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Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone
Mathematical programming, 2018-09, Vol.171 (1-2), p.1-54
2018
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Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Autonomous robots, 2016-03, Vol.40 (3), p.429-455
2016
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Solving Conic Optimization Problems via Self-Dual Embedding and Facial Reduction: A Unified Approach
SIAM journal on optimization, 2017-01, Vol.27 (3), p.1257-1282
2017
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A Geodesic Interior-Point Method for Linear Optimization over Symmetric Cones
SIAM journal on optimization, 2023-01, Vol.33 (2), p.1006-1034
2023
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Log-domain interior-point methods for convex quadratic programming
Optimization letters, 2023-09, Vol.17 (7), p.1613-1631
2023
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A stability governor for constrained linear–quadratic MPC without terminal constraints
Automatica (Oxford), 2024-06, Vol.164, Article 111650
2024
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A Computational Governor for Maintaining Feasibility and Low Computational Cost in Model Predictive Control
IEEE transactions on automatic control, 2023, p.1-16
2023
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An efficiently solvable quadratic program for stabilizing dynamic locomotion
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, p.2589-2594
2014
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An Unconstrained Convex Formulation of Compliant Contact
IEEE transactions on robotics, 2023-04, Vol.39 (2), p.1-20
2023
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Dimension reduction for semidefinite programs via Jordan algebras
Mathematical programming, 2020-05, Vol.181 (1), p.51-84
2020
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Using Bayesian Filtering to Localize Flexible Materials During Manipulation
IEEE transactions on robotics, 2011-06, Vol.27 (3), p.586-598
2011
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Basis selection for SOS programs via facial reduction and polyhedral approximations
53rd IEEE Conference on Decision and Control, 2014, p.6615-6620
2014
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Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
2023 American Control Conference (ACC), 2023, p.4116-4123
2023
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Using Bayesian Filtering to Localize Flexible Materials During Manipulation: Special Issue on Robotic Sense of Touch
IEEE transactions on robotics, 2011, Vol.27 (3), p.586-598
2011
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A Computationally Governed Log-domain Interior-point Method for Model Predictive Control
2022 American Control Conference (ACC), 2022, p.900-905
2022
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Finding sparse, equivalent SDPs using minimal coordinate projections
2015 54th IEEE Conference on Decision and Control (CDC), 2015, p.7274-7279
2015
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Selecting a monomial basis for sums of squares programming over a quotient ring
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012, p.1871-1876
2012
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A numerical algebraic geometry approach to regional stability analysis of polynomial systems
2013 American Control Conference, 2013, p.2127-2132
2013
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Position control of tendon-driven fingers with position controlled actuators
2012 IEEE International Conference on Robotics and Automation, 2012, p.2859-2864
2012
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A miniature load cell suitable for mounting on the phalanges of human-sized robot fingers
2011 IEEE International Conference on Robotics and Automation, 2011, p.5357-5362
2011
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