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Unified Multi-Rate Control: from Low Level Actuation to High Level Planning., , and . CoRR, (2020)Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts., , , , and . CoRR, (2018)Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots., , and . IROS, page 2384-2391. (2023)Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion., , , and . ACC, page 2224-2230. IEEE, (2018)Online decentralized decision making with inequality constraints: An ADMM approach., , , and . ACC, page 2075-2081. IEEE, (2021)Safety-Critical Kinematic Control of Robotic Systems., , and . ACC, page 14-19. IEEE, (2021)Dynamic Walking with Compliance on a Cassie Bipedal Robot., , and . ECC, page 2589-2595. IEEE, (2019)Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots., , and . ICRA, page 7073-7078. IEEE, (2021)Safety-Critical Controller Verification via Sim2Real Gap Quantification., , and . ICRA, page 10539-10545. IEEE, (2023)Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control., , , and . ICRA, page 8352-8358. IEEE, (2021)