New journal paper on optimization algorithms for locomotion

June 17, 2015

Our paper entitled Optimization-based locomotion planning, estimation, and control design for Atlas has been accepted to Autonomous Robots and is now available for download.

Latest News

Research highlight: Ten Robotics Technologies of 2018

January 20, 2019

Our collaborative work on exosuit control optimization was highlighted as one of the Ten Robotics Technologies of the year by Science Robotics. Read more about Research highlight: Ten Robotics Technologies of 2018

Two WAFR papers accepted

September 18, 2018

...on parallel differential dynamic programming on a GPU and nonlinear state estimation with... Read more about Two WAFR papers accepted

RSS 2018 paper accepted

May 20, 2018

Check out our RSS 2018 paper entitled "Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot."

There's also a video summary here.

Harvard Gazette article

January 24, 2018

Check out this article in today's Harvard Gazette highlighting the diverse and exciting robotics research happening at SEAS! Read more about Harvard Gazette article

Paper accepted to ISRR 2017

September 4, 2017

Our paper entitled Variational Contact-Implicit Trajectory Optimization was acceppted to ISRR. Comments are welcomed and encourage as we prepare the camera-ready version!

Papers accepted to RSS 2017 and IROS 2017!

June 14, 2017

Our RSS paper on robust direct trajectory optimization can be found here.

A pre-print (comments welcome!) of our IROS paper on constrained UDP can be found...

1st Summer School on Cognitive Robotics

May 15, 2017

I will be giving a lecture on trajectory optimization for underactuated systems at the 1st Summer School on Cognitive Robotics @ MIT June 12-16. Please consider participating! Details here.

Best 2016 Paper Award

May 9, 2017

Our paper entitled "Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot" was selected as the Best Paper of 2016 by the IEEE-RAS Technical Committee on Whole-Body Control.

RSS 2017 Workshop on Challenges in Dynamic Legged Locomotion: Design, Modeling, Estimation, and Control

March 27, 2017

Check out our upcoming Workshop on Legged Locomotion @ RSS on July 15, 2017: https://leggedrobotlocomotion.wordpress.com/

We have an incredible list of speakers lined up and we are soliciting poster abstracts (deadline: May 30, 2017). Please consider participating!

Sony Faculty Innovation Award

February 15, 2017

I am honored to have recieved a Sony Faculty Innovation Award for our work on robust control!