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• Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model
  2021 · 1 citations
• Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
  2022 · 1 citations
• Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
  2026
• A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
  2026
• HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
  2026
• PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
  2025
• Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis
  2021
• Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
  2023
• Legged Robot State Estimation within Non-inertial Environments
  2024
• An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments
  2024
• Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
  2024
• Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
  2024