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• Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
  2023 · 13 citations
• First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach
  2019 · 4 citations
• An Input-to-State Stability Perspective on Robust Locomotion
  2023 · 4 citations
• Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage
  2018 · 3 citations
• Traversing Environments Using Possibility Graphs with Multiple Action Types
  2016 · 1 citations
• Multi-Domain Walking with Reduced-Order Models of Locomotion
  2023 · 1 citations
• Stability of Control Lyapunov Function Guided Reinforcement Learning
  2026
• Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
  2026
• Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds