A Comparison of Null-space Projection and Mixture of Torque Controllers for Motion Generation. Proc. 9th Int. Workshop on Human-Friendly Robotics.. 2016.
Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. ICRA - RAM paper presentation .. In Press.
Continuous Task-Priority Rearrangement during Motion Execution with a Mixture of Torque Controllers. Proc. IEEE Humanoids.. 2016.
Dynamically-consistent Generalized Hierarchical Control. ICRA. :1141-1147.. 2019.
Modeling & Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. Int. Conf. Robotics and Automation.. 2018.
Multiple Task Optimization with a Mixture of Controllers for Motion Generation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). :6416–6421.. 2015.
Compliant Humanoids Moving Toward Rehabilitation Applications. Robotics and Automation Magazin. 26(4):83-93.. 2019.
Impedance-based Physical Human-Multi-Robot Collaboration. International Journal of Robotics Research.. Submitted.