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Patrick Wensing
Patrick Wensing
Wanzek Family Foundation Collegiate Associate Professor, University of Notre Dame
Verified email at nd.edu - Homepage
Title
Cited by
Cited by
Year
Mit cheetah 3: Design and control of a robust, dynamic quadruped robot
G Bledt, MJ Powell, B Katz, J Di Carlo, PM Wensing, S Kim
2018 IEEE/RSJ International Conference on Intelligent Robots and Systemsá…, 2018
6592018
Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control
J Di Carlo, PM Wensing, B Katz, G Bledt, S Kim
2018 IEEE/RSJ International Conference on Intelligent Robots and Systemsá…, 2018
6282018
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots
PM Wensing, A Wang, S Seok, D Otten, J Lang, S Kim
IEEE Transactions on Robotics 33 (3), 509-522, 2017
4632017
High-speed bounding with the MIT Cheetah 2: Control design and experiments
HW Park, PM Wensing, S Kim
The International Journal of Robotics Research 36 (2), 167-192, 2017
2572017
Generation of dynamic humanoid behaviors through task-space control with conic optimization
PM Wensing, DE Orin
2013 IEEE International Conference on Robotics and Automation, 3103-3109, 2013
1852013
High-speed humanoid running through control with a 3D-SLIP model
PM Wensing, DE Orin
2013 IEEE/RSJ International Conference on Intelligent Robots and Systemsá…, 2013
1622013
Contact model fusion for event-based locomotion in unstructured terrains
G Bledt, PM Wensing, S Ingersoll, S Kim
2018 IEEE International Conference on Robotics and Automation (ICRA), 4399-4406, 2018
1502018
Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
HW Park, PM Wensing, S Kim
Robotics: Science and Systems, 2015
1402015
Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution
PM Wensing, S Kim, JJE Slotine
IEEE Robotics and Automation Letters 3 (1), 60-67, 2017
1292017
Improved computation of the humanoid centroidal dynamics and application for whole-body control
PM Wensing, DE Orin
International Journal of Humanoid Robotics 13 (01), 1550039, 2016
1112016
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah
G Bledt, PM Wensing, S Kim
Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ Internationalá…, 2017
1062017
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
O Villarreal, V Barasuol, PM Wensing, C Semini
IEEE International Conference on Robotics and Automation (ICRA), 2020
782020
Design of dynamic legged robots
S Kim, PM Wensing
Foundations and Trends« in Robotics 5 (2), 117-190, 2017
752017
Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
H Li, PM Wensing
IEEE Robotics and Automation Letters 5 (4), 5448-5455, 2020
732020
Jumping over obstacles with MIT Cheetah 2
HW Park, PM Wensing, S Kim
Robotics and Autonomous Systems 136, 103703, 2021
642021
Variational-based optimal control of underactuated balancing for dynamic quadrupeds
M Chignoli, PM Wensing
IEEE Access 8, 49785-49797, 2020
642020
Underactuated motion planning and control for jumping with wheeled-bipedal robots
H Chen, B Wang, Z Hong, C Shen, PM Wensing, W Zhang
IEEE Robotics and Automation Letters 6 (2), 747-754, 2020
542020
Model hierarchy predictive control of robotic systems
H Li, RJ Frei, PM Wensing
IEEE Robotics and Automation Letters 6 (2), 3373-3380, 2021
532021
Optimization-based control for dynamic legged robots
PM Wensing, M Posa, Y Hu, A Escande, N Mansard, A Del Prete
IEEE Transactions on Robotics, 2023
502023
Geometric robot dynamic identification: A convex programming approach
T Lee, PM Wensing, FC Park
IEEE Transactions on Robotics 36 (2), 348 - 365, 2019
502019
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