Transferring solutions found by trajectory optimization to robotic hardware remains a
challenging task. When the optimization fully exploits the provided model to perform …

The highly dynamic legged jumping motion is a challenging research topic because of the
lack of established control schemes that handle over-constrained control objectives well in …

In this paper we significantly extend previous work on methods for ensuring that control
system behavior is invariant with respect to units chosen for critical state variables when …

Modern robots are slowly but surely finding their way from research laboratories to the real
world. Legged robots, in particular, due to their bio-inspired morphology, hold the promise of …

It is well-understood that the robustness of mechanical and robotic control systems depends
critically on minimizing sensitivity to arbitrary application-specific details whenever possible …

For robots to successfully be deployed as human assistants in a variety of applications, it is
critical that the robots' controllers and planners are designed with the considerations of both …