. Park
Geometric Robot Dynamic Identification: A Convex Programming Approach. IEEE Trans. Robotics 36 (2) (2020)
He Li, Patrick M. Wensing
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. CoRR (2020)
Sebastian Echeandia, Patrick M. Wensing
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems. CoRR (2020)
Gabriel Bravo-Palacios, Andrea Del Prete, Patrick M. Wensing
One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming. IEEE Robotics Autom. Lett. 5 (2) (2020)
Matthew Chignoli, Patrick M. Wensing
Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds. IEEE Access 8 (2020)
He Li, Patrick M. Wensing
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots. IEEE Robotics Autom. Lett. 5 (4) (2020)
Roopak M. Karulkar, Patrick M. Wensing
Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User. IROS (2020)
Hua Chen, Patrick M. Wensing, Wei Zhang
Optimal Control of a Differentially Flat 2D Spring-Loaded Inverted Pendulum Model. CoRR (2019)
Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin
Formal Connections between Template and Anchor Models via Approximate Simulation. CoRR (2019)
Taylor M. Gambon, James P. Schmiedeler, Patrick M. Wensing
Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors. ICORR (2019)
Octavio Antonio Villarreal-Magaña, Victor Barasuol, Patrick M. Wensing, Claudio Semini
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. CoRR (2019)
Vince Kurtz, Rafael Rodrigues da Silva, Patrick M. Wensing, Hai Lin
Formal Connections between Template and Anchor Models via Approximate Simulation. Humanoids (2019)
Chiheb Boussema, Matthew J. Powell, Gerardo Bledt, Auke Jan Ijspeert, Patrick M. Wensing, Sangbae Kim
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set. IEEE Robotics Autom. Lett. 4 (2) (2019)
Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, Sangbae Kim
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. ICRA (2018)
Patrick M. Wensing, Sangbae Kim, Jean-Jacques E. Slotine
Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution. IEEE Robotics Autom. Lett. 3 (1) (2018)
Patrick M. Wensing, Jean-Jacques E. Slotine
Cooperative Adaptive Control for Cloud-Based Robotics. ICRA (2018)
Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. IROS (2018)
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. IROS (2018)
Patrick M. Wensing, Albert Wang, Sangok Seok, David Otten, Jeffrey Lang, Sangbae Kim
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots. IEEE Trans. Robotics 33 (3) (2017)
Sangbae Kim, Patrick M. Wensing
Design of Dynamic Legged Robots. Found. Trends Robotics 5 (2) (2017)
Patrick M. Wensing, Günter Niemeyer, Jean-Jacques E. Slotine
Observability in Inertial Parameter Identification. CoRR (2017)
Thomas Flayols, Andrea Del Prete, Patrick M. Wensing, Alexis Mifsud, Mehdi Benallegue, Olivier Stasse
Experimental evaluation of simple estimators for humanoid robots. Humanoids (2017)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
High-speed bounding with the MIT Cheetah 2: Control design and experiments. Int. J. Robotics Res. 36 (2) (2017)
Gerardo Bledt, Patrick M. Wensing, Sangbae Kim
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. IROS (2017)
Patrick M. Wensing, Jean-Jacques E. Slotine
Cooperative Adaptive Control for Cloud-Based Robotics. CoRR (2017)
Patrick M. Wensing, Jean-Jacques E. Slotine
Linear Matrix Inequalities for Rigid-Body Inertia Parameter Identification: A Statistical Perspective. CoRR (2017)
Patrick M. Wensing, David E. Orin
Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control. Int. J. Humanoid Robotics 13 (1) (2016)
Yiping Liu, Patrick M. Wensing, James P. Schmiedeler, David E. Orin
Terrain-Blind Humanoid Walking Based on a 3-D Actuated Dual-SLIP Model. IEEE Robotics Autom. Lett. 1 (2) (2016)
Patrick M. Wensing, Jean-Jacques E. Slotine
Sparse Control for Dynamic Movement Primitives. CoRR (2016)
Ghassan Bin Hammam, Patrick M. Wensing, Behzad Dariush, David E. Orin
Kinodynamically Consistent Motion Retargeting for Humanoids. Int. J. Humanoid Robotics 12 (4) (2015)
Patrick M. Wensing, Luther R. Palmer III, David E. Orin
Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion. Auton. Robots 38 (4) (2015)
Hae-Won Park, Patrick M. Wensing, Sangbae Kim
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds. Robotics: Science and Systems (2015)
Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng
Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model. IROS (2015)
Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng
Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model. ICRA (2015)
Patrick M. Wensing, David E. Orin
3D-SLIP steering for high-speed humanoid turns. IROS (2014)
Patrick M. Wensing, David E. Orin
Development of high-span running long jumps for humanoids. ICRA (2014)
Patrick M. Wensing, David E. Orin
High-speed humanoid running through control with a 3D-SLIP model. IROS (2013)
Patrick M. Wensing, Ghassan Bin Hammam, Behzad Dariush, David E. Orin
Optimizing foot Centers of pressure through force Distribution in a humanoid robot. Int. J. Humanoid Robotics 10 (3) (2013)

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Publication Activity (10 Years)

Top Topics

Top Venues

Patrick M. Wensing