Search Results - "Posa, Michael"

A direct method for trajectory optimization of rigid bodies through contact by Posa, Michael, Cantu, Cecilia, Tedrake, Russ

“…Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as…”
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Validating Robotics Simulators on Real-World Impacts by Acosta, Brian, Yang, William, Posa, Michael

“…A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with…”
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An Architecture for Online Affordance-based Perception and Whole-body Planning by Fallon, Maurice, Kuindersma, Scott, Karumanchi, Sisir, Antone, Matthew, Schneider, Toby, Dai, Hongkai, D'Arpino, Claudia Pérez, Deits, Robin, DiCicco, Matt, Fourie, Dehann, Koolen, Twan, Marion, Pat, Posa, Michael, Valenzuela, Andrés, Yu, Kuan-Ting, Shah, Julie, Iagnemma, Karl, Tedrake, Russ, Teller, Seth

“…The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a…”
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Task-Driven Hybrid Model Reduction for Dexterous Manipulation by Jin, Wanxin, Posa, Michael

“…In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control…”
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Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts by Halm, Mathew, Posa, Michael

“…Robotic manipulation and locomotion often entail nearly-simultaneous collisions—such as heel and toe strikes during a foot step—with outcomes that are…”
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Balance control using center of mass height variation: Limitations imposed by unilateral contact by Twan Koolen, Posa, Michael, Tedrake, Russ

“…Maintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance control are taking a step, regulating the center of pressure…”
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Impact Invariant Control with Applications to Bipedal Locomotion by Yang, William, Posa, Michael

“…When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these…”
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Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction by Posa, Michael, Tobenkin, Mark, Tedrake, Russ

“…Many critical tasks in robotics, such as locomotion or manipulation, involve collisions between a rigid body and the environment or between multiple bodies…”
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Fundamental Challenges in Deep Learning for Stiff Contact Dynamics by Parmar, Mihir, Halm, Mathew, Posa, Michael

“…Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature…”
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Editorial Introduction to the IEEE T-RO Special Collection on Impact-Aware Robotics by Kheddar, Abderrahmane, Gu, Yan, Posa, Michael, Saccon, Alessandro

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Consensus Complementarity Control for Multicontact MPC by Aydinoglu, Alp, Wei, Adam, Huang, Wei-Cheng, Posa, Michael

“…We propose a hybrid model predictive control algorithm, consensus complementarity control, for systems that make and break contact with their environment. Many…”
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Stabilization of Complementarity Systems via Contact-Aware Controllers by Aydinoglu, Alp, Sieg, Philip, Preciado, Victor M., Posa, Michael

“…We propose a control framework, which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic…”
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Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion by Chen, Yu-Ming, Hu, Jianshu, Posa, Michael

“…Reduced-order models (ROMs) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of…”
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Optimization-Based Control for Dynamic Legged Robots by Wensing, Patrick M., Posa, Michael, Hu, Yue, Escande, Adrien, Mansard, Nicolas, Prete, Andrea Del

“…In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture,…”
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Integrable Whole-Body Orientation Coordinates for Legged Robots by Chen, Yu-Ming, Nelson, Gabriel, Griffin, Robert, Posa, Michael, Pratt, Jerry

“…Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a…”
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Real-Time Multi-Contact Model Predictive Control via ADMM by Aydinoglu, Alp, Posa, Michael

“…We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment…”
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Optimization and stabilization of trajectories for constrained dynamical systems by Posa, Michael, Kuindersma, Scott, Tedrake, Russ

“…Contact constraints, such as those between a foot and the ground or a hand and an object, are inherent in many robotic tasks. These constraints define a…”
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Dynamic On-Palm Manipulation via Controlled Sliding by Yang, William, Posa, Michael

“…Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be…”
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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning by Bui, Hien, Posa, Michael

“…In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts…”
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Bipedal Walking on Constrained Footholds with MPC Footstep Control by Acosta, Brian, Posa, Michael

“…Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot…”
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