Congratulations to ROAM lab member Dr. John Nganga on the awarding of his PhD for his dissertation titled Accelerated MPC Algorithms and Augmented System Design for Legged Robots.
John's work addressed numerical methods to help scale differential dynamic programming to systems with many degrees of freedom (e.g., legged robots) and used these algorithms to coordinate improved balance control of these systems via flywheels. You can check out his dissertation here (link).