Michael Posa

IEEE Trans. Robotics, 2024

2023

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning.

[BibT_eX]

[DOI]

CoRR, 2023

Reinforcement Learning for Reduced-order Models of Legged Robots.

[BibT_eX]

[DOI]

Yu-Ming Chen

Hien Bui

CoRR, 2023

Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning.

[BibT_eX]

[DOI]

Hien Bui

CoRR, 2023

Instance-Agnostic Geometry and Contact Dynamics Learning.

[BibT_eX]

[DOI]

CoRR, 2023

Consensus Complementarity Control for Multi-Contact MPC.

[BibT_eX]

[DOI]

Adam Wei

CoRR, 2023

Impact-Invariant Control: Maximizing Control Authority During Impacts.

[BibT_eX]

[DOI]

William Yang

CoRR, 2023

Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion.

[BibT_eX]

[DOI]

Yu-Ming Chen

Jianshu Hu

CoRR, 2023

Integrable Whole-Body Orientation Coordinates for Legged Robots.

[BibT_eX]

[DOI]

IROS, 2023

Bipedal Walking on Constrained Footholds with MPC Footstep Control.

[BibT_eX]

[DOI]

Brian Acosta

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Im2Contact: Vision-Based Contact Localization Without Touch or Force Sensing.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 2023

Simultaneous Learning of Contact and Continuous Dynamics.

[BibT_eX]

[DOI]

Bibit Bianchini

Proceedings of the Conference on Robot Learning, 2023

2022

Stabilization of Complementarity Systems via Contact-Aware Controllers.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

Validating Robotics Simulators on Real-World Impacts.

[BibT_eX]

[DOI]

Brian Acosta

William Yang

IEEE Robotics Autom. Lett., 2022

Optimization-Based Control for Dynamic Legged Robots.

[BibT_eX]

[DOI]

CoRR, 2022

Angular Center of Mass for Humanoid Robots.

[BibT_eX]

[DOI]

CoRR, 2022

Learning Linear Complementarity Systems.

[BibT_eX]

[DOI]

Proceedings of the Learning for Dynamics and Control Conference, 2022

Generalization Bounded Implicit Learning of Nearly Discontinuous Functions.

[BibT_eX]

[DOI]

Proceedings of the Learning for Dynamics and Control Conference, 2022

Real-Time Multi-Contact Model Predictive Control via ADMM.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact.

[BibT_eX]

[DOI]

CoRR, 2021

Impact Invariant Control with Applications to Bipedal Locomotion.

[BibT_eX]

[DOI]

William Yang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Fundamental Challenges in Deep Learning for Stiff Contact Dynamics.

[BibT_eX]

[DOI]

Mihir Parmar

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Stability analysis of complementarity systems with neural network controllers.

[BibT_eX]

[DOI]

Proceedings of the HSCC '21: 24th ACM International Conference on Hybrid Systems: Computation and Control, 2021

2020

Stabilization of Complementarity Systems via Contact-Aware Controllers.

[BibT_eX]

[DOI]

Victor M. Preciado

CoRR, 2020

Optimal Reduced-order Modeling of Bipedal Locomotion.

[BibT_eX]

[DOI]

Yu-Ming Chen

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Contact-Aware Controller Design for Complementarity Systems.

[BibT_eX]

[DOI]

Victor M. Preciado

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations.

[BibT_eX]

[DOI]

Samuel Pfrommer

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XV, 2019

2018

A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

2017

Optimization for control and planning of multi-contact dynamic motion.

[BibT_eX]

[DOI]

PhD thesis, 2017

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization.

[BibT_eX]

[DOI]

Twan Koolen

Proceedings of the Robotics: Science and Systems XIII, 2017

2016

Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction.

[BibT_eX]

[DOI]

Mark M. Tobenkin

IEEE Trans. Autom. Control., 2016

Optimization and stabilization of trajectories for constrained dynamical systems.

[BibT_eX]

[DOI]

Scott Kuindersma

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Balance control using center of mass height variation: Limitations imposed by unilateral contact.

[BibT_eX]

[DOI]

Twan Koolen

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

2015

An Architecture for Online Affordance-based Perception and Whole-body Planning.

[BibT_eX]

[DOI]

Claudia Pérez-D'Arpino

J. Field Robotics, 2015

2014

A direct method for trajectory optimization of rigid bodies through contact.

[BibT_eX]

[DOI]

Cecilia Cantu

Int. J. Robotics Res., 2014

2013

Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares.

[BibT_eX]

[DOI]

Mark M. Tobenkin

Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

2012

Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics X, 2012

Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact.

[BibT_eX]

[DOI]