Optimization-based Full Body Control for the DARPA Robotics Challenge

Hierarchical quadratic programming: Fast online humanoid-robot motion generation

(2014) Adrien Escande et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Quadrupedal locomotion using hierarchical operational space control

(2014) Marco Hutter et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

The 3-D Spring–Mass Model Reveals a Time-Based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments

(2013) Albert Wu et al.   IEEE Transactions on Robotics

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

(2013) Layale Saab et al.   IEEE Transactions on Robotics

Optimal distribution of contact forces with inverse-dynamics control

(2013) Ludovic Righetti et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Biped walking control using a trajectory library

(2012) Chenggang Liu et al.   ROBOTICA

Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task

(2011) Oussama Kanoun et al.   IEEE Transactions on Robotics

Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots

(2010) Luis Sentis et al.   IEEE Transactions on Robotics