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Publications

Journal Articles

  1. T. Lee, J. Kwon, P. M. Wensing, and F. C. Park. Robot model identification and learning: A modern perspective. Annual Review of Control, Robotics, and Autonomous Systems (accepted; to appear), 2024.
  2. R. R. Posh, J. P. Schmiedeler, and P. M. Wensing. A comparison of finite-state impedance, direct myoelectric, and hybrid volitional control for a robotic ankle prosthesis. IEEE Transactions on Neural Rehabilitation and Engineering, 2023. doi: 10.1109/TNSRE.2023.3287971.

  3. S. Singh, R. P. Russell, and P. M. Wensing. On second-order derivatives of rigid-body dynamics: Theory & implementation. IEEE Transactions on Robotics (conditionally accepted), 2023.

  4. P. M. Wensing, M. Posa, Y. Hu, A. Escande, N. Mansard, and A. Del Prete. Optimization-based control for dynamic legged robots. IEEE Transactions on Robotics (conditionally accepted), 2023. arXiv: 2211.11644.

  5. T. M. Higgins K. J. Bresingham, J. P. Schmiedeler, and P. M. Wensing. Sensor-agnostic and data-efficient human walking speed intent identification. Wearable Technologies, 2023. doi: 10.1017/wtc.2023.15.

  6. L. Kozachkov, P. M. Wensing, and J.-J. E. Slotine. Generalization as dynamical robustness–the role of Riemannian contraction in supervised learning. Journal of Machine Learning Research, April 2023. arXiv: 2201.06656.

  7. G. Grandesso, G. P. R. Papini, P. M. Wensing, and A. D. Prete. CACTO: Continuous actor-critic algorithm with trajectory optimization towards global optimality. IEEE Robotics and Automation Letters, 8(6):3318–3325, June 2023. doi: 10.1109/LRA.2023.3266985, arXiv: 2211.06625.

  8. H. Chen, Z. Hong, S. Yang, P. M. Wensing, and W. Zhang. Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance. IEEE Transactions on Robotics, 2023. doi: 10.1109/TRO.2023.3240622.

  9. J. Nganga and P. M. Wensing. Accelerating hybrid systems differential dynamic programming. ASME Dynamic Systems and Control Letters (accepted: 12/05/2022), 2023. doi: 10.1115/1.4056747.

  10. S. Li, H. Chen, W. Zhang, and P. M. Wensing. A geometric sufficient condition for contact wrench feasibility. IEEE Robotics and Automation Letters, 7(4):12411–12418, Oct. 2022. doi: 110.1109/LRA.2022.3217687.

  11. R. M. Karulkar and P. M. Wensing. Personalizing intended gait speed estimation for lower-limb exoskeleton users with novel walking data. IEEE Robotics and Automation Letters, 7(4):9723–9730, Oct. 2022. doi: 10.1109/LRA.2022.3191039.

  12. C. Rucker and P. M. Wensing. Smooth parameterization of rigid-body inertia. IEEE Robotics and Automation Letters, 7(2):2771–2778, April 2022. doi: 10.1109/LRA.2022.3144517.

  13. S. Singh, R. Russell, and P. M. Wensing. Efficient analytical derivatives of rigid-body dynamics using spatial vector algebra. IEEE Robotics and Automation Letters, 7(2):1776– 1783, April 2022. doi: 10.1109/LRA.2022.3141194, arXiv: 2105.05102, (2022 Best Paper Award Honorable Mention).

  14. G. Bravo Palacios, G. Grandesso, A. Del Prete, and P. M. Wensing. Robust co-design: Coupling morphology and feedback design through stochastic programming. ASME Journal of Dynamic Systems, Measurement, and Controls, 144(2):021007:1–12, Feb. 2022. doi: 10.1115/1.4052463.

  15. J. Liu, H. Chen, P. M. Wensing, and W. Zhang. Instantaneous capture input for balancing the variable height inverted pendulum. IEEE Robotics and Automation Letters, 6(4):7421–7428, Oct. 2021. doi: 10.1109/LRA.2021.3097074, arXiv: 2106.14741.

  16. J. Nganga and P. M. Wensing. Accelerating second-order differential dynamic programming for rigid-body systems. IEEE Robotics and Automation Letters, 6(4):7659–7666, Oct. 2021. doi: 10.1109/LRA.2021.3098928, arXiv: 2103.03293.

  17. R. M. Karulkar and P. M. Wensing. Using footsteps to estimate changes in the desired gait speed of an exoskeleton user. IEEE Robotics and Automation Letters, 6(4):6781–6788, Oct. 2021. doi: 10.1109/LRA.2021.3096163.

  18. P. M. Wensing. The rapid rise of quadruped robots. IEEE Robotics and Automation Magazine, 28(3):168, Sept. 2021. doi: 10.1109/MRA.2021.3095991.

  19. S. Echeandia and P. M. Wensing. Numerical methods to compute the Coriolis matrix and Christoffel symbols for rigid-body systems. ASME Journal of Computational and Nonlinear Dynamics, 16(9):091004:1–9, Sept. 2021. doi: 10.1115/1.4051169, arXiv: 2010.01033.

  20. G. Grandesso, G. Bravo-Palacios, P. M. Wensing, M. Fontana, and A. Del Prete. Exploring the limits of a hybrid actuation system through co-design. IEEE Access, 9:56802– 56811, April 2021. doi: 10.1109/ACCESS.2021.3072783.

  21. H. Li, R. J. Frei, and P. M. Wensing. Model hierarchy predictive control of robotic systems. IEEE Robotics and Automation Letters, 6(2):3373–3380, April 2021. doi: 10.1109/LRA.2021.3061322, arXiv: 2010.08881.

  22. V. Kurtz, P. M. Wensing, and H. Lin. Approximate simulation for template-based whole-body control. IEEE Robotics and Automation Letters, 6(2):558–565, April 2021. doi: 10.1109/LRA.2020.3047794, arXiv: 2006.09921.

  23. H. Chen, B. Wang, Z. Hong, P. M. Wensing, and W. Zhang. Underactuated motion planning and control for jumping with wheeled-bipedal robots. IEEE Robotics and Automation Letters, 6(2):2377–3766, April 2021. doi: 10.1109/LRA.2020.3047787, arXiv: 2012.06156.

  24. H.-W. Park†, P. M. Wensing†, and S. Kim. Jumping over obstacles with MIT Cheetah 2. Robotics and Autonomous Systems, 136:103703:1–12, Feb. 2021. doi: 10.1016/j.robot.2020.103703, (†authors contributed equally).

  25. A. Janot and P. M. Wensing. Sequential semidefinite optimization for physically and statistically consistent robot identification. Control Engineering Practice, 107:104699:1–15, Feb. 2021. doi: 10.1016/j.conengprac.2020.104699.

  26. T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing. Effects of user intent changes on on- board sensor measurements during exoskeleton-assisted walking. IEEE Access, 8:224071–224082, Dec 2020. doi: 10.1109/ACCESS.2020.3044255.

  27. H. Li and P. M. Wensing. Hybrid systems differential dynamic programming for whole-body motion planning of legged robots. IEEE Robotics and Automation Letters, 5(4):5448–5455, Oct. 2020. doi: 10.1109/LRA.2020.3007475.

  28. P. M. Wensing and J.-J. E. Slotine. Beyond Convexity – Contraction and Global Con- vergence of Gradient Descent. PLOS ONE, 15(8):1–29, Aug. 2020. doi: 10.1371/journal.pone.0236661, arXiv: 1806.06655.

  29. G. Bravo Palacios, A. Del Prete, and P. M. Wensing. One robot for many tasks: Versatile co-design through stochastic programming. IEEE Robotics and Automation Letters, 5(2):1680–1687, April 2020. doi: 10.1109/LRA.2020.2969948.

  30. H. Chen, P. M. Wensing, and W. Zhang. Optimal control of a differentially flat 2D spring loaded inverted pendulum model. IEEE Robotics and Automation Letters, 5(2):307–314, April 2020. doi: 10.1109/LRA.2019.2956457, arXiv: 1911.07168.

  31. T. Lee, P. M. Wensing, and F. C. Park. Geometric robot dynamic identification: A convex programming approach. IEEE Transactions on Robotics, 36(2):348–365, April 2020. doi: 10.1109/TRO.2019.2926491.

  32. M. Chignoli and P. M. Wensing. Variational-based optimal control of underactuated balancing for dynamic quadrupeds. IEEE Access, 8:1680–1687, March 2020. doi: 10.1109/ACCESS.2020.2980446.

  33. C. Boussema, M. J. Powell, G. Bledt, A. J. Ijspeert, P. M. Wensing, and S. Kim. Gait emergence and disturbance recovery for legged robots via the feasible impulse set. IEEE Robotics and Automation Letters, 4(2):1611–1618, April 2019. doi: 10.1109/LRA.2019.2896723.

  34. P. M. Wensing, S. Kim, and J.-J. E. Slotine. Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution. IEEE Robotics and Automation Letters, 3(1):60–67, Jan. 2018. doi: 10.1109/LRA.2017.2729659.

  35. J. P. Schmiedeler and P. M. Wensing. Discussion of “Review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction”. Applied Mechanics Reviews, 70(1):015503:1–3, Jan. 2018. doi: 10.1115/1.4039146.

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Conference Publications

  1. J. Nganga, H. Li, and P. M. Wensing. Second-order differential dynamic programming for whole-body mpc of legged robots. In Modeling, Estimation, and Control Conference (to appear), 2023.

  2. H. Li, T. Zhang, G. Yu, and P. M. Wensing. A unified perspective on multiple shooting in differential dynamic programming. In Proceedings of the IEEE/RSJ International Conference on Intlligent Robots and Systems (to appear), Detroit, MI, 2023.

  3. R. R. Posh, J. A. Tittle, J. P. Schmiedeler, and P. M. Wensing. Calibration of a tibia-based phase variable for control of robotic transtibial prostheses. In Proceedings of the IEEE/RSJ International Conference on Intlligent Robots and Systems (to appear), Detroit, MI, 2023.

  4. H. Li, T. Zhang, G. Yu, and P. M. Wensing. Versatile real-time motion synthesis via kino-dynamic MPC with hybrid-systems DDP. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 9988–9994, London, England, May/June 2023. doi: 10.1109/ICRA48891.2023.10160221.

  5. H. Li, W. Yu, T. Zhang, and P. M. Wensing. Zero-shot retargeting of learned quadruped locomotion policies using hybrid kinodynamic model predictive control. In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 11971–11977, Kyoto, Japan, Oct. 2022. doi: 10.1109/IROS47612.2022.9981967.

  6. S. Singh, R. P. Russell, and P. M. Wensing. Analytical second-order partial derivatives of rigid-body inverse dynamics. In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 11781–11788, Kyoto, Japan, Oct. 2022. doi: 10.1109/IROS47612.2022.9981356, (2022 Best Paper Award Finalist - IEEE-RAS Technical Committee on Model-Based Optimization for Robotics).

  7. G. Bravo-Palacios and P. M. Wensing. Large-scale ADMM-based co-design of legged robots. In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct. 2022. doi: 10.1109/IROS47612.2022.9981641.

  8. D. Kelly and P. M. Wensing. Optimizing template models to quantifiably assess center of mass kinematic reconstruction. In Proceedings of the 2022 International Conference on Rehabilitation Robotics (ICORR), pages 1–6, Rotterdam, Netherlands, July 2022. doi: 10.1109/ICORR55369.2022.9896496.

  9. M. Lemmon, P. Wensing, V. Kurtz, and H. Lin. Learning to control robot hopping over uneven terrain. In Proceedings of the 2022 American Control Conference (ACC), pages 520–525, Atlanta, GA, June 2022. doi: 10.23919/ACC53348.2022.9867630.

  10. V. Kurtz, H. Li, P. M. Wensing, and H. Lin. Mini Cheetah, the falling cat: A case study in machine learning and trajectory optimization for robot acrobatics. In Proceedings of the 2022 IEEE International Conference on Robotics and Automation (ICRA), pages 4635–4641, Philadelphia, PA, May 2022. doi: 10.1109/ICRA46639.2022.9812120.

  11. V. Kurtz, P. M. Wensing, and H. Lin. Control barrier functions for singularity avoidance in passivity-based manipulator control. In Proceedings of the 2021 IEEE Conference on Decision and Control (CDC), pages 6125–6130, Austin, TX, Dec. 2021. doi: 10.1109/CDC45484.2021.9683597.

  12. S. Li, H. Chen, W. Zhang, and P. M. Wensing. Quadruped robot hopping on two legs. In Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7448–7455, Prague, Czech Republic (virtual), Oct. 2021. doi: 10.1109/IROS51168.2021.9636120.

  13. R. R. Posh, J. P. Schmiedeler, and P. M. Wensing. Hybrid volitional control as a framework for lower-limb prosthetic control. In Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6167–6173, Prague, Czech Republic (virtual), Oct. 2021. doi: 10.1109/IROS51168.2021.9636450.

  14. S. Yang, H. Chen, L. Zhang, Z. Cao, P. M. Wensing, Y. Liu, J. Pang, and W. Zhang. Reachability-based push recovery for humanoid robots with variable-height inverted pendulum. In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 3054–3060, Xi’an, China (virtual), May/June 2021. doi: 10.1109/ICRA48506.2021.9561872.

  15. R. M. Karulkar and P. M. Wensing. Application of interacting models to estimate the gait speed of an exoskeleton user. In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3452–3458, Las Vegas, NV (virtual), Oct. 2020. doi: 10.1109/IROS45743.2020.9341110.

  16. M. Fevre, P. M. Wensing, and J. P. Schmiedeler. Rapid bipedal gait optimization in CasADi. In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3672–3678, Las Vegas, NV (virtual), Oct. 2020. doi: 10.1109/IROS45743.2020.9341586.

  17. T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing. Exoskeleton user intent identification via the Mahalanobis distance. In Proceedings of the 2020 IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pages 1115– 1121, New York, NY (virtual), Nov./Dec. 2020. doi: 10.1109/BioRob49111.2020.9224299.

  18. O. A. V. Magaña, V. Barasuol, P. M. Wensing, and C. Semini. MPC-based controller with terrain insight for dynamic legged locomotion. In Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 2436–2442, Paris, France (virtual), May-Aug. 2020. doi: 10.1109/ICRA40945.2020.9197312.

  19. V. Kurtz, P. M. Wensing, and H. Lin. Robust approximate simulation for hierarchical control of linear systems under disturbances. In Proceedings of the 2020 American Control Conference (ACC), pages 5352–5357, Denver, CO (virtual), July 2020. doi: 10.23919/ACC45564.2020.9147511.

  20. V. Kurtz, R. R. da Silva, P. M. Wensing, and H. Lin. Formal connections between template and anchor models via approximate simulation. In Proceedings of the 2019 IEEE RAS International Conference on Humanoid Robotics, pages 64–71, Toronto, ON, Canada, Oct. 2019. doi: 10.1109/Humanoids43949.2019.9035022, (Best Paper Award - Interactive Track).

  21. T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing. Characterizing intent changes in exoskeleton-assisted walking through onboard sensors. In Proceedings of the 2019 IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), pages 471–476, Toronto, ON, CA, June 2019. doi: 10.1109/ICORR.2019.8779503.

  22. G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim. MIT Cheetah 3: Design and control of a robust, dynamic quadruped robot. In Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2245–2252, Madrid, Spain, Oct. 2018. doi: 10.1109/IROS.2018.8593885.

  23. J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim. Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control. In Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7440–7447, Madrid, Spain, Oct. 2018. doi: 10.1109/IROS.2018.8594448.

  24. P. M. Wensing and J.-J. E. Slotine. Cooperative adaptive control for cloud-based robotics. In Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 6401–6408, Brisbane, Australia, May 2018. doi: 10.1109/ICRA.2018.8460856.

  25. G. Bledt, P. M. Wensing, S. Ingersoll, and S. Kim. Contact model fusion for event-based locomotion in unstructured terrains. In Proceedings of the 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 4399–4406, Brisbane, Australia, May 2018. doi: 10.1109/ICRA.2018.8460904, (ICRA Best Paper Award Finalist).

  26. T. Flayols, A. Del Prete, P. M. Wensing, A. Mifsud, M. Benallegue, and O. Stasse. Experimental evaluation of simple estimators for humanoid robots. In Proceedings of the 2017 IEEE-RAS International Conference on Humanoid Robots, pages 889–895, Birmingham, UK, Nov. 2017. doi: 10.1109/HUMANOIDS.2017.8246977.

  27. G. Bledt, P. M. Wensing, and S. Kim. Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4102–4109, Vancouver, BC, Canada, Sept. 2017. doi: 10.1109/IROS.2017.8206268.

  28. P. M. Wensing and J.-J. Slotine. Sparse control for dynamic movement primitives. In Proceedings of the IFAC World Congress, pages 10531–10538, Toulouse, France, July 2017. doi: 10.1016/j.ifacol.2017.08.1789.

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Theses

  1. 2022: Taylor Gambon, Characterization, Estimation, and Realization of Human Intent for Exoskeleton-Assisted Walking (Co-Advised with Jim Schmiedeler).

  2. 2022: Roopak Karulkar, Predicting Changes in the Desired Gait Speed of Lower-limb Exoskeleton Users Via Intuitive Physical Human-Robot Interaction.

  3. 2023: Gabriel Bravo, Engineering Mechanical Intelligence in Legged Robots.

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