Patrick Wensing
Patrick Wensing
Assistant Professor, University of Notre Dame
Adresse e-mail validée de nd.edu - Page d'accueil
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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
1922017
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 Systems …, 2018
1472018
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
1342013
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
1022017
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 Systems …, 2018
1002018
High-speed humanoid running through control with a 3D-SLIP model
PM Wensing, DE Orin
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2013
892013
Online planning for autonomous running jumps over obstacles in high-speed quadrupeds
HW Park, PM Wensing, S Kim
Robotics: Science and Systems, 2015
792015
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
552017
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
472018
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
392016
Design of dynamic legged robots
S Kim, PM Wensing
Foundations and Trends in Robotics 5 (2), 117-190, 2017
362017
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 International …, 2017
332017
Terrain-blind humanoid walking based on a 3-D actuated dual-SLIP model
Y Liu, PM Wensing, JP Schmiedeler, DE Orin
IEEE Robotics and Automation Letters 1 (2), 1073-1080, 2016
302016
Optimizing foot centers of pressure through force distribution in a humanoid robot
PM Wensing, G Bin Hammam, B Dariush, DE Orin
International Journal of Humanoid Robotics 10 (03), 1350027, 2013
272013
Dynamic walking in a humanoid robot based on a 3D actuated Dual-SLIP model
Y Liu, PM Wensing, DE Orin, YF Zheng
2015 IEEE International Conference on Robotics and Automation (ICRA), 5710-5717, 2015
262015
Experimental Evaluation of Simple Estimators for Humanoid Robots
T Flayols, A Del Prete, P Wensing, A Mifsud, M Benallegue, O Stasse
Humanoids 2017, 2017
252017
Development of high-span running long jumps for humanoids
PM Wensing, DE Orin
2014 IEEE International Conference on Robotics and Automation (ICRA), 222-227, 2014
222014
Online gait transitions and disturbance recovery for legged robots via the feasible impulse set
C Boussema, MJ Powell, G Bledt, AJ Ijspeert, PM Wensing, S Kim
IEEE Robotics and automation letters 4 (2), 1611-1618, 2019
192019
Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model
Y Liu, PM Wensing, DE Orin, YF Zheng
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015
192015
3D-SLIP steering for high-speed humanoid turns
PM Wensing, DE Orin
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
172014
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