Jumping over obstacles with MIT Cheetah 2

Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

(2020) Fabian Jenelten et al.   IEEE Robotics and Automation Letters

Combining trajectory optimization, supervised machine learning, and model structure for mitigating the curse of dimensionality in the control of bipedal robots

(2019) Xingye Da et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Dynamic bipedal locomotion over stochastic discrete terrain

(2018) Quan Nguyen et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots

(2017) Patrick M. Wensing et al.   IEEE Transactions on Robotics

High-speed bounding with the MIT Cheetah 2: Control design and experiments

(2017) Hae-Won Park et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Quadruped robot trotting over irregular terrain assisted by stereo-vision

(2014) Stéphane Bazeille et al.   Intelligent Service Robotics

A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking

(2013) Hae-Won Park et al.   IEEE Transactions on Robotics

Integrals of Bernstein polynomials: An application for the solution of high even-order differential equations

(2010) E.H. Doha et al.   APPLIED MATHEMATICS LETTERS

Learning, planning, and control for quadruped locomotion over challenging terrain

(2010) Mrinal Kalakrishnan et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Fast Model Predictive Control Using Online Optimization

(2009) Yang Wang et al.   IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

An online active set strategy to overcome the limitations of explicit MPC

(2007) H. J. Ferreau et al.   INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL