- Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces (video) (paper)
- An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems (paper)
- Realtime limb trajectory optimization for humanoid running through centroidal angular momentum dynamics (video) (paper)
- Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics (video) (paper)
- Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study (video) (paper)
- Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations (video+paper)