Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction

by Posa, Michael, Tobenkin, Mark, Tedrake, Russ
Published 2020

Balance control using center of mass height variation: Limitations imposed by unilateral contact

by Koolen, Twan, Posa, Michael, Tedrake, Russell L
Published 2019

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization

by Posa, Michael Antonio, Koolen, Twan, Tedrake, Russell L
Published 2020

A direct method for trajectory optimization of rigid bodies through contact

by Posa, Michael Antonio, Cantu, Cecilia, Tedrake, Russell Louis
Published 2014

An Architecture for Online Affordance-based Perception and Whole-body Planning

by Kuindersma, Scott, Karumanchi, Sisir B., Antone, Matthew, Dai, Hongkai, DiCicco, Matt, Fourie, Dehann, Yu, Kuan-Ting, Iagnemma, Karl, Teller, Seth, Perez D'Arpino, Claudia, Deits, Robin Lloyd Henderson, Koolen, Frans Anton, Marion, James Patrick, Posa, Michael Antonio, Valenzuela, Andres Klee, Shah, Julie A, Tedrake, Russell L, Fallon, Maurice, Schneider, Toby Edwin
Published 2015