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A direct method for trajectory optimization of rigid bodies through contact

The International journal of robotics research, 2014-01, Vol.33 (1), p.69-81

2014

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Validating Robotics Simulators on Real-World Impacts

IEEE robotics and automation letters, 2022-07, Vol.7 (3), p.6471-6478

2022

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

Journal of field robotics, 2015-03, Vol.32 (2), p.229-254

2015

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Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts

The International journal of robotics research, 2024-05

2024

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Task-Driven Hybrid Model Reduction for Dexterous Manipulation

IEEE transactions on robotics, 2024, Vol.40, p.1774-1794

2024

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Impact Invariant Control with Applications to Bipedal Locomotion

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, p.5151-5158

2021

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

IEEE transactions on automatic control, 2016-06, Vol.61 (6), p.1423-1437

2016

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Stabilization of Complementarity Systems via Contact-Aware Controllers

IEEE transactions on robotics, 2022-06, Vol.38 (3), p.1735-1754

2022

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Consensus Complementarity Control for Multicontact MPC

IEEE transactions on robotics, 2024, Vol.40, p.3879-3896

2024

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Fundamental Challenges in Deep Learning for Stiff Contact Dynamics

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, p.5181-5188

2021

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

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, p.8-15

2016

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Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion

IEEE transactions on robotics, 2024, Vol.40, p.2582-2601

2024

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Optimization-Based Control for Dynamic Legged Robots

IEEE transactions on robotics, 2024, Vol.40, p.43-63

2024

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Integrable Whole-Body Orientation Coordinates for Legged Robots

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, p.10440-10447

2023

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Real-Time Multi-Contact Model Predictive Control via ADMM

2022 International Conference on Robotics and Automation (ICRA), 2022, p.3414-3421

2022

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Optimization and stabilization of trajectories for constrained dynamical systems

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, p.1366-1373

2016

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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning

2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, p.9212-9219

2024

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Optimization for Control and Planning of Multi-contact Dynamic Motion

Posa, Michael

2017

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Bipedal Walking on Constrained Footholds with MPC Footstep Control

2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023, p.1-8

2023

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Reinforcement Learning for Reduced-order Models of Legged Robots

2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, p.5801-5807

2024

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Contact-Aware Controller Design for Complementarity Systems

2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, p.1525-1531

2020

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Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning

2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, p.5822-5828

2024

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Optimal Reduced-order Modeling of Bipedal Locomotion

2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, p.8753-8760

2020

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Stability analysis of complementarity systems with neural network controllers

Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control, 2021, p.1-10

2021

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

Algorithmic Foundations of Robotics XIII, p.491-507

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A direct method for trajectory optimization of rigid bodies through contact

Validating Robotics Simulators on Real-World Impacts

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

Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts

Task-Driven Hybrid Model Reduction for Dexterous Manipulation

Impact Invariant Control with Applications to Bipedal Locomotion

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

Stabilization of Complementarity Systems via Contact-Aware Controllers

Consensus Complementarity Control for Multicontact MPC

Fundamental Challenges in Deep Learning for Stiff Contact Dynamics

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

Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion

Optimization-Based Control for Dynamic Legged Robots

Integrable Whole-Body Orientation Coordinates for Legged Robots

Real-Time Multi-Contact Model Predictive Control via ADMM

Optimization and stabilization of trajectories for constrained dynamical systems

Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning

Optimization for Control and Planning of Multi-contact Dynamic Motion

Bipedal Walking on Constrained Footholds with MPC Footstep Control

Reinforcement Learning for Reduced-order Models of Legged Robots

Contact-Aware Controller Design for Complementarity Systems

Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning

Optimal Reduced-order Modeling of Bipedal Locomotion

Stability analysis of complementarity systems with neural network controllers

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

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