 Convergent iLQR for Safe Trajectory Planning and Control of Legged
RobotsIEEE International Conference on Robotics and Automation (ICRA), 2023 |
 Beyond Inverted Pendulums: Task-optimal Simple Models of Legged
LocomotionIEEE Transactions on robotics (TRO), 2023 |
 Walking in Narrow Spaces: Safety-critical Locomotion Control for
Quadrupedal Robots with Duality-based OptimizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 |
