Papers
72
Total Citations
3,823
H-Index
23
About
Patrick M. Wensing is a leading roboticist whose research sits at the intersection of legged locomotion, optimal control, and actuator design for dynamic robotic systems. He is perhaps best known for his foundational contributions to the MIT Cheetah project, where his work on proprioceptive actuator design (454 citations) and convex model-predictive control (717 citations) helped establish the blueprint for modern high-performance quadruped robots. His 2018 papers on the MIT Cheetah 3—collectively exceeding 1,400 citations—demonstrated how elegant mechanical design paired with computationally efficient optimization could enable robust, agile locomotion across challenging terrain. Wensing's research extends beyond quadrupeds: he has pioneered control strategies for high-speed humanoid running using spring-loaded inverted pendulum models and explored motion planning for novel wheeled-bipedal platforms. His 2023 survey on optimization-based control for dynamic legged robots (160 citations) reflects his broader role as a synthesizer and thought leader in the field. Spanning manipulation-inspired actuator principles to real-time MPC for contact-rich environments, his body of work has profoundly shaped how researchers and engineers approach the challenge of building robots capable of navigating a world designed for legs.
Research Focus
Key Achievements
Top Papers
- 1Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control717 citations · 2018
- 2MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot709 citations · 2018
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- 4Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains177 citations · 2018
- 5Optimization-Based Control for Dynamic Legged Robots160 citations · 2023
- 6High-speed humanoid running through control with a 3D-SLIP model154 citations · 2013
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- 10Design of Dynamic Legged Robots80 citations · 2017