Y. Yang, W. Merkt, H. Ferrolho, V. Ivan and S. Vijayakumar, "Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps," IEEE Robotics and Automation Letters (RA-L), 2017.
H. Ferrolho, W. Merkt, Y. Yang, V. Ivan and S. Vijayakumar, "Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments," in IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018.
H. Ferrolho, W. Merkt, V. Ivan, W. Wolfslag, S. Vijayakumar, "Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020.
H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization," in IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021.
H. Ferrolho, W. Merkt, C. Tiseo and S. Vijayakumar, "Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories," Robotics and Autonomous Systems (RAS), 2021.
C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, S. Vijayakumar, "A feasibility-driven approach to control-limited DDP," Autonomous Robots (AuRo), 2022.
H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar, "RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms," Autonomous Robots (AuRo), 2023.
Talk at UC San Francisco, Department of Testing, San Francisco, California
Tutorial at UC-Berkeley Institute for Testing Science, Berkeley CA, USA
Talk at London School of Testing, London, UK
Conference proceedings talk at Testing Institute of America 2014 Annual Conference, Los Angeles, CA