 Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under
Parametric and Additive UncertaintiesIEEE Robotics and Automation Letters (RA-L), 2024 |
 Accelerating Model Predictive Control for Legged Robots through Distributed OptimizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 |
 A Unified Perspective on Multiple Shooting In Differential Dynamic
ProgrammingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 |
 Optimization-Based Control for Dynamic Legged RobotsIEEE Transactions on robotics (TRO), 2022 |
 Analytical Second-Order Partial Derivatives of Rigid-Body Inverse
DynamicsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 |
 Contact-Implicit Trajectory Optimization with Hydroelastic Contact and
iLQRIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 |
 Learning Modular Robot Control PoliciesIEEE Transactions on robotics (TRO), 2021 |
