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Patrick Wensing

Patrick M. Wensing

Email: pwensing@nd.edu

Phone: 574-631-2652

Office: 372 Fitzpatrick Hall

Education

Ph.D., Ohio State University, 2014

Biography

Dr. Wensing joined the Department of Aerospace and Mechanical Engineering in 2017 after completing his postdoctoral research at MIT. He received his Ph.D. in Electrical and Computer Engineering from Ohio State University in 2014. He was awarded an NSF Graduate Research Fellowship for his dissertation work on balance control strategies for humanoid robots. His postdoctoral research with the MIT Cheetah robot has received considerable publicity worldwide, with features from TIME, WIRED, and the Wall Street Journal. 

Summary of Activities/Interests

Dr. Wensing's research interests are in the broad area of dynamic systems and control with focus on applications in robotics. His research to date has concentrated on bringing new levels of mobility to both legged robots and assistive devices. His current work focuses on control systems synthesis for extreme-terrain mobility in humanoids and quadrupeds, system identification for humans and robots, and human-machine interface technologies for assistive exoskeletons in rehabilitation. Research in Dr. Wensing's lab is multi-disciplinary, both drawing on diverse technical backgrounds and targeting problems that sit at the interface of conventional domains.

Publications

  • P. M. Wensing, S. Kim, and J.-J. E. Slotine. Linear matrix inequalities for physically consistent inertial parameter identification: A statistical perspective on the mass distribution. IEEE Robotics and Automation Letters, 3(1):60-67, 2018.
  • S. Kim and P. M. Wensing, Design of Dynamic Legged Robots, Foundations and Trends in Robotics, 5(2):117-190, 2017.
  • H.-W. Park, P. M. Wensing, and S. Kim. High-speed bounding with the MIT Cheetah 2: Control design and experiments. The International Journal of Robotics Research, 36(2):167–192, March 2017.
  • P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang, and S. Kim. Proprioceptive actuator design in the MIT cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots. IEEE Transactions on Robotics, 33(3):509–522, 2017.
  • Y. Liu, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin. Terrain-blind humanoid walking based on a 3D actuated dual-SLIP model. IEEE Robotics and Automation Letters, 1(2):1073–1080, 2016.
  • P. M. Wensing and D. E. Orin. Improved computation of the humanoid centroidal dynamics and application in dynamic whole-body control. International Journal of Humanoid Robotics (Special Issue on Whole-Body Control), 13(1):1550039:1–23, 2016.
  • H.-W. Park, P. M. Wensing, and S. Kim. Online planning for autonomous running jumps over obstacles in high-speed quadrupeds. In Proceedings of Robotics: Science & Systems, Rome, Italy, July 2015.
  • P. M. Wensing, L. R. Palmer III, and D. E. Orin. Efficient recursive dynamics algorithms for operational-space control with application to legged locomotion. Autonomous Robots, 38(4):363–381, 2015.

Advisee(s)

Graduate Students: