{"id":304,"date":"2023-06-15T09:46:39","date_gmt":"2023-06-15T13:46:39","guid":{"rendered":"https:\/\/sites.nd.edu\/pwensing\/?page_id=304"},"modified":"2023-06-15T09:51:56","modified_gmt":"2023-06-15T13:51:56","slug":"publications-2","status":"publish","type":"page","link":"https:\/\/sites.nd.edu\/pwensing\/publications-2\/","title":{"rendered":"Publications &#8211; Old"},"content":{"rendered":"\n<p><h3 class=\"paragraph_style\">Pre-Prints<\/h3> <ul> <li> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>Observability in Inertial Parameter Identification<\/strong><\/em><br><\/span>P. M. Wensing, G.\u00a0Niemeyer, and J.-J. E. Slotine (<a href=\"https:\/\/arxiv.org\/abs\/1711.03896\">arxiv<\/a>)<em><strong><br><\/strong><\/em><\/p> <\/li> <\/ul> <h3 class=\"paragraph_style\">Journal Articles<\/h3> <ul> <li><em><strong>Model Hierarchy Predictive Control of Robotic Systems<\/strong><\/em><br>H. Li, R. Frei, and P. M. Wensing<br><em>IEEE Robotics and Automation Letters (to appear), 2021. <\/em>(<a href=\"https:\/\/arxiv.org\/abs\/2010.08881\">arxiv<\/a>)<\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Approximate simulation for template-based whole-body control<br><\/strong><\/em>V. Kurtz, P. M. Wensing, and H. Lin<br><em>IEEE Robotics and Automation Letters<\/em>, vol. 6, no. 2, pp 558-565, 2021. (<a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2020.3047794\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/2006.09921\">arxiv<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Underactuated motion planning and control for jumping with wheeled-bipedal robots<\/strong><\/em><br>H. Chen, B. Wang, Z. Hong, P. M. Wensing, and W. Zhang<br><em>IEEE Robotics and Automation Letters<\/em>, vol. 6, no. 2, pp 2377-3766, 2021. (<a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2020.3047787\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/2012.06156\">arxiv<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Jumping Over Obstacles with MIT Cheetah 2<\/strong><\/em><br>H.-W. Patrick, P. M. Wensing, and S. Kim<br><em>Robotics and Autonomous Systems<\/em>, vol. 136, 2021. (<a href=\"https:\/\/doi.org\/10.1016\/j.robot.2020.103703\">doi<\/a>)<\/p> <\/li> <li> <p class=\"p1\"><b><i>Sequential Semidefinite Optimization For Physically and Statistically Consistent Robot Identification<br><\/i><\/b>A. Janot and P. M. Wensing<br><em>Control Engineering Practice<\/em>, vol. 107, 2021. (<a href=\"http:\/\/dx.doi.org\/10.1016\/j.conengprac.2020.104699\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Effects of User Intent Changes On Onboard Sensor Measurements During Exoskeleton-Assisted Walking<\/strong><\/em><br>T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing<br><em>IEEE Access<\/em>, pp 224071-224082, 2020. (<a href=\"http:\/\/dx.doi.org\/10.1109\/ACCESS.2020.3044255\">doi<\/a>, <a href=\"http:\/\/dx.doi.org\/10.21227\/r9ap-mk26\">data<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Beyond Convexity &#8212; Contraction and Global Convergence of Gradient Descent<br><\/strong><\/em>P. M. Wensing and J.-J. E. Slotine<br><em>PLOS ONE<\/em>, vol. 15, no. 8, 2020. (<a href=\"https:\/\/arxiv.org\/abs\/1806.06655\">arXiv<\/a>, <a href=\"http:\/\/10.1371\/journal.pone.0236661\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Hybrid systems differential dynamic programming for whole-body motion planning of legged robots<\/strong><\/em><br>H. Li and P. M. Wensing.<br><em>IEEE Robotics and Automation Letters, <\/em>vol. 5, no. 4, pp 5448 -5455, 2020. (<a href=\"https:\/\/arxiv.org\/abs\/2006.08102\">arxiv<\/a>, <a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2020.3007475\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Variational-based optimal control of underactuated balancing for dynamic quadrupeds<\/strong><\/em><br>M. Chignoli and P. M. Wensing<br><em>IEEE Access, <\/em>vol. 8, pp 1680\u20131687, 2020. (<a href=\"http:\/\/dx.doi.org\/ 10.1109\/ACCESS.2020.2980446\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>One robot for many tasks: Versatile co-design through stochastic programming<\/strong><\/em><br>G. Bravo Palacios, A. Del Prete, and P. M. Wensing<br><em>IEEE Robotics and Automation Letters, <\/em>vol. 5, no. 2, pp 1680\u20131687, 2020. (<a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2020.2969948\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Optimal control of a differentially flat 2D spring-loaded inverted pendulum model<\/strong><\/em><br>H. Chen, P. M. Wensing, and W. Zhang<br><em>IEEE Robotics and Automation Letters, <\/em>vol. 5, no. 2, pp 307-314, 2020. (<a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2019.2956457\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/1911.07168\">arxiv<\/a>)<\/p> <\/li> <li> <\/li><\/ul><em><strong>Geometric<\/strong><\/em><ul><li><p class=\"paragraph_style_1\"><em><strong> robot dynamic identification: A convex programming approach<\/strong><\/em><br>T. Lee, P. M. Wensing, and F. C. Park<br><em>IEEE Transactions on Robotics, <\/em>vol. 36, no. 2, pp 348 &#8211; 365, 2020. (<a href=\"http:\/\/dx.doi.org\/10.1109\/TRO.2019.2926491\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set<br><\/strong><\/em>C. Boussema, M. J. Powell, G. Bledt, A. J. Ijspeert, P. M. Wensing, and S. Kim<br><em>IEEE Robotics and Automation Letters<\/em>, vol. 4, no. 2, pp. 1611 &#8211; 1618, 2019. (<a href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2019.2896723\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Discussion of \u201cA Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction\u201d<\/strong><\/em><br>J. P. Schmiedeler, P. M. Wensing<br><em>Applied Mechanics Reviews,<\/em>\u00a0vol. 70, no. 1, 015503:1-3, 2018. (<a href=\"http:\/\/dx.doi.org\/10.1115\/1.4039146\">doi<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution<\/strong><\/em><br><\/span>P. M. Wensing, S. Kim, and J.J.E. Slotine<br><em><span class=\"style_1\">IEEE Robotics and Automation Letters, <\/span><\/em><span class=\"style_1\">vol. 3, no. 1, pp. 60 &#8211; 67, 2018.<\/span>\u00a0(<a title=\"https:\/\/arxiv.org\/abs\/1701.04395\" href=\"https:\/\/arxiv.org\/abs\/1701.04395\">arXiv<\/a>, <a href=\"https:\/\/doi.org\/10.1109\/LRA.2017.2729659\">doi)<\/a><\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Design of Dynamic Legged Robots<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>Sangbae Kim and P. M. Wensing<span class=\"style_2\"><br><\/span><em><span class=\"style_1\">Foundations and Trends in Robotics, <\/span><\/em>vol. 5, no. 2, pp. 117-190, 2017. (<a title=\"http:\/\/dx.doi.org\/10.1561\/2300000044\" href=\"http:\/\/dx.doi.org\/10.1561\/2300000044\">doi<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>High-Speed Bounding with the MIT Cheetah 2: Control Design and Experiments<\/strong><\/em><br><\/span>H.-W. Park, P. M. Wensing, and S. Kim<br><span class=\"style_1\"><em>International Journal of Robotics Research<\/em>, <\/span>vol. 36, no. 2, pp. 167-192, 2017. (<a title=\"http:\/\/dx.doi.org\/10.1177\/0278364917694244\" href=\"http:\/\/dx.doi.org\/10.1177\/0278364917694244\">doi<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots<\/span><\/strong><\/em><br>P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang, and S. Kim<br><span class=\"style_1\"><em>IEEE Transactions on Robotics<\/em>, vol. 33, no. 3, pp. 509 &#8211; 522, June 2017.<\/span>\u00a0(<a title=\"http:\/\/dx.doi.org\/10.1109\/TRO.2016.2640183\" href=\"http:\/\/dx.doi.org\/10.1109\/TRO.2016.2640183\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_et_al-2017-TRO.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_et_al-2017-TRO.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Terrain-Blind Humanoid Walking Based on a 3D Actuated Dual-SLIP Model<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>Y. Liu, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin<br><em><span class=\"style_1\">IEEE Robotics and Automation Letters<\/span><\/em>, vol. 1, no. 2, pp. 1073-1080, 2016. (<a title=\"http:\/\/dx.doi.org\/10.1109\/LRA.2016.2530160\" href=\"http:\/\/dx.doi.org\/10.1109\/LRA.2016.2530160\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2016-RAL.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2016-RAL.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Improved Computation of the Humanoid Centroidal Dynamics and Application in Dynamic Whole-Body Control<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>P. M. Wensing, and D. E. Orin<br><span class=\"style_1\"><em>International Journal of Humanoid Robotics<\/em> (Special Issue on Whole-Body Control)<\/span>, vol. 13, pp. 1550039:1-23, 2016 (<a title=\"http:\/\/dx.doi.org\/10.1142\/S0219843615500395\" href=\"http:\/\/dx.doi.org\/10.1142\/S0219843615500395\">doi<\/a>,<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin16-IJHR.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin16-IJHR.pdf\">pdf<\/a>).<br><strong>2016 IJHR Best Paper Award<\/strong><\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Kinodynamically consistent motion retargeting for humanoids<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>G. B. Hammam, P. M. Wensing, B. Dariush, and D. E. Orin<span class=\"style_2\"><br><\/span><em><span class=\"style_1\">International Journal of Humanoid Robotics<\/span><\/em>, vol. 12, no. 2, pp. 1550017:1-27, 2015 (<a title=\"http:\/\/dx.doi.org\/10.1142\/S0219843615500176\" href=\"http:\/\/dx.doi.org\/10.1142\/S0219843615500176\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/BinHammam-et-al-IJHR-2015.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/BinHammam-et-al-IJHR-2015.pdf\">pdf<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>Efficient recursive dynamics algorithms for operational-space control with application to a legged locomotion<\/strong><\/em><br><\/span>P. M. Wensing<span class=\"style_2\">,<\/span> L. R. Palmer, and D. E. Orin<br><em><span class=\"style_1\">Autonomous Robots<\/span><\/em>, vol. 38, no. 4, pp. 363-381, 2015 (<a title=\"http:\/\/doi.org\/10.1007\/s10514-015-9420-9\" href=\"http:\/\/doi.org\/10.1007\/s10514-015-9420-9\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_et_al-2015-AURO.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_et_al-2015-AURO.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Design of a full-featured robot controller for use in a first-year robotics design project<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>M. A. Vernier, P. M. Wensing, C. Morin, et al.,<br><em><span class=\"style_1\">ASEE Computers in Education Journal<\/span><\/em>, vol.\u00a025, no.\u00a01, Jan.-Mar. 2015.<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Optimizing Foot Centers of Pressure through Force Distribution in a Humanoid Robot<\/span><\/strong><\/em><br>P. M. Wensing, G.\u00a0B. Hammam, B.\u00a0Dariush, and D.\u00a0E. Orin,<br><em><span class=\"style_1\">International Journal of Humanoid Robotics<\/span><\/em>, vol. 10, no. 3, pp. 350027:1-21, Sept. 2013. (<a title=\"http:\/\/dx.doi.org\/10.1142\/S0219843613500278\" href=\"http:\/\/dx.doi.org\/10.1142\/S0219843613500278\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing13-IJHR_Manuscript.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing13-IJHR_Manuscript.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Use of a low-cost camera-based positioning system in a first-year engineering cornerstone design project<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>M.\u00a0A. Vernier, C.\u00a0E. Morin, P. M. Wensing, R.\u00a0M. Hartlage, B.\u00a0E. Carruthers, and R.\u00a0J. Freuler<br><em><span class=\"style_1\">ASEE Computers in Education Journal<\/span><\/em>, vol.\u00a020, no.\u00a02, pp.\u00a06\u201314, 2010.<\/p> <\/li> <\/ul> <h3 class=\"paragraph_style\"><strong>Conference Publications<\/strong><\/h3> <ul> <li> <p class=\"paragraph_style_1\"><em><strong>Application of interacting models to estimate the gait speed of an exoskeleton user<\/strong><\/em><br>R. M. Karulkar and P. M. Wensing<br>in Proc. of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Rapid bipedal gait optimization in CasADi<br><\/strong><\/em>M. Fevre, P. M. Wensing, and J. P. Schmiedeler<em><br><\/em>in Proc. of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020<em>.<\/em><\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Exoskeleton user intent identification via the Mahalanobis distance<br><\/strong><\/em>T. M. Gambon, J. P. Schmiedeler, and P. M. Wensing<br>to appear in Proc. of the 2020 IEEE RAS\/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2020. (<a href=\"https:\/\/doi.org\/10.1109\/BioRob49111.2020.9224299\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>MPC-based controller with terrain insight for dynamic legged locomotion<br><\/strong><\/em>O. A. V. Maga\u00f1a, V. Barasuol, P. M. Wensing, and C. Semini<em><strong><br><\/strong><\/em>in Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020. (<a href=\"http:\/\/dx.doi.org\/10.1109\/ICRA40945.2020.9197312\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/1909.13842\">arxiv<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Robust approximate simulation for hierarchical control of linear systems under disturbances<\/strong><\/em><br>V. Kurtz, P. M. Wensing, and H. Lin<br>in Proc. of the 2020 American Control Conference (ACC), 2020. (<a href=\"http:\/\/dx.doi.org\/10.23919\/ACC45564.2020.9147511\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/2003.04136\">arxiv<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Formal connections between template and anchor models via approximate simulation<\/strong><\/em><br>V. Kurtz, R. R. da Silva, P. M. Wensing, and H. Lin<br>in Proc. of the 2019 International Conference on Humanoid Robotics (Humanoids), 2019. (<a href=\"https:\/\/arxiv.org\/abs\/1909.09693\">arxiv<\/a>, <a href=\"http:\/\/dx.doi.org\/10.1109\/Humanoids43949.2019.9035022\">doi<\/a>)<br><strong>(Best Paper Award &#8211; Interactive Track)<\/strong><\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Characterizing Intent Changes in Exoskeleton-AssistedWalking Through Onboard Sensors<br><\/strong><\/em>T. Gambon, J. P. Schmiedeler, P. M. Wensing<br>in Proc. of the 2019 International Conference on Rehabilitation Robotics (ICORR), 2019. (<a href=\"http:\/\/dx.doi.org\/10.1109\/ICORR.2019.8779503\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control<br><\/strong><\/em>J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt, and S. Kim<br>in Proc. of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (<a href=\"https:\/\/doi.org\/10.1109\/IROS.2018.8594448\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot<br><\/strong><\/em>G. Bledt, M. J. Powell, B. Katz, J. Di Carlo, P. M. Wensing, and S. Kim<br>in Proc. of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (<a href=\"https:\/\/doi.org\/10.1109\/IROS.2018.8593885\">doi<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong>Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains<br><\/strong><\/em>G. Bledt, P. M. Wensing, S. Ingersoll, and S. Kim<br><span class=\"style\"><span class=\"style\">in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018. (<strong>Best Paper Award Finalist<\/strong>) (<a href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2018.8460904\">doi<\/a>)<\/span><\/span><\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Cooperative Adaptive Control for Cloud-Based Robotics<br><\/span><\/strong><\/em><span class=\"style\">P.M. Wensing and J.-J. E Slotine<br><span class=\"style\"><span class=\"style\">in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018. (<a href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2018.8460856\">doi<\/a>, <a href=\"https:\/\/arxiv.org\/abs\/1709.07112\">arXiv<\/a>)<\/span><\/span><\/span><\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong>Policy-Regularized Model Predictive Control to Stabilize Diverse Quadrupedal Gaits for the MIT Cheetah<\/strong><\/em><br>G. Bledt, P. M. Wensing, and S. Kim<br>in Proc. of the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 <span class=\"style_1\"><span class=\"style_1\">(<a href=\"http:\/\/dx.doi.org\/10.1109\/IROS.2017.8206268\">doi)<\/a><\/span><\/span><\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>Sparse Control for Dynamic Movement Primitives<\/strong><\/em><br><\/span>P. M. Wensing and J.-J. Slotine<br><span class=\"style_1\">in Proc. of the 2017 IFAC World Congress, vol. 50, no. 1, pp. 10114-10121, 2017. <\/span>(<a title=\"https:\/\/arxiv.org\/abs\/1611.05066\" href=\"https:\/\/arxiv.org\/abs\/1611.05066\">arXiv<\/a>,<a href=\"http:\/\/dx.doi.org\/10.1016\/j.ifacol.2017.08.1789\">doi<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Trajectory Generation for Dynamic Walking in a Humanoid over Uneven Terrain Using a 3D-Actuated Dual-SLIP Model<\/span><\/strong><\/em><br>Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng<br>in <span class=\"style_1\">Proc. of the 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) <\/span>(<a title=\"http:\/\/dx.doi.org\/10.1109\/IROS.2015.7353400\" href=\"http:\/\/dx.doi.org\/10.1109\/IROS.2015.7353400\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2015-IROS.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2015-IROS.pdf\">pdf<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Online Planning for Autonomous Running Jumps Over Obstacles in High-Speed Quadrupeds<\/span><\/strong><\/em><br>H.-W. Park, P. M. Wensing, and S. Kim<br><span class=\"style_1\">Robotics: Science and Systems<\/span>, 2015 (<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Park-Wensing-Kim-RSS15.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Park-Wensing-Kim-RSS15.pdf\">pdf<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">A 3D Dual-SLIP Model of Human Walking Over a Range of Speeds<\/span><\/strong><\/em><br>Y. Liu, J. Schmiedeler, P. Wensing, and D. Orin,<br><span class=\"style_1\">Proc. of Dynamic Walking 2015<\/span>, August 2015.<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Dynamic Walking in a Humanoid Robot Based on a 3D Actuated Dual-SLIP Model<\/span><\/strong><\/em><br>Y. Liu, P. M. Wensing, D. E. Orin, and Y. F. Zheng<br><span class=\"style_1\">Proc. of the 2015 IEEE International Conference on Robotics and Automation<\/span>, May 2015 (<a title=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2015.7139999\" href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2015.7139999\">doi<\/a>,<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2015-ICRA.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu_et_al-2015-ICRA.pdf\"> pdf<\/a>).<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>3D-SLIP Steering for High-Speed Humanoid Turns<\/strong><\/em><br><\/span>P. M. Wensing and D. E. Orin<br><span class=\"style_1\">in Proc. of the 2014 IEEE\/RSJ International Conference on Intelligent and Robotic Systems (IROS)<\/span>, (Chicago, Illinois), pp. 4008-4013, 2014. (<a title=\"http:\/\/dx.doi.org\/10.1109\/IROS.2014.6943126\" href=\"http:\/\/dx.doi.org\/10.1109\/IROS.2014.6943126\">doi<\/a>,\u00a0<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin14-IROS.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin14-IROS.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Design of a full-featured robot controller for use in a first-year robotics design project<\/span><\/strong><\/em><br>M. A. Vernier, P. M. Wensing, C. Morin, et al.<br><span class=\"style_1\">in Proc. of 2014 ASEE Annual Conference,<\/span> (Indianapolis, Indiana), pp. 10270:1-21, June 2014.<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><span class=\"style\"><em><strong>Development of High-Span Running Long Jumps for Humanoids<\/strong><\/em><\/span><br>P. M. Wensing and D. E. Orin<br><span class=\"style_1\">in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA)<\/span>, (Hong Kong, China), pp. 222-227, May\/June 2014. (<a title=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2014.6906613\" href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2014.6906613\">doi<\/a>,\u00a0<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin14-ICRA.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin14-ICRA.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">High-Speed Humanoid Running Through Control with a 3D-SLIP Model<\/span><\/strong><\/em><br>P. M. Wensing and D. E. Orin<br><span class=\"style_1\">in Proc. of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/span>, (Tokyo, Japan), pp. 5134\u20135140, Nov. 2013. (<a title=\"http:\/\/dx.doi.org\/10.1109\/IROS.2013.6697099\" href=\"http:\/\/dx.doi.org\/10.1109\/IROS.2013.6697099\">doi<\/a>,\u00a0<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-IROS.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-IROS.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Generation of Dynamic Humanoid Behaviors Through Task-Space Control with Conic Optimization<\/span><\/strong><\/em><br><span class=\"style_3\">P. M. Wensing<\/span> and D. E. Orin<br><span class=\"style_1\">in Proc. of the IEEE International Conference on Robotics and Automation (ICRA)<\/span>, (Karlsruhe, Germany), pp. 3088-3094, May 2013. (<a title=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2013.6631008\" href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2013.6631008\">doi,<\/a>\u00a0<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-ICRA.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-ICRA.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">A reduced-order recursive algorithm for the computation of the operational-space inertia matrix<\/span><\/strong><\/em><br>P. M. Wensing, R.\u00a0Featherstone, and D.\u00a0E. Orin<br><span class=\"style_1\">in Proc. of the IEEE International Conference on Robotics and Automation (ICRA)<\/span>, (Minneapolis, Minnesota), pp. 4911-4917, May 2012. (<a title=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2012.6224600\" href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2012.6224600\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingFeatherstoneOrin12-ICRA.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingFeatherstoneOrin12-ICRA.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Fuzzy controlled hopping in a biped robot<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>Y.\u00a0Liu, P. M. Wensing, D.\u00a0Orin, and J.\u00a0Schmiedeler<br><span class=\"style_1\">in Proc. of the IEEE International Conference on Robotics and Automation (ICRA)<\/span>, (Shanghai, China), pp.\u00a01982\u20131989, May 2011. (<a title=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2011.5979780\" href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2011.5979780\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu11-ICRA.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Liu11-ICRA.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Fuzzy Control of Vertical Jumping with a Planar Biped<\/span><\/strong><\/em><br>M. S. Hester, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin<br><span class=\"style_1\">in Proc. of ASME International Design Engineering Technical Conferences (IDETC)<\/span>, (Montreal, Quebec), paper DETC2010-28857 (9 pages), August 2010. (<a title=\"http:\/\/dx.doi.org\/10.1115\/DETC2010-28857\" href=\"http:\/\/dx.doi.org\/10.1115\/DETC2010-28857\">doi<\/a>, <a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Hester10-IDETC.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Hester10-IDETC.pdf\">pdf<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Comparing the use of a graphical programming language to a traditional text-based language to learn programming concepts in a first-year course<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>K.\u00a0Harper, R.\u00a0Freuler, S.\u00a0Brand, C.\u00a0Morin, P.M. Wensing, and J.\u00a0Demel<br><span class=\"style_1\">in Proc. of the American Society for Engineering Education Annual Conference<\/span>, (Austin, Texas), paper AC2009-1777 (10 pages), June 2009.<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Use of a low-cost camera-based positioning system in a first-year engineering cornerstone design project<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>M. A. Vernier, C. E. Morin, P. M. Wensing, R. M. Hartlage, B. E. Carruthers, and R. J. Freuler<br><span class=\"style_1\">in Proc. of the American Society for Engineering Education Annual Conference<\/span>, (Austin, Texas), paper AC2009-1941 (11 pages), June 2009.<\/p> <\/li> <\/ul> <h3 class=\"paragraph_style\">Book Contributions<\/h3> <ul> <li> <p class=\"paragraph_style_1\"><em><strong>Dynamic Models of Robots<br><\/strong><\/em>P. M. Wensing and D. E. Orin<em><strong><br><\/strong><\/em>in Springer Encyclopedia of Robotics, 2019. (<a href=\"http:\/\/dx.doi.org\/10.1007%2F978-3-642-41610-1_58-1\">doi<\/a>)<\/p> <\/li> <li> <p class=\"paragraph_style_1\"><em><strong>Dynamics<\/strong><\/em><br>D. E. Orin and P. M. Wensing.<br>in Springer Encyclopedia of Robotics, 2019. (<a href=\"http:\/\/dx.doi.org\/10.1007%2F978-3-642-41610-1_57-1\">doi<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Template Models for Control<\/span><\/strong><\/em><span class=\"style_1\"><br><\/span>P. M. Wensing and S. Revzen<br>In\u00a0<span class=\"style_1\">Bio-inspired legged locomotion concepts, control and implementation,\u00a0 pp. 240-266,\u00a0<\/span>Elsevier, 2018. (<a href=\"http:\/\/dx.doi.org\/10.1016\/B978-0-12-803766-9.00006-3\">doi<\/a>)<\/p> <\/li> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Control of Humanoid Hopping Based on a SLIP Model<\/span><\/strong><\/em><span class=\"style_2\"><br><\/span>P. M. Wensing and D. E. Orin<br><span class=\"style_1\">Advances in Mechanisms, Robotics and Design Education and Research<\/span>, vol. 14 (Vijay Kumar, James Schmiedeler, S. V. Sreenivasan, Hai-Jun Su, eds.), pp. 265\u2013274, Springer International, 2013. (<a title=\"http:\/\/dx.doi.org\/10.1007\/978-3-319-00398-6_21\" href=\"http:\/\/dx.doi.org\/10.1007\/978-3-319-00398-6_21\">doi<\/a>,\u00a0<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-SLIPHopping.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/WensingOrin13-SLIPHopping.pdf\">pdf<\/a>)<\/p> <\/li> <\/ul> <h3 class=\"paragraph_style\">Dissertation<\/h3> <ul> <li class=\"full-width\"> <p class=\"paragraph_style_1\"><em><strong><span class=\"style\">Optimization and Control of Dynamic Humanoid Running and Jumping<\/span><\/strong><\/em><br>P. M. Wensing<br><span class=\"style_1\">The Ohio State University<\/span>, Electrical and Computer Engineering, Aug. 2014. (<a title=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_Dissertation-2014.pdf\" href=\"http:\/\/www.nd.edu\/~pwensing\/Papers\/Wensing_Dissertation-2014.pdf\">pdf<\/a>)<\/p> <\/li> <\/ul> \n<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Pre-Prints Observability in Inertial Parameter IdentificationP. M. Wensing, G.\u00a0Niemeyer, and J.-J. E. Slotine (arxiv) Journal Articles Model Hierarchy Predictive Control of Robotic SystemsH. Li, R. Frei, and P. M. WensingIEEE Robotics and Automation Letters (to appear), 2021. (arxiv) Approximate simulation for template-based whole-body controlV. Kurtz, P. M. Wensing, and H. LinIEEE Robotics and Automation Letters, [&hellip;]<\/p>\n","protected":false},"author":2635,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-304","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/pages\/304","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/users\/2635"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/comments?post=304"}],"version-history":[{"count":3,"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/pages\/304\/revisions"}],"predecessor-version":[{"id":310,"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/pages\/304\/revisions\/310"}],"wp:attachment":[{"href":"https:\/\/sites.nd.edu\/pwensing\/wp-json\/wp\/v2\/media?parent=304"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}