September 18, 2018...on parallel differential dynamic programming on a GPU and nonlinear state estimation with rigid contact constraints. Submitted drafts are posted, final versions are on the way.
Research highlight: Ten Robotics Technologies of 2018 January 20, 2019Our 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. Read more about RSS 2018 paper accepted
Harvard Gazette article January 24, 2018Check 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, 2017Our 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... Read more about Papers accepted to RSS 2017 and IROS 2017!
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. Read more about 1st Summer School on Cognitive Robotics
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. Read more about Best 2016 Paper Award
RSS 2017 Workshop on Challenges in Dynamic Legged Locomotion: Design, Modeling, Estimation, and Control March 27, 2017Check 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! Read more about RSS 2017 Workshop on Challenges in Dynamic Legged Locomotion: Design, Modeling, Estimation, and Control
Sony Faculty Innovation Award February 15, 2017I am honored to have recieved a Sony Faculty Innovation Award for our work on robust control! Read more about Sony Faculty Innovation Award