Patrick M. Wensing

University of Notre Dame — United States

Engineering · Physical Sciences

27h-index4.6kcitations157works2.92yr avg
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Research Topics

Robotic Locomotion and Control(93), Prosthetics and Rehabilitation Robotics(69), Muscle activation and electromyography studies(33), Robotic Mechanisms and Dynamics(30), Real-time simulation and control systems(18)

Publications157 total

The 2025 Summer School on Optimization for Robotics [Education]
IEEE Robotics & Automation Magazine·2025Open Access
Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses
2025
A Task-Space Control Framework for Powered Ankle Prostheses: Design, Implementation, and Evaluation
IEEE Transactions on Medical Robotics and Bionics·2025· 1 cited
Phase Variable Impedance Hybrid Volitional Control for Transtibial Prostheses
2025Open Access
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
arXiv (Cornell University)·2025Open Access
The Impact of Phase Variable Accuracy on Continuous Controller Performance for Knee-Ankle Prostheses: A Case Study
2025
A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops
IEEE Transactions on Robotics·2025
URDF+: An Enhanced URDF for Robots with Kinematic Loops
arXiv (Cornell University)·2024Open Access
URDF+: An Enhanced URDF for Robots with Kinematic Loops
2024· 5 cited
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework With Tuning-Free Whole-Body Control
IEEE Transactions on Robotics·2024· 16 cited
Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses
arXiv (Cornell University)·2024· 1 citedOpen Access
Center of mass kinematic reconstruction during steady-state walking using optimized template models
PLoS ONE·2024· 3 citedOpen Access
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
2024· 1 cited
A geometric characterization of observability in inertial parameter identification
The International Journal of Robotics Research·2024· 1 cited
Output Mode Switching for Parallel Five-bar Manipulators Using a Projection-based Direct Collocation Method
2024· 1 cited
Task-space Control of a Powered Ankle Prosthesis
2024· 3 cited
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller
2024· 8 cited
3D Hopping in Discontinuous Terrain Using Impulse Planning With Mixed-Integer Strategies
IEEE Robotics and Automation Letters·2024· 4 cited
Engineering Compliance in Legged Robots Via Robust Co-Design
IEEE/ASME Transactions on Mechatronics·2024· 10 cited
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
arXiv (Cornell University)·2024Open Access
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Frequent Co-authors

David E. Orin(12), Sangbae Kim(11), Gerardo Bledt(6), Andrea Del Prete(5), Hua Chen(4), Wei Zhang(4), James P. Schmiedeler(4), Jared Di Carlo(3), Benjamin Katz(3), Matthew J. Powell(3), He Li(3), Yiping Liu(3), Gabriel Bravo-Palacios(3), Hae-Won Park(2), Zejun Hong(2), Taeyoon Lee(2), Frank C. Park(2), Yuan F. Zheng(2), Vince Kurtz(2), Hai Lin(2)