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Michael Posa
Michael Posa
Assistant Professor, University of Pennsylvania
Verifierad e-postadress på seas.upenn.edu - Startsida
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A Direct Method for Trajectory Optimization of Rigid Bodies Through Contact
M Posa, C Cantu, R Tedrake
International Journal of Robotics Research 33 (1), 69:81, 2014
7822014
Optimization and stabilization of trajectories for constrained dynamical systems
M Posa, S Kuindersma, R Tedrake
Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016
2382016
Direct trajectory optimization of rigid body dynamical systems through contact
M Posa, R Tedrake
Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on …, 2013
1842013
An architecture for online affordance‐based perception and whole‐body planning
M Fallon, S Kuindersma, S Karumanchi, M Antone, T Schneider, H Dai, ...
Journal of Field Robotics 32 (2), 229-254, 2015
1802015
Optimization-based control for dynamic legged robots
PM Wensing, M Posa, Y Hu, A Escande, N Mansard, A Del Prete
IEEE Transactions on Robotics, 2023
1302023
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
S Pfrommer*, M Halm*, M Posa
Conference on Robot Learning (CoRL), 2020
992020
Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction
M Posa, M Tobenkin, R Tedrake
IEEE Transactions on Automatic Control 61 (6), 1423 - 1437, 2016
972016
Balance control using center of mass height variation: Limitations imposed by unilateral contact
T Koolen, M Posa, R Tedrake
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 8-15, 2016
962016
Balancing and step recovery capturability via sums-of-squares optimization
MA Posa, T Koolen, RL Tedrake
Robotics: Science and Systems, 2017
622017
Real-time multi-contact model predictive control via admm
A Aydinoglu, M Posa
2022 International Conference on Robotics and Automation (ICRA), 3414-3421, 2022
542022
Stabilization of complementarity systems via contact-aware controllers
A Aydinoglu, P Sieg, VM Preciado, M Posa
IEEE Transactions on Robotics 38 (3), 1735-1754, 2022
432022
Optimal reduced-order modeling of bipedal locomotion
YM Chen, M Posa
2020 IEEE International Conference on Robotics and Automation (ICRA), 8753-8760, 2020
422020
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
M Posa, M Tobenkin, R Tedrake
Proceedings of the 16th international conference on Hybrid systems …, 2013
422013
Validating robotics simulators on real-world impacts
B Acosta*, W Yang*, M Posa
IEEE Robotics and Automation Letters 7 (3), 6471-6478, 2022
412022
Fundamental challenges in deep learning for stiff contact dynamics
M Parmar*, M Halm*, M Posa
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
41*2021
Impact Invariant Control with Applications to Bipedal Locomotion
W Yang, M Posa
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
392021
Contact-aware controller design for complementarity systems
A Aydinoglu, VM Preciado, M Posa
2020 IEEE International Conference on Robotics and Automation (ICRA), 1525-1531, 2020
302020
Learning linear complementarity systems
W Jin, A Aydinoglu, M Halm, M Posa
Learning for Dynamics and Control Conference, 1137-1149, 2022
232022
Consensus complementarity control for multi-contact mpc
A Aydinoglu, A Wei, WC Huang, M Posa
IEEE Transactions on Robotics, 2024
212024
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
M Halm, M Posa
Robotics: Science and Systems, 2019
202019
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Artiklar 1–20