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The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)., , , , , and . CoRR, (2017)A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes., , , , , and . CoRR, (2017)Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization., , , , , , , , , and . CoRR, (2019)Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain., , , and . IEEE Robotics Autom. Lett., 4 (3): 2553-2560 (2019)A Direct-Indirect Hybridization Approach to Control-Limited DDP., , , , , and . CoRR, (2020)Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality., , , , , , and . CoRR, (2018)Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion., , , , and . ICRA, page 1357-1363. IEEE, (2020)Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics., , , and . Humanoids, page 1-9. IEEE, (2018)Morphological Symmetries in Robotics., , , , , , , , and . CoRR, (2024)Design, analysis and control of the series-parallel hybrid RH5 humanoid robot., , , , , , , and . CoRR, (2021)