[1987@Khatib] O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," in IEEE Journal on Robotics and Automation, 1987.
[1987@Nakamura] Nakamura Y, Hanafusa H, Yoshikawa T. Task-Priority Based Redundancy Control of Robot Manipulators. The International Journal of Robotics Research. 1987;6(2):3-15.
[1991@Siciliano] B. Siciliano and J. . -J. E. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems," Fifth International Conference on Advanced Robotics, Pisa, Italy, 1991.
[1991@Umeyama] S. Umeyama, "Least-squares estimation of transformation parameters between two point patterns," in IEEE Transactions on Pattern Analysis and Machine Intelligence, 1991.
[1996@Hutchson] S. Hutchinson, G. D. Hager and P. I. Corke, "A tutorial on visual servo control," in IEEE Transactions on Robotics and Automation, 1996.
[1997@Voyles] Voyles, R. M., Morrow, J. D., and Khosla, P. K. "The Shape From Motion Approach to Rapid and Precise Force/Torque Sensor Calibration." ASME. J. Dyn. Sys., Meas., Control. 1997.
[1998@Dam] Dam, Erik B., Martin Koch, Martin Lillholm. "Quaternions, Interpolation, and Animation", University of Copenhagen, København, Denmark, 1998.
[2001@Corke] P. I. Corke and S. A. Hutchinson, "A new partitioned approach to image-based visual servo control," in IEEE Transactions on Robotics and Automation, 2001.
[2002@Bartlett] Bartlett, Roscoe & Biegler, Lorenz & Backstrom, Johan & Gopal, Vipin. (2002). Quadratic programming algorithms for large-scale model predictive control. Journal of Process Control. 12. 775-795.
[2004@Albu-Schaffer] A. Albu-Schaffer, C. Ott and G. Hirzinger, "A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments," IEEE International Conference on Robotics and Automation, 2004.
[2005@Sentis] Sentis, Luis & Khatib, Oussama. (2005). Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives. I. J. Humanoid Robotics.
[2006@Chaumette] F. Chaumette and S. Hutchinson, "Visual servo control. I. Basic approaches," in IEEE Robotics & Automation Magazine, 2006
[2006@Park] Jaeheung Park and O. Khatib, "Contact consistent control framework for humanoid robots," Proceedings 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA, 2006.
[2007@Chaumette] F. Chaumette and S. Hutchinson, "Visual servo control. II. Advanced approaches [Tutorial]," in IEEE Robotics & Automation Magazine, 2007.
[2007@Sentis] Sentis, Luis. Synthesis and control of whole-body behaviors in humanoid systems. PhD Thesis, Stanford University, 2007.
[2008@Nakanishi] Nakanishi J, Cory R, Mistry M, Peters J, Schaal S. Operational Space Control: A Theoretical and Empirical Comparison. The International Journal of Robotics Research. 2008.
[2009@Kanoun] Oussama Kanoun. Contribution à la planification de mouvement pour robots humanoïdes. PhD Thesis, Université Paul Sabatier, Toulouse III, 2009.
[2010@Lasa] Martin de Lasa, Igor Mordatch, and Aaron Hertzmann. 2010. Feature-based locomotion controllers. ACM Trans. Graph. 29, 4, Article 131, July 2010.
[2011@Jerez] J. L. Jerez, E. C. Kerrigan and G. A. Constantinides, "A condensed and sparse QP formulation for predictive control," IEEE Conference on Decision and Control and European Control Conference, 2011.
[2013@Orin] Orin, D.E., Goswami, A., Lee, SH. Centroidal dynamics of a humanoid robot. Autonomous Robot 35, 161-176, 2013.
[2014@Dai] H. Dai, A. Valenzuela and R. Tedrake, "Whole-body motion planning with centroidal dynamics and full kinematics," 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 295-302, 2014.
[2014@Escande] Escande A, Mansard N, Wieber P-B. Hierarchical quadratic programming: Fast online humanoid-robot motion generation. The International Journal of Robotics Research. 2014.
[2014@Hutter] Hutter M, Sommer H, Gehring C, Hoepflinger M, Bloesch M, Siegwart R. Quadrupedal locomotion using hierarchical operational space control. The International Journal of Robotics Research, 2014.
[2015@Dietrich] Dietrich A, Ott C, Albu-Schäffer A. An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research. 2015.
[2015@Gallego] Gallego, G., Yezzi, A. A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates. Math Imaging Vis, 2015.
[2015@Herzog] Herzog, A., Rotella, N., Mason, S. et al. Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Auton Robot 40, 473-491, 2016.
[2015@Liu] Liu, M., Tan, Y. & Padois, V. Generalized hierarchical control. Auton Robot 40, 17-31, 2016.
[2016@Bellicoso] C. Dario Bellicoso, C. Gehring, J. Hwangbo, P. Fankhauser and M. Hutter, "Perception-less terrain adaptation through whole body control and hierarchical optimization," 2016 IEEE-RAS 16th International Conference on Humanoid Robots, Cancun, Mexico, 2016.
[2016@Liu] Liu, M., Lober, R. & Padois, V. Whole-body hierarchical motion and force control for humanoid robots. Auton Robot 40, 493-504, 2016.
[2016@Zhao] S. Zhao, Time Derivative of Rotation Matrices: A Tutorial, ArXiv, 2016.
[2017@Carmichael] Carmichael MG, Liu D, Waldron KJ. A framework for singularity-robust manipulator control during physical human-robot interaction. The International Journal of Robotics Research. 2017.
[2018@Carlo] J. Di Carlo, P. M. Wensing, B. Katz, G. Bledt and S. Kim, "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control," 2018 IEEE/RSJ IROS, 2018.
[2018@Kim] Kim, Donghyun et al. “Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints.” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-8, 2018.
[2019@Carlson] Fredrik Bagge Carlson, On the Calibration of Force/Torque Sensors in Robotics. arXiv, 2019.
[2019@Dehio] N. Dehio and J. J. Steil, "Dynamically-consistent Generalized Hierarchical Control," 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019.
[2019@Kim] Donghyun Kim, et al. “Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control.” ArXiv, 2019.
[2020@Haviland] Jesse Haviland and Peter Corke. "A Systematic Approach to Computing the Manipulator Jacobian and Hessian using the Elementary Transform Sequence", ArXiv, 2020.
[2020@Huber] Huber, G., & Wollherr, D. (2020). An Online Trajectory Generator on SE(3) for Human-Robot Collaboration. Robotica.
[2020@Iskandar] M. Iskandar, C. Ott, O. Eiberger, M. Keppler, A. Albu-Schäffer and A. Dietrich, "Joint-Level Control of the DLR Lightweight Robot SARA," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020.
[2020@Kim] Kim D, Jorgensen SJ, Lee J, Ahn J, Luo J, Sentis L. Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control. The International Journal of Robotics Research. 2020.
[2020@Klemm] Klemm, Victor et al. “LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops.” IEEE Robotics and Automation Letters, 3745-3752, 2020.
[2020@Sugihara] Sugihara, Tomomichi, and Mitsuharu Morisawa. "A Survey: Dynamics of Humanoid Robots." Advanced Robotics 34, 2020.
[2021-2@Jin] Z. Jin and P. R. Pagilla, "Chapter 6: Blended Shared Control in Collaborative Robotics," in Manufacturing in the Era of 4th Industrial Revolution, World Scientific, 2021.
[2021@Haviland] Jesse Haviland and Peter Corke. "NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators", IEEE Robotics and Automation Letters, 2021.
[2021@Jin] Z. Jin, P. R. Pagilla, H. Maske and G. Chowdhary, "Task Learning, Intent Prediction, and Adaptive Blended Shared Control With Application to Excavators," in IEEE Transactions on Control Systems Technology, 2021.
[2021@Yu] X. Yu, "Control System Design of Bionic Quadruped Robot Based on Stability", Master Thesis, Beihang University, 2021.
[2022@Haviland] Jesse Haviland, Niko Sunderhauf, Peter Corke. "A Holistic Approach to Reactive Mobile Manipulation", IEEE Robotics and Automation Letters, 2022.
[2022@Jin] Z. Jin and P. R. Pagilla, "Shared Control With Efficient Subgoal Identification and Adjustment for Human-Robot Collaborative Tasks," in IEEE Transactions on Control Systems Technology, 2022.
[2022@Khazoom] C. Khazoom, D. Gonzalez-Diaz, Y. Ding and S. Kim, "Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions," 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, 2022, pp. 558-565.
[2022@Li] Li J, Gao H, Wan Y, Humphreys J, Peers C, Yu H, Zhou C. Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator. Actuators. 2022.
[2023-2@Haviland] J. Haviland and P. Corke, "Manipulator Differential Kinematics: Part 2: Acceleration and Advanced Applications," in IEEE Robotics & Automation Magazine, 2023.
[2023@Haviland] J. Haviland and P. Corke, "Manipulator Differential Kinematics: Part I: Kinematics, Velocity, and Applications," in IEEE Robotics & Automation Magazine, 2023.
[2023@Li] Li, Q., Pang, Y., Cai, W., Wang, Y., Li, Q., Zhao, M. An Overview of Multi-task Control for Redundant Robot Based on Quadratic Programming. 2023 Chinese Intelligent Automation Conference, CIAC, 2023.
[2024@Steen] J. van Steen, G. v. d. Brandt, N. v. d. Wouw, J. Kober and A. Saccon, "Quadratic Programming-Based Reference Spreading Control for Dual-Arm Robotic Manipulation With Planned Simultaneous Impacts," in IEEE Transactions on Robotics, 2024.
[2024@Wolde] J. de Wolde, L. Knoedler, G. Garofalo and J. Alonso-Mora, "Current-Based Impedance Control for Interacting with Mobile Manipulators," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
[2025@Gu] Gu, Zhaoyuan et al. “Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning”, Arxiv, 2025.
[2025@Marticorena] Nicolas Marticorena, Tobias Fischer, Jesse Haviland, Niko Suenderhauf. RMMI: Reactive Mobile Manipulation using an Implicit Neural Map. arXiv, 2025.
Textbooks
[2004@Boyd] Stephen Boyd and Lieven Vandenberghe, Convex Optimization, Cambridge University Press, 2004.
[2007@Camacho] E. F. Camacho and C. Bordons, “Model Predictive Control,” 2nd Edition, Springer-Verlag, London, 2007.
[2007@Featherstone] Roy Featherstone. Rigid Body Dynamics Algorithms. Springer-Verlag, Berlin, Heidelberg. 2007.
[2007@Siciliano] Bruno Siciliano and Oussama Khatib. Springer Handbook of Robotics. Springer-Verlag, Berlin, Heidelberg, 2007.
[2008@Ott] Christian Ott. Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Springer Publishing Company, Incorporated, 2008.
[2009@Siciliano] Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.
[2015@Abbott] S. Abbott, Understanding Analysis, 2nd Edition, Springer, 2015.
[2016@Strang] G. Strang, Introduction to Linear Algebra, 5th Edition, Wellesley-Cambridge Press, 2016.
[2017@Corke] P. Corke, “Robotics, Vision and Control”, Springer, 2017.
[2017@EthRsl] Robotic Systems Lab, Robot Dynamics Lecture Notes, ETH Zurich, HS 2017.
[2017@Lynch] Kevin M. Lynch and Frank C. Park, "Modern Robotics: Mechanics, Planning, and Control", Cambridge University Press, 2017.
Media
[Aleksander@2009] Aleksander, The Core Pattern (core_pattern), or how to specify filename and path for core dumps, SIGQUIT, 2009.
[Bazett@GradDesc] Trefor Bazett, Intro to Gradient Descent, YouTube, 2023.
[Bazett@LagMul] Trefor Bazett, Lagrange Multipliers Geometric Meaning and Example, YouTube, 2019.
[Bazett@LagMulTwoCon] Trefor Bazett, Lagrange Multipliers with Two Constraints, YouTube, 2020.
[Bazett@OptWithBounds] Trefor Bazett, Multivariable Optimization with Boundaries, YouTube, 2020.
[Evans@2018] Julia Evans, How to get a core dump for a segfault on Linux, 2018.
[Gaschler@2016] Andre Gaschler, 3D Rotation Converter, GitHub, 2016.
[Gavin@ConOptLagMul] Henri P. Gavin and Jeffrey T. Scruggs, Constrained Optimization using Lagrange Multipliers, the KKT Equation, Duke University, 2020.
[Ghaoui@2021] L. El Ghaoui, Pseudo-Inverse of a Matrix, "Hyper-Textbook: Optimization Models and Applications", UC Berkeley, 2021.
[Haviland@2023] Jesse Haviland and Peter Corke, "A Tutorial on Manipulator Differential Kinematics", GitHub, 2023.
[Khan@ConOpt] Sal Khan, Constrained Optimization, Khan Academy, 2016.
[Law@2015] Greg Law, "Give me 15 minutes, I will change your view of GDB", CppCon, 2015.
[Law@2016] Greg Law, “GDB, A Lot More Than You Knew", CppCon, 2016.
[Lll@2022] Low Level Learning, "You Need to Stop Using Print Debugging (use Core Dump instead)", YouTube, 2022.
[Lmp@core] Linux manual page, core(5), Linux/UNIX System Programming Training.
[2022@Li] Li J, Gao H, Wan Y, Humphreys J, Peers C, Yu H, Zhou C. Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator. Actuators. 2022.
[2024@Steen] J. van Steen, G. v. d. Brandt, N. v. d. Wouw, J. Kober and A. Saccon, "Quadratic Programming-Based Reference Spreading Control for Dual-Arm Robotic Manipulation With Planned Simultaneous Impacts," in IEEE Transactions on Robotics, 2024.
[2024@Wolde] J. de Wolde, L. Knoedler, G. Garofalo and J. Alonso-Mora, "Current-Based Impedance Control for Interacting with Mobile Manipulators," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
[2025@Gu] Gu, Zhaoyuan et al. “Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning”, Arxiv, 2025.