| 2025 | IROS | Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses. | Ryan R. Posh, Shenggao Li, Patrick M. Wensing |
| 2024 | ICRA | Task-space Control of a Powered Ankle Prosthesis. | David J. Kelly, Ryan R. Posh, Patrick M. Wensing |
| 2024 | ICRA | Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller. | Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing |
| 2024 | IROS | Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion. | Shunpeng Yang, Zejun Hong, Sen Li, Patrick M. Wensing, Wei Zhang, Hua Chen |
| 2023 | ICRA | Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC With Hybrid-Systems DDP. | He Li, Tingnan Zhang, Wenhao Yu, Patrick M. Wensing |
| 2023 | IROS | A Unified Perspective on Multiple Shooting In Differential Dynamic Programming. | He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing |
| 2023 | IROS | Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses. | Ryan R. Posh, Jonathan A. Tittle, James P. Schmiedeler, Patrick M. Wensing |
| 2022 | ICRA | Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics. | Vince Kurtz, He Li, Patrick M. Wensing, Hai Lin |
| 2022 | IROS | Large-Scale ADMM-based Co-Design of Legged Robots. | Gabriel Bravo-Palacios, Patrick M. Wensing |
| 2022 | IROS | Zero-Shot Retargeting of Learned Quadruped Locomotion Policies Using Hybrid Kinodynamic Model Predictive Control. | He Li, Wenhao Yu, Tingnan Zhang, Patrick M. Wensing |
| 2022 | IROS | Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. | Shubham Singh, Ryan P. Russell, Patrick M. Wensing |
| 2021 | IROS | Quadruped Robot Hopping on Two Legs. | Shenggao Li, Hua Chen, Wei Zhang, Patrick M. Wensing |
| 2021 | ICRA | Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum. | Shunpeng Yang, Hua Chen, Luyao Zhang, Zhefeng Cao, Patrick M. Wensing, Yizhang Liu, Jianxin Pang, Wei Zhang |
| 2020 | IROS | Rapid Bipedal Gait Optimization in CasADi. | Martin Fevre, Patrick M. Wensing, James P. Schmiedeler |
| 2020 | IROS | Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User. | Roopak M. Karulkar, Patrick M. Wensing |
| 2020 | ICRA | MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion. | Octavio Villarreal, Victor Barasuol, Patrick M. Wensing, Darwin G. Caldwell, Claudio Semini |
| 2018 | ICRA | Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains. | Gerardo Bledt, Patrick M. Wensing, Sam Ingersoll, Sangbae Kim |
| 2018 | IROS | MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot. | Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim |
| 2018 | IROS | Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control. | Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim |
| 2018 | ICRA | Cooperative Adaptive Control for Cloud-Based Robotics. | Patrick M. Wensing, Jean-Jacques E. Slotine |
| 2017 | IROS | Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah. | Gerardo Bledt, Patrick M. Wensing, Sangbae Kim |
| 2015 | ICRA | Dynamic walking in a humanoid robot based on a 3D Actuated Dual-SLIP model. | Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng |
| 2015 | IROS | Trajectory generation for dynamic walking in a humanoid over uneven terrain using a 3D-actuated Dual-SLIP model. | Yiping Liu, Patrick M. Wensing, David E. Orin, Yuan F. Zheng |
| 2014 | IROS | 3D-SLIP steering for high-speed humanoid turns. | Patrick M. Wensing, David E. Orin |
| 2014 | ICRA | Development of high-span running long jumps for humanoids. | Patrick M. Wensing, David E. Orin |
| 2013 | IROS | High-speed humanoid running through control with a 3D-SLIP model. | Patrick M. Wensing, David E. Orin |
| 2013 | ICRA | Generation of dynamic humanoid behaviors through task-space control with conic optimization. | Patrick M. Wensing, David E. Orin |
| 2012 | ICRA | A reduced-order recursive algorithm for the computation of the operational-space inertia matrix. | Patrick M. Wensing, Roy Featherstone, David E. Orin |
| 2011 | ICRA | Fuzzy controlled hopping in a biped robot. | Yiping Liu, Patrick M. Wensing, David E. Orin, James P. Schmiedeler |