Patrick M. Wensing
Postdoctoral Associate, Massachusetts Institute of Technology
Contact Information
77 Massachusetts Ave.
Room 05-017
Cambridge, MA 02139
pwensing@mit.edu
617- 715-4309
http://www.mit.edu/~pwensing
Research Interests
I am interested in applied optimization and control theory for dynamic, intelligent, and physically interactive robotic systems. At a broad scope, I strive to develop machines with an
intelligence that is grounded in physics. I plan to do so through inquiry into human and animal motion as well as a balanced approach that considers the interplay between design and
control. I am particularly interested in applications of legged robots to operate in challenging
terrain environments.
Topics: Quadruped and humanoid robots, optimization-based control, bio-inspired design,
high-speed agility, motion planning, whole-body biomechanics, efficient dynamics algorithms,
model-predictive control.
Academic Experience
Massachusetts Institute of Technology
Postdoctoral Associate, Biomimetic Robotics Lab
Advisor: Dr. Sangbae Kim
Cambridge, MA
November 2014-present
The Ohio State University
Doctor of Philosophy, Electrical and Computer Engineering
Advisor: Dr. David E. Orin
Columbus, OH
August 2014
The Ohio State University
Master of Science, Electrical and Computer Engineering
Columbus, OH
December 2013
The Ohio State University
Bachelor of Science, Electrical and Computer Engineering
GPA: 4.0/4.0
Columbus, OH
June 2009
Journal Publications
1. Y. Liu, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin. Terrain-blind humanoid walking based on a 3D actuated dual-SLIP model. to appear in IEEE Robotics and Automation
Letters, 2016.
2. P. M. Wensing and D. E. Orin. Improved computation of the humanoid centroidal
Wensing Curriculum Vitae: Page 1 of 7
dynamics and application in dynamic whole-body control. International Journal of
Humanoid Robotics (Special Issue on Whole-Body Control), to appear, 2016. Online:
http://dx.doi.org/10.1142/S0219843615500395, accepted September 2015.
3. G. B. Hammam, P. M. Wensing, B. Dariush, and D. E. Orin. Kinodynamically consistent motion retargeting for humanoids. International Journal of Humanoid Robotics,
12(4):1550017:1–27, December 2015.
4. 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.
5. M. A. Vernier, P. M. Wensing, C. Morin et al. Design of a full-featured robot controller
for use in a first-year robotics design project. ASEE Computers in Education Journal,
25(1), Jan.-Mar. 2015.
6. P. M. Wensing, G. Bin Hammam, B. Dariush, and D. E. Orin. Optimizing foot centers of pressure through force distribution in a humanoid robot. International Journal of
Humanoid Robotics, 10(3):1350027:1–21, Sept. 2013.
7. M. A. Vernier, C. E. Morin, P. M. Wensing, R. M. Hartlage, B. E. Carruthers, and
R. J. Freuler. Use of a low-cost camera-based positioning system in a first-year engineering
cornerstone design project. ASEE Computers in Education Journal, 20(2):6–14, 2010.
Publications Under Review
1. 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. submitted to the IEEE Transactions on Robotics, September 2015.
Conference Publications
1. Y. Liu, P. M. Wensing D. E. Orin, and Y. F. Zheng. Trajectory generation for dynamic
walking in a humanoid over uneven terrain using a 3D-actuated dual-SLIP model. to
appear in Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent
Robots and Systems.
2. 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. (acceptance rate 27%).
3. Y. Liu, P. M. Wensing, D.E. Orin, and Y.F. Zheng. Dynamic walking in a humanoid
robot based on a 3D actuated dual-SLIP model. In Proceedings of the IEEE International
Conference on Robotics and Automation, pages 5710–5717, May 2015. (acceptance rate
41%).
4. P. M. Wensing and D. E. Orin. 3D-SLIP steering for high-speed humanoid turns. In
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS), pages 4008–4013, Chicago, Illinois, September 2014. paper webpage:
http://www.go.osu.edu/Wensing_Orin_IROS2014. (acceptance rate 47%).
Wensing Curriculum Vitae: Page 2 of 7
5. M. A. Vernier, P. M. Wensing, C. Morin et al. . Design of a full-featured robot controller
for use in a first-year robotics design project. In Proceedings of the 2014 American Society
for Engineering Education Annual Conference, pages 10270:1–21, Indianapolis, Indiana,
June 2014.
6. P. M. Wensing and D. E. Orin. Development of high-span running long jumps for
humanoids. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 222–227, Hong Kong, China, May/June 2014. paper webpage:
http://www.go.osu.edu/Wensing_Orin_ICRA2014. (acceptance rate 48%).
7. P. M. Wensing and David E. Orin. High-speed humanoid running through control with a
3D-SLIP model. In Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), pages 5134–5140, Tokyo, Japan, Nov. 2013. paper webpage:
http://go.osu.edu/Wensing_Orin_IROS2013. (acceptance rate 43%).
8. P. M. Wensing and David E. Orin. Generation of dynamic humanoid behaviors through
task-space control with conic optimization. In Proceedings of the IEEE International
Conference on Robotics and Automation (ICRA), pages 3088–3094, Karlsruhe, Germany,
May 2013. paper webpage: http://go.osu.edu/Wensing_Orin_ICRA2013. (acceptance
rate 39%).
9. P. M. Wensing, R. Featherstone, and D.E. Orin. A reduced-order recursive algorithm
for the computation of the operational-space inertia matrix. In Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA), pages 4911–4917, Minneapolis, MN, 2012. (acceptance rate 40%).
10. Yiping Liu, P. M. Wensing, D.E. Orin, and J.P. Schmiedeler. Fuzzy controlled hopping
in a biped robot. In Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA), pages 1982–1989, Shanghai, China, May 2011. (acceptance rate
49%).
11. M. S. Hester, P. M. Wensing, J. P. Schmiedeler, and D. E. Orin. Fuzzy Control of
Vertical Jumping with a Planar Biped. In Proceedings of ASME International Design
Engineering Technical Conferences, pages DETC2010–28857:1–9, Montreal, Quebec, August 2010.
12. K.A. Harper, R.J. Freuler, S.H. Brand, C.E. Morin, P.M. Wensing, and J.T. Demel.
Comparing the use of a graphical programming language to a traditional text-based language to learn programming concepts in a first-year course. In Proceedings of the American
Society for Engineering Education Annual Conference, pages AC2009–1777:1–10, Austin,
Texas, June 2009.
13. M. A. Vernier, C. E. Morin, P. M. Wensing, R. M. Hartlage, B. E. Carruthers, and
R. J. Freuler. Use of a low-cost camera-based positioning system in a first-year engineering cornerstone design project. In Proceedings of the American Society for Engineering
Education Annual Conference, pages AC2009–1941:1–11, Austin, Texas, June 2009.
Book Contributions
1. P. M. Wensing and D. E. Orin. Control of humanoid hopping based on a SLIP model.
In Vijay Kumar, James Schmiedeler, S. V. Sreenivasan, and Hai-Jun Su, editors, Advances
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in Mechanisms, Robotics and Design Education and Research, pages 265—274. Springer
International, 2013. paper webpage: http://go.osu.edu/Wensing_Orin_Springer2013.
Other Publications (not peer reviewed)
1. P. M. Wensing, “Optimization of a high jump for a prototype biped,” in Proceedings of
the Ohio Space Grant Research Symposium, pp. 328–334, April 2011.
2. P. M. Wensing, “Optimal foot force distribution in legged robotics,” in Proceedings of
the Ohio Space Grant Research Symposium, pp. 288–295, April 2010.
3. P. M. Wensing, “Real-time computer control of a prototype bipedal system.” Undergraduate Honors Thesis. The Ohio State University, Department of Electrical and Computer
Engineering, June 2009.
Poster Presentations
1. Towards a Characterization of Gait Energetics for Electrically Actuated Quadrupeds, Symposium on Adaptive Motion in Animals and Machines (AMAM 2015). Cambridge, MA.
June 2015.
2. Planning and Control of High-Speed Running for a Humanoid Robot, OSU ECE Student
Poster Competition. Columbus, OH. April 2014. 2nd Place Presentation Award.
3. Cyber-Physical Systems: Exploiting Morphological Diversity for Multi-Agent Intelligence,
2014 NSF Early Career Professionals Workshop on Exploring New Frontiers in CyberPhysical Systems. Washington, DC. March 2014.
4. Real-time Computer Control of a Prototype Bipedal System, 2009 Denman Undergraduate
Research Forum. Columbus, OH. May 2009.
Invited Talks
1. Leveraging Simple Models for Hyper-Dynamic Mobility, Symposium on Adaptive Motion
in Animals and Machines (AMAM 2015). Cambridge, Massachusetts. June 2015.
2. Exploiting SLIP-Based Models to Maintain Dynamic Balance, ICRA 2015 Workshop on
Dynamic Locomotion and Balancing of Humanoids: State of the Art and Challenges. Seattle, Washington. May 2015.
3. Whole-Body Control of Dynamic Humanoid Movements, LIRMM-CNRS. Montpellier,
France. October 2014.
4. Whole-Body Control of Dynamic Humanoid Movements, LAAS-CNRS. Toulouse, France.
October 2014.
5. Centroidal Momentum for Whole-Body Humanoid Control, IROS 2014 Workshop on
Whole-Body Control for Humanoids in the Real World. Chicago, IL. Sept. 2014. (With
Dr. David E. Orin)
6. Legs Versus Wheels, The Ohio State Summer Honors Institute for gifted high school students. Columbus, OH. July 2012, 2013, and 2014. (With Michael A. Vernier)
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7. Development of a Quadruped Galloping Machine, The Ohio State Summer Honors Institute
for gifted high school students. Columbus, OH. July 2008, 2009, and 2010.
8. Using Wii Remotes to Make a Classroom GPS, The Ohio State EEIC Engineering Education Seminar. Columbus, OH. January, 2011.
Research Experience
Massachusetts Institute of Technology
Cambridge, MA
Postdoctoral Associate, Biomimetic Robotics Lab
November 2014 - Present
Conducting DARPA-funded research on autonomy for high-speed quadrupedal locomotion
and design analysis of high-performance robots for dynamic interaction. Supervising NSFsponsored research on an energetic characterization of quadrupedal gaits for electrically powered robots. (Publications: RSS 2015. In Review: IEEE TRO 2015, IEEE RAL 2015)
CNRS Laboratory for Informatics
Montpellier, France
Robotics and Microelectronics (LIRMM)
Visiting Scholar
Sept. - Oct. 2014
Performed preliminary experimental verification of the humanoid balance control algorithms
developed during my PhD work.
The Ohio State University
Columbus, OH
NSF Graduate Research Fellow
Sept. 2011 - Aug. 2014
Developed control algorithms for high-speed humanoid running based on model-predictive
control using template models inspired from human biomechanics. (Publications: IJHR 2015,
IEEE ICRA 2013 and 2014, IEEE IROS 2013 and 2014, Springer Book Chapter 2013)
The Ohio State University
Columbus, OH
Ohio Space Grant Consortium Fellow
June 2010 - Aug. 2011
Developed operational-space dynamics algorithms for real-time control of high-degree-of-freedom
humanoids and quadrupeds. (Publication: IEEE ICRA 2012, Autonomous Robots 2015)
The Ohio State University
Columbus, OH
University Fellow
June 2009 - May 2010
Formulated convex optimization problems for dynamic balance in full-body humanoid motion
through new solutions to the foot force distribution problem (Publications: IJHR 2013)
The Ohio State University
Columbus, OH
Undergraduate Research Assistant
March 2008 - May 2009
Designed the real-time distributed control system and control electronics for a prototype
biped, KURMET. (Publications: IEEE ICRA 2011, ASME IDETC 2010)
Teaching Experience
Massachusetts Institute of Technology
Co-Instructor, 2.74 Bio-inspired Robotics
Cambridge, MA
Fall 2015
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Overall Rating: 7.0/7.0
Co-instructor with Dr. Sangbae Kim for this project-based experimental robotics course.
Delivered six, 90-minute lectures on rigid-body dynamics and trajectory optimization for
legged robots. Developed five weeks of laboratory content leading to students implementing
impedance control on a physical robot leg. Developed and graded weekly assignments.
The Ohio State University
Columbus, OH
Graduate Teaching Associate, ENG H1281, H1282
Fall 2012-Spring 2014
Taught the laboratory component of a two-course first-year sequence on the Fundamentals
of Engineering. Taught two semesters of H1281 and two semesters of H1282. Delivered
weekly lectures covering laboratory content. Developed laboratory curriculum and hardware.
Responsible for managing three undergraduate teaching assistants per semester.
The Ohio State University
Columbus, OH
Undergraduate Teaching Assistant, ENG H191, H192, H193
Fall 2006-Spring 2009
Responsible for in-class mentoring of first-year undergraduate students in the Fundamental
of Engineering for Honors program. Graded and developed daily assignments. Developed
hardware and software systems to support a robotics design course for first-year students.
Honors and Awards
• Recognized as a 2014 IEEE TRO Outstanding Reviewer (top 20 reviewers selected)
• NSF Graduate Research Fellowship (2011)
• IEEE Robotics and Automation Society Travel Award (2012, 2013, 2014)
• NSF GRASSROOTS Fellowship for the IEEE International Conference on Robotics and
Automation (2011)
• University Fellowship from The Ohio State University (2010)
• Ohio Space Grant Consortium Fellowship (2009)
• Undergraduate Research Scholar Award, Ohio State College of Engineering (2008)
Professional Service
• Reviewer for a number of robotics conferences (IEEE ICRA, IEEE IROS, IEEE Humanoids, IEEE BioRob) and journals (AURO, IJHR, IJRR, IEEE TRO, IEEE RAL)
• Student Activities Co-Chair, IEEE Robotics and Automation Society (2012-2014)
• Co-President and Co-Founder, OSU IEEE Graduate Student Branch (2010-2012)
• Treasurer, OSU IEEE Graduate Student Branch (2012-2014)
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Outreach and Public Media
• Over 100 news outlets picked up my research on autonomous jumping for the MIT Cheetah.
Work was covered by CNN, the Wall Street Journal, Wired, Popular Science, TIME, and
many others. May-June 2015
• Accompanying research video highlighting my work on the MIT Cheetah received over 7
million views on YouTube, May 2015
• IEEE Spectrum article “KURMET Bipedal Robot Can Hop Over Obstacles” covered my
undergraduate research work on an experimental hopping machine, May 2011
• Presented my robotics research at The Ohio State Summer Honors Institute for gifted high
school students, Summer 2008-2010 and 2012-2014
• FIRST Robotics mentor, Columbus School for Girls, 2007-2008
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