Sotabase

Career

· Robotics Engineer, Boston Dynamics2024–
· PhD Student (defended thesis in 2019), MIT Robot Locomotion Group2019–

Publications (22)

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Autonomous Robots · 2015
877
cited
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
Int. J. Robotics Res. · 2011
500
cited
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
Int. J. Robotics Res. · 2012
298
cited
Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials
J. Field Robotics · 2015
269
cited
Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas
Int. J. Humanoid Robotics · 2016
243
cited
An Architecture for Online Affordance‐based Perception and Whole‐body Planning
J. Field Robotics · 2015
159
cited
Summary of Team IHMC's virtual robotics challenge entry
IEEE-RAS International Conference on Humanoid Robots · 2013
92
cited
Balance control using center of mass height variation: Limitations imposed by unilateral contact
IEEE-RAS International Conference on Humanoid Robots · 2016
75
cited
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2014
66
cited
Director: A User Interface Designed for Robot Operation with Shared Autonomy
J. Field Robotics · 2017
61
cited
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
Robotics: Science and Systems · 2017
46
cited
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers
IEEE International Conference on Robotics and Automation · 2018
40
cited
Julia for robotics: simulation and real-time control in a high-level programming language
IEEE International Conference on Robotics and Automation · 2019
39
cited
The Yobotics-IHMC Lower Body Humanoid Robot
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2009
22
cited
Benchmarking and Workload Analysis of Robot Dynamics Algorithms
IEEE/RJS International Conference on Intelligent RObots and Systems · 2019
19
cited
Threshold amplitude and frequency for ocular tissue release from a vibrating instrument: an experimental study.
Investigative Ophthalmology and Visual Science · 2008
10
cited
Stepping for Balance Maintenance Including Push-Recovery
Humanoid Robotics: A Reference · 2018
6
cited
JuliaIntervals/IntervalArithmetic.jl: v0.17.6
2020
3
cited
Koolen et al. - 2012 - Capturability-based analysis and control of legged locomotion, Part 1 Theory and application to three simple gait models(2)
2014
3
cited
Approximate explicit model predictive control for push recovery using mixed-integer convex optimization
2017
1
cited
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Twan Koolen | Researcher Profile | Sotabase | Sotabase