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Christian M Hubicki

Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Efficient HZD gait generation for three-dimensional underactuated humanoid running
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking

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