14 citations · 16 across the 4 of their papers we have counts for
7 papers · 1 filter
Optimization-Based Control for Dynamic Legged Robots
Patrick M. Wensing, Michael Posa, Yue Hu +3
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. Th…
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Mihir Parmar, Mathew Halm, Michael Posa
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and contro…
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
Samuel Pfrommer, Mathew Halm, Michael Posa
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In…
Contact-Aware Controller Design for Complementarity Systems
Alp Aydinoglu, Victor M. Preciado, Michael Posa
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle…
Optimal Reduced-order Modeling of Bipedal Locomotion
Yu-Ming Chen, Michael Posa
State-of-the-art approaches to legged locomotion are widely dependent on the use of models like the linear inverted pendulum (LIP) and the spring-loaded inverted pendulum (SLIP), p…
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Mathew Halm, Michael Posa
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-p…