Sotabase

Career

· Postdoctoral researcher (2009), MIT Robot Locomotion Group2009–
· Researcher (2008), MIT Robot Locomotion Group2008–
· PhD Student in Mechanical Engineering, MIT Robot Locomotion Group2004–
· Member, MIT Robot Locomotion Group

Publications (103)

Metastable Walking Machines
Int. J. Robotics Res. · 2009
202
cited
Mobile Manipulation and Mobility as Manipulation—Design and Algorithms of RoboSimian
J. Field Robotics · 2015
129
cited
Feature-based terrain classification for LittleDog
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2012
121
cited
Approximate optimal control of the compass gait on rough terrain
IEEE International Conference on Robotics and Automation · 2008
90
cited
Team RoboSimian: Semi‐autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals
J. Field Robotics · 2017
86
cited
Reliable Dynamic Motions for a Stiff Quadruped
International Symposium on Experimental Robotics · 2009
62
cited
Robust Policies via Meshing for Metastable Rough Terrain Walking
Robotics: Science and Systems · 2014
55
cited
Metastable Markov chains
IEEE Conference on Decision and Control · 2014
53
cited
Nonlinear model predictive control for rough-terrain robot hopping
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2012
51
cited
Metastable legged-robot locomotion
2008
48
cited
Reachability-based control for the active SLIP model
Int. J. Robotics Res. · 2015
41
cited
Enforced symmetry of the stance phase for the Spring-Loaded Inverted Pendulum
IEEE International Conference on Robotics and Automation · 2012
40
cited
Approximation and Control of the SLIP Model Dynamics via Partial Feedback Linearization and Two-Element Leg Actuation Strategy
IEEE Transactions on robotics · 2016
39
cited
Switching policies for metastable walking
IEEE Conference on Decision and Control · 2013
37
cited
Quantifying the trade-offs between stability versus energy use for underactuated biped walking
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2014
29
cited
Two-element control for the active SLIP model
IEEE International Conference on Robotics and Automation · 2013
29
cited
Metastable Walking on Stochastically Rough Terrain
Robotics: Science and Systems · 2008
28
cited
Meshing hybrid zero dynamics for rough terrain walking
IEEE International Conference on Robotics and Automation · 2015
27
cited
A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control
2010
26
cited
Stability and gait transition of the five-link biped on stochastically rough terrain using a discrete set of sliding mode controllers
IEEE International Conference on Robotics and Automation · 2013
26
cited
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Katie Byl | Researcher Profile | Sotabase | Sotabase