Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. - Michael Posa; Russ Tedrake (WAFR, 2012)

Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. - Michael Posa; Russ Tedrake (WAFR, 2012)

Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. - Michael Posa; Mark M. Tobenkin; Russ Tedrake (HSCC, 2013)

A direct method for trajectory optimization of rigid bodies through contact. - Michael Posa; Cecilia Cantu; Russ Tedrake (Int. J. Robotics Res., 2014)

An Architecture for Online Affordance-based Perception and Whole-body Planning. - Maurice F. Fallon; Scott Kuindersma; Sisir Karumanchi; Matthew E. Antone; Toby Schneider; Hongkai Dai; Claudia Pérez-D'Arpino; Robin Deits; Matt DiCicco; Dehann Fourie; Twan Koolen; Pat Marion; et al. (J. Field Robotics, 2015)

Balance control using center of mass height variation: Limitations imposed by unilateral contact. - Twan Koolen; Michael Posa; Russ Tedrake (Humanoids, 2016)

Optimization and stabilization of trajectories for constrained dynamical systems. - Michael Posa; Scott Kuindersma; Russ Tedrake (ICRA, 2016)

Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction. - Michael Posa; Mark M. Tobenkin; Russ Tedrake (IEEE Trans. Autom. Control., 2016)

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization. - Michael Posa; Twan Koolen; Russ Tedrake (Robotics: Science and Systems, 2017)

Optimization for control and planning of multi-contact dynamic motion. - Michael Posa (2017)

A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming. - Mathew Halm; Michael Posa (WAFR, 2018)

Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts. - Mathew Halm; Michael Posa (Robotics: Science and Systems, 2019)

ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations. - Samuel Pfrommer; Mathew Halm; Michael Posa (CoRL, 2020)

Contact-Aware Controller Design for Complementarity Systems. - Alp Aydinoglu; Victor M. Preciado; Michael Posa (ICRA, 2020)

Optimal Reduced-order Modeling of Bipedal Locomotion. - Yu-Ming Chen 003; Michael Posa (ICRA, 2020)

Stabilization of Complementarity Systems via Contact-Aware Controllers. - Alp Aydinoglu; Victor M. Preciado; Michael Posa (CoRR, 2020)

Stability analysis of complementarity systems with neural network controllers. - Alp Aydinoglu; Mahyar Fazlyab; Manfred Morari; Michael Posa (HSCC, 2021)

Fundamental Challenges in Deep Learning for Stiff Contact Dynamics. - Mihir Parmar; Mathew Halm; Michael Posa (IROS, 2021)

Impact Invariant Control with Applications to Bipedal Locomotion. - William Yang; Michael Posa (IROS, 2021)

Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact. - Mathew Halm; Michael Posa (CoRR, 2021)

Real-Time Multi-Contact Model Predictive Control via ADMM. - Alp Aydinoglu; Michael Posa (ICRA, 2022)

Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. - Bibit Bianchini; Mathew Halm; Nikolai Matni; Michael Posa (L4DC, 2022)

Learning Linear Complementarity Systems. - Wanxin Jin; Alp Aydinoglu; Mathew Halm; Michael Posa (L4DC, 2022)

Angular Center of Mass for Humanoid Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (CoRR, 2022)

Validating Robotics Simulators on Real-World Impacts. - Brian Acosta; William Yang; Michael Posa (IEEE Robotics Autom. Lett., 2022)

Stabilization of Complementarity Systems via Contact-Aware Controllers. - Alp Aydinoglu; Philip Sieg; Victor M. Preciado; Michael Posa (IEEE Trans. Robotics, 2022)

Simultaneous Learning of Contact and Continuous Dynamics. - Bibit Bianchini; Mathew Halm; Michael Posa (CoRL, 2023)

Im2Contact: Vision-Based Contact Localization Without Touch or Force Sensing. - Leon Kim; Yunshuang Li; Michael Posa; Dinesh Jayaraman (CoRL, 2023)

Bipedal Walking on Constrained Footholds with MPC Footstep Control. - Brian Acosta; Michael Posa (Humanoids, 2023)

Integrable Whole-Body Orientation Coordinates for Legged Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (IROS, 2023)

Impact-Invariant Control: Maximizing Control Authority During Impacts. - William Yang; Michael Posa (CoRR, 2023)

Consensus Complementarity Control for Multi-Contact MPC. - Alp Aydinoglu; Adam Wei; Michael Posa (CoRR, 2023)

Instance-Agnostic Geometry and Contact Dynamics Learning. - Mengti Sun; Bowen Jiang; Bibit Bianchini; Camillo Jose Taylor; Michael Posa (CoRR, 2023)

Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning. - Hien Bui; Michael Posa (ICRA, 2024)

Reinforcement Learning for Reduced-order Models of Legged Robots. - Yu-Ming Chen 003; Hien Bui; Michael Posa (ICRA, 2024)

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning. - Wei-Cheng Huang; Alp Aydinoglu; Wanxin Jin; Michael Posa (ICRA, 2024)

Dynamic On-Palm Manipulation via Controlled Sliding. - William Yang; Michael Posa (Robotics: Science and Systems, 2024)

Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts. - Mathew Halm; Michael Posa (Int. J. Robotics Res., 2024)

Consensus Complementarity Control for Multicontact MPC. - Alp Aydinoglu; Adam Wei; Wei-Cheng Huang; Michael Posa (IEEE Trans. Robotics, 2024)

Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion. - Yu-Ming Chen 003; Jianshu Hu; Michael Posa (IEEE Trans. Robotics, 2024)

Task-Driven Hybrid Model Reduction for Dexterous Manipulation. - Wanxin Jin; Michael Posa (IEEE Trans. Robotics, 2024)

Editorial Introduction to the IEEE T-RO Special Collection on Impact-Aware Robotics. - Abderrahmane Kheddar; Yan Gu; Michael Posa; Alessandro Saccon (IEEE Trans. Robotics, 2024)

Optimization-Based Control for Dynamic Legged Robots. - Patrick M. Wensing; Michael Posa; Yue Hu 001; Adrien Escande; Nicolas Mansard; Andrea Del Prete (IEEE Trans. Robotics, 2024)

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain. - Brian Acosta; Michael Posa (IEEE Trans. Robotics, 2025)

Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics. - Bibit Bianchini; Minghan Zhu; Mengti Sun; Bowen Jiang; Camillo J. Taylor; Michael Posa (CoRR, 2025)

Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity. - Sharanya Venkatesh; Bibit Bianchini; Alp Aydinoglu; William Yang; Michael Posa (CoRR, 2025)