Publications – Old – Patrick M. Wensing

Pre-Prints

Observability in Inertial Parameter Identification
P. M. Wensing, G. Niemeyer, and J.-J. E. Slotine (arxiv)

Journal Articles

Model Hierarchy Predictive Control of Robotic Systems
H. Li, R. Frei, and P. M. Wensing
IEEE Robotics and Automation Letters (to appear), 2021. (arxiv)
Approximate simulation for template-based whole-body control
V. Kurtz, P. M. Wensing, and H. Lin
IEEE Robotics and Automation Letters, vol. 6, no. 2, pp 558-565, 2021. (doi, arxiv)
Underactuated motion planning and control for jumping with wheeled-bipedal robots
H. Chen, B. Wang, Z. Hong, P. M. Wensing, and W. Zhang
IEEE Robotics and Automation Letters, vol. 6, no. 2, pp 2377-3766, 2021. (doi, arxiv)
Jumping Over Obstacles with MIT Cheetah 2
H.-W. Patrick, P. M. Wensing, and S. Kim
Robotics and Autonomous Systems, vol. 136, 2021. (doi)
Sequential Semidefinite Optimization For Physically and Statistically Consistent Robot Identification
A. Janot and P. M. Wensing
Control Engineering Practice, vol. 107, 2021. (doi)
Effects of User Intent Changes On Onboard Sensor Measurements During Exoskeleton-Assisted Walking
T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing
IEEE Access, pp 224071-224082, 2020. (doi, data)
Beyond Convexity — Contraction and Global Convergence of Gradient Descent
P. M. Wensing and J.-J. E. Slotine
PLOS ONE, vol. 15, no. 8, 2020. (arXiv, doi)
Hybrid systems differential dynamic programming for whole-body motion planning of legged robots
H. Li and P. M. Wensing.
IEEE Robotics and Automation Letters, vol. 5, no. 4, pp 5448 -5455, 2020. (arxiv, doi)
Variational-based optimal control of underactuated balancing for dynamic quadrupeds
M. Chignoli and P. M. Wensing
IEEE Access, vol. 8, pp 1680–1687, 2020. (doi)
One robot for many tasks: Versatile co-design through stochastic programming
G. Bravo Palacios, A. Del Prete, and P. M. Wensing
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp 1680–1687, 2020. (doi)
Optimal control of a differentially flat 2D spring-loaded inverted pendulum model
H. Chen, P. M. Wensing, and W. Zhang
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp 307-314, 2020. (doi, arxiv)

Geometric

robot dynamic identification: A convex programming approach
T. Lee, P. M. Wensing, and F. C. Park
IEEE Transactions on Robotics, vol. 36, no. 2, pp 348 – 365, 2020. (doi)
Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set
C. Boussema, M. J. Powell, G. Bledt, A. J. Ijspeert, P. M. Wensing, and S. Kim
IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1611 – 1618, 2019. (doi)
Discussion of “A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction”
J. P. Schmiedeler, P. M. Wensing
Applied Mechanics Reviews, vol. 70, no. 1, 015503:1-3, 2018. (doi)
Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
P. M. Wensing, S. Kim, and J.J.E. Slotine
IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 60 – 67, 2018. (arXiv, doi)
Design of Dynamic Legged Robots
Sangbae Kim and P. M. Wensing
Foundations and Trends in Robotics, vol. 5, no. 2, pp. 117-190, 2017. (doi).
High-Speed Bounding with the MIT Cheetah 2: Control Design and Experiments
H.-W. Park, P. M. Wensing, and S. Kim
International Journal of Robotics Research, vol. 36, no. 2, pp. 167-192, 2017. (doi).
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots
P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang, and S. Kim
IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509 – 522, June 2017. (doi, pdf)
Terrain-Blind Humanoid Walking Based on a 3D Actuated Dual-SLIP Model
Y. Liu, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin
IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1073-1080, 2016. (doi, pdf)
Improved Computation of the Humanoid Centroidal Dynamics and Application in Dynamic Whole-Body Control
P. M. Wensing, and D. E. Orin
International Journal of Humanoid Robotics (Special Issue on Whole-Body Control), vol. 13, pp. 1550039:1-23, 2016 (doi,pdf).
2016 IJHR Best Paper Award
Kinodynamically consistent motion retargeting for humanoids
G. B. Hammam, P. M. Wensing, B. Dariush, and D. E. Orin
International Journal of Humanoid Robotics, vol. 12, no. 2, pp. 1550017:1-27, 2015 (doi, pdf).
Efficient recursive dynamics algorithms for operational-space control with application to a legged locomotion
P. M. Wensing, L. R. Palmer, and D. E. Orin
Autonomous Robots, vol. 38, no. 4, pp. 363-381, 2015 (doi, pdf)
Design of a full-featured robot controller for use in a first-year robotics design project
M. A. Vernier, P. M. Wensing, C. Morin, et al.,
ASEE Computers in Education Journal, vol. 25, no. 1, Jan.-Mar. 2015.
Optimizing Foot Centers of Pressure through Force Distribution in a Humanoid Robot
P. M. Wensing, G. B. Hammam, B. Dariush, and D. E. Orin,
International Journal of Humanoid Robotics, vol. 10, no. 3, pp. 350027:1-21, Sept. 2013. (doi, pdf)
Use of a low-cost camera-based positioning system in a first-year engineering cornerstone design project
M. A. Vernier, C. E. Morin, P. M. Wensing, R. M. Hartlage, B. E. Carruthers, and R. J. Freuler
ASEE Computers in Education Journal, vol. 20, no. 2, pp. 6–14, 2010.

Conference Publications

Application of interacting models to estimate the gait speed of an exoskeleton user
R. M. Karulkar and P. M. Wensing
in Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
Rapid bipedal gait optimization in CasADi
M. Fevre, P. M. Wensing, and J. P. Schmiedeler
in Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
Exoskeleton user intent identification via the Mahalanobis distance
T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing
to appear in Proc. of the 2020 IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2020. (doi)
MPC-based controller with terrain insight for dynamic legged locomotion
O. A. V. Magaña, V. Barasuol, P. M. Wensing, and C. Semini
in Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. (doi, arxiv)
Robust approximate simulation for hierarchical control of linear systems under disturbances
V. Kurtz, P. M. Wensing, and H. Lin
in Proc. of the 2020 American Control Conference (ACC), 2020. (doi, arxiv)
Formal connections between template and anchor models via approximate simulation
V. Kurtz, R. R. da Silva, P. M. Wensing, and H. Lin
in Proc. of the 2019 International Conference on Humanoid Robotics (Humanoids), 2019. (arxiv, doi)
(Best Paper Award – Interactive Track)
Characterizing Intent Changes in Exoskeleton-AssistedWalking Through Onboard Sensors
T. Gambon, J. P. Schmiedeler, P. M. Wensing
in Proc. of the 2019 International Conference on Rehabilitation Robotics (ICORR), 2019. (doi)
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim
in Proc. of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (doi)
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim
in Proc. of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (doi)
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
G. Bledt, P. M. Wensing, S. Ingersoll, and S. Kim
in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018. (Best Paper Award Finalist) (doi)
Cooperative Adaptive Control for Cloud-Based Robotics
P.M. Wensing and J.-J. E Slotine
in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018. (doi, arXiv)
Policy-Regularized Model Predictive Control to Stabilize Diverse Quadrupedal Gaits for the MIT Cheetah
G. Bledt, P. M. Wensing, and S. Kim
in Proc. of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 (doi)
Sparse Control for Dynamic Movement Primitives
P. M. Wensing and J.-J. Slotine
in Proc. of the 2017 IFAC World Congress, vol. 50, no. 1, pp. 10114-10121, 2017. (arXiv,doi)
Trajectory Generation for Dynamic Walking in a Humanoid over Uneven Terrain Using a 3D-Actuated Dual-SLIP Model
Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng
in Proc. of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (doi, pdf).
Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds
H.-W. Park, P. M. Wensing, and S. Kim
Robotics: Science and Systems, 2015 (pdf).
A 3D Dual-SLIP Model of Human Walking Over a Range of Speeds
Y. Liu, J. Schmiedeler, P. Wensing, and D. Orin,
Proc. of Dynamic Walking 2015, August 2015.
Dynamic Walking in a Humanoid Robot Based on a 3D Actuated Dual-SLIP Model
Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng
Proc. of the 2015 IEEE International Conference on Robotics and Automation, May 2015 (doi, pdf).
3D-SLIP Steering for High-Speed Humanoid Turns
P. M. Wensing and D. E. Orin
in Proc. of the 2014 IEEE/RSJ International Conference on Intelligent and Robotic Systems (IROS), (Chicago, Illinois), pp. 4008-4013, 2014. (doi, pdf)
Design of a full-featured robot controller for use in a first-year robotics design project
M. A. Vernier, P. M. Wensing, C. Morin, et al.
in Proc. of 2014 ASEE Annual Conference, (Indianapolis, Indiana), pp. 10270:1-21, June 2014.
Development of High-Span Running Long Jumps for Humanoids
P. M. Wensing and D. E. Orin
in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA), (Hong Kong, China), pp. 222-227, May/June 2014. (doi, pdf)
High-Speed Humanoid Running Through Control with a 3D-SLIP Model
P. M. Wensing and D. E. Orin
in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (Tokyo, Japan), pp. 5134–5140, Nov. 2013. (doi, pdf)
Generation of Dynamic Humanoid Behaviors Through Task-Space Control with Conic Optimization
P. M. Wensing and D. E. Orin
in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), (Karlsruhe, Germany), pp. 3088-3094, May 2013. (doi, pdf)
A reduced-order recursive algorithm for the computation of the operational-space inertia matrix
P. M. Wensing, R. Featherstone, and D. E. Orin
in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), (Minneapolis, Minnesota), pp. 4911-4917, May 2012. (doi, pdf)
Fuzzy controlled hopping in a biped robot
Y. Liu, P. M. Wensing, D. Orin, and J. Schmiedeler
in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), (Shanghai, China), pp. 1982–1989, May 2011. (doi, pdf)
Fuzzy Control of Vertical Jumping with a Planar Biped
M. S. Hester, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin
in Proc. of ASME International Design Engineering Technical Conferences (IDETC), (Montreal, Quebec), paper DETC2010-28857 (9 pages), August 2010. (doi, pdf)
Comparing the use of a graphical programming language to a traditional text-based language to learn programming concepts in a first-year course
K. Harper, R. Freuler, S. Brand, C. Morin, P.M. Wensing, and J. Demel
in Proc. of the American Society for Engineering Education Annual Conference, (Austin, Texas), paper AC2009-1777 (10 pages), June 2009.
Use of a low-cost camera-based positioning system in a first-year engineering cornerstone design project
M. A. Vernier, C. E. Morin, P. M. Wensing, R. M. Hartlage, B. E. Carruthers, and R. J. Freuler
in Proc. of the American Society for Engineering Education Annual Conference, (Austin, Texas), paper AC2009-1941 (11 pages), June 2009.

Book Contributions

Dynamic Models of Robots
P. M. Wensing and D. E. Orin
in Springer Encyclopedia of Robotics, 2019. (doi)
Dynamics
D. E. Orin and P. M. Wensing.
in Springer Encyclopedia of Robotics, 2019. (doi)
Template Models for Control
P. M. Wensing and S. Revzen
In Bio-inspired legged locomotion concepts, control and implementation, pp. 240-266, Elsevier, 2018. (doi)
Control of Humanoid Hopping Based on a SLIP Model
P. M. Wensing and D. E. Orin
Advances in Mechanisms, Robotics and Design Education and Research, vol. 14 (Vijay Kumar, James Schmiedeler, S. V. Sreenivasan, Hai-Jun Su, eds.), pp. 265–274, Springer International, 2013. (doi, pdf)

Dissertation

Optimization and Control of Dynamic Humanoid Running and Jumping
P. M. Wensing
The Ohio State University, Electrical and Computer Engineering, Aug. 2014. (pdf)