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Career

· Researcher, MIT Robot Locomotion Group2017–

Publications (57)

A direct method for trajectory optimization of rigid bodies through contact
Int. J. Robotics Res. · 2014
688
cited
Optimization-Based Control for Dynamic Legged Robots
IEEE Transactions on robotics · 2022
219
cited
Optimization and stabilization of trajectories for constrained dynamical systems
IEEE International Conference on Robotics and Automation · 2016
169
cited
An Architecture for Online Affordance‐based Perception and Whole‐body Planning
J. Field Robotics · 2015
159
cited
Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact
Workshop on the Algorithmic Foundations of Robotics · 2012
147
cited
ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations
Conference on Robot Learning · 2020
95
cited
Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction
IEEE Transactions on Automatic Control · 2016
80
cited
Balance control using center of mass height variation: Limitations imposed by unilateral contact
IEEE-RAS International Conference on Humanoid Robots · 2016
75
cited
Real-Time Multi-Contact Model Predictive Control via ADMM
IEEE International Conference on Robotics and Automation · 2021
56
cited
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
Robotics: Science and Systems · 2017
46
cited
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
IEEE/RJS International Conference on Intelligent RObots and Systems · 2021
42
cited
Consensus Complementarity Control for Multicontact MPC
IEEE Transactions on robotics · 2023
40
cited
Stabilization of Complementarity Systems via Contact-Aware Controllers
IEEE Transactions on robotics · 2020
38
cited
Validating Robotics Simulators on Real-World Impacts
IEEE Robotics and Automation Letters · 2021
38
cited
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
International Conference on Hybrid Systems: Computation and Control · 2013
35
cited
Optimal Reduced-order Modeling of Bipedal Locomotion
IEEE International Conference on Robotics and Automation · 2019
34
cited
Impact Invariant Control with Applications to Bipedal Locomotion
IEEE/RJS International Conference on Intelligent RObots and Systems · 2021
28
cited
Contact-Aware Controller Design for Complementarity Systems
IEEE International Conference on Robotics and Automation · 2019
23
cited
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Robotics: Science and Systems · 2019
19
cited
Task-Driven Hybrid Model Reduction for Dexterous Manipulation
IEEE Transactions on robotics · 2022
19
cited
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Michael Posa | Researcher Profile | Sotabase | Sotabase