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1

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

Kuindersma, Scott, Deits, Robin, Fallon, Maurice, Valenzuela, Andrés, Dai, Hongkai, Permenter, Frank, Koolen, Twan, Marion, Pat, Tedrake, Russ

Journal:

Autonomous Robots

Year:

2016

Language:

english

File:

PDF, 3.88 MB

english, 2016

2

[IEEE 2016 IEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden (2016.5.16-2016.5.21)] 2016 IEEE International Conference on Robotics and Automation (ICRA) - Optimization and stabilization of trajectories for constrained dynamical systems

Posa, Michael, Kuindersma, Scott, Tedrake, Russ

Year:

2016

Language:

english

File:

PDF, 1.32 MB

english, 2016

3

[IEEE 2014 IEEE International Conference on Robotics and Automation (ICRA) - Hong Kong, China (2014.5.31-2014.6.7)] 2014 IEEE International Conference on Robotics and Automation (ICRA) - An efficiently solvable quadratic program for stabilizing dynamic locomotion

Kuindersma, Scott, Permenter, Frank, Tedrake, Russ

Year:

2014

Language:

english

File:

PDF, 434 KB

english, 2014

4

Minimalistic control of biped walking in rough terrain

Fumiya Iida, Russ Tedrake

Journal:

Autonomous Robots

Year:

2010

Language:

english

File:

PDF, 1.58 MB

english, 2010

5

Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact

Fazeli, Nima, Kolbert, Roman, Tedrake, Russ, Rodriguez, Alberto

Journal:

Internatinal Journal of Robotics Research

Year:

2017

Language:

english

File:

PDF, 3.22 MB

english, 2017

6

High-speed autonomous obstacle avoidance with pushbroom stereo

Barry, Andrew J., Florence, Peter R., Tedrake, Russ

Journal:

Journal of Field Robotics

Year:

2017

Language:

english

File:

PDF, 3.19 MB

english, 2017

7

[IEEE 2012 IEEE International Conference on Robotics and Automation (ICRA) - St Paul, MN, USA (2012.05.14-2012.05.18)] 2012 IEEE International Conference on Robotics and Automation - Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates

Barry, Andrew J., Majumdar, Anirudha, Tedrake, Russ

Year:

2012

Language:

english

File:

PDF, 470 KB

english, 2012

8

Robust post-stall perching with a simple fixed-wing glider using LQR-Trees

Moore, Joseph, Cory, Rick, Tedrake, Russ

Journal:

Bioinspiration & Biomimetics

Year:

2014

Language:

english

File:

PDF, 1.76 MB

english, 2014

9

[IEEE 2014 IEEE International Conference on Robotics and Automation (ICRA) - Hong Kong, China (2014.5.31-2014.6.7)] 2014 IEEE International Conference on Robotics and Automation (ICRA) - A summary of team MIT's approach to the virtual robotics challenge

Tedrake, R., Fallon, M., Karumanchi, S., Kuindersma, S., Antone, M., Schneider, T., Howard, T., Walter, M., Dai, H., Deits, R., Fleder, M., Fourie, D., Hammoud, R., Hemachandra, S., Ilardi, P., Perez-

Year:

2014

Language:

english

File:

PDF, 82 KB

english, 2014

10

[IEEE 2013 IEEE International Conference on Robotics and Automation (ICRA) - Karlsruhe, Germany (2013.05.6-2013.05.10)] 2013 IEEE International Conference on Robotics and Automation - Control design along trajectories with sums of squares programming

Majumdar, Anirudha, Ahmadi, Amir Ali, Tedrake, Russ

Year:

2013

Language:

english

File:

PDF, 1.96 MB

english, 2013

11

LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification

Tedrake, R., Manchester, I. R., Tobenkin, M., Roberts, J. W.

Journal:

Internatinal Journal of Robotics Research

Year:

2010

Language:

english

File:

PDF, 949 KB

english, 2010

12

[IEEE 2015 IEEE International Conference on Robotics and Automation (ICRA) - Seattle, WA, USA (2015.5.26-2015.5.30)] 2015 IEEE International Conference on Robotics and Automation (ICRA) - Pushbroom stereo for high-speed navigation in cluttered environments

Barry, Andrew J., Tedrake, Russ

Year:

2015

Language:

english

File:

PDF, 2.67 MB

english, 2015

13

[IEEE 2015 IEEE International Conference on Robotics and Automation (ICRA) - Seattle, WA, USA (2015.5.26-2015.5.30)] 2015 IEEE International Conference on Robotics and Automation (ICRA) - Efficient mixed-integer planning for UAVs in cluttered environments

Deits, Robin, Tedrake, Russ

Year:

2015

Language:

english

File:

PDF, 818 KB

english, 2015

14

[IEEE 2017 IEEE International Conference on Robotics and Automation (ICRA) - Singapore, Singapore (2017.5.29-2017.6.3)] 2017 IEEE International Conference on Robotics and Automation (ICRA) - Tracking objects with point clouds from vision and touch

Izatt, Gregory, Mirano, Geronimo, Adelson, Edward, Tedrake, Russ

Year:

2017

Language:

english

File:

PDF, 1.54 MB

english, 2017

15

[IEEE 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) - Birmingham (2017.11.15-2017.11.17)] 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) - Approximate hybrid model predictive control for multi-contact push recovery in complex environments

Marcucci, Tobia, Deits, Robin, Gabiccini, Marco, Bicchi, Antonio, Tedrake, Russ

Year:

2017

Language:

english

File:

PDF, 709 KB

english, 2017

16

[IEEE 2019 International Conference on Robotics and Automation (ICRA) - Montreal, QC, Canada (2019.5.20-2019.5.24)] 2019 International Conference on Robotics and Automation (ICRA) - A Supervised Approach to Predicting Noise in Depth Images

Sweeney, Chris, Izatt, Greg, Tedrake, Russ

Year:

2019

Language:

english

File:

PDF, 4.13 MB

english, 2019

17

[IEEE 2019 International Conference on Robotics and Automation (ICRA) - Montreal, QC, Canada (2019.5.20-2019.5.24)] 2019 International Conference on Robotics and Automation (ICRA) - Sampling-Based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems

Sadraddini, Sadra, Tedrake, Russ

Year:

2019

Language:

english

File:

PDF, 743 KB

english, 2019

18

[IEEE 2020 IEEE International Conference on Robotics and Automation (ICRA) - Paris, France (2020.5.31-2020.8.31)] 2020 IEEE International Conference on Robotics and Automation (ICRA) - R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems

Wu, Albert, Sadraddini, Sadra, Tedrake, Russ

Year:

2020

File:

PDF, 5.45 MB

2020

19

[IEEE 2020 International Conference on Control, Automation and Diagnosis (ICCAD) - Paris, France (2020.10.7-2020.10.9)] 2020 International Conference on Control, Automation and Diagnosis (ICCAD) - Trajectory Optimization for An Autonomous Vehicle Driving across Stochastic Traffic Flows based on Direct Collocation

Sun, Yuwei, Tedrake, Russ, Ochiai, Hideya

Year:

2020

File:

PDF, 750 KB

2020

20

Special issue on selected papers from Robotics: Science

Russ Tedrake, Yoky Matsuoka

Journal:

Autonomous Robots

Year:

2011

Language:

english

File:

PDF, 123 KB

english, 2011

21

Robot learning [TC Spotlight]

Peters, J., Morimoto, J., Tedrake, R., Roy, N.

Journal:

IEEE Robotics & Automation Magazine

Year:

2009

Language:

english

File:

PDF, 725 KB

english, 2009

22

[IEEE 2009 IEEE International Conference on Robotics and Automation (ICRA) - Kobe (2009.05.12-2009.05.17)] 2009 IEEE International Conference on Robotics and Automation - Path planning in 1000+ dimensions using a task-space Voronoi bias

Shkolnik, A., Tedrake, R.

Year:

2009

Language:

english

File:

PDF, 263 KB

english, 2009

23

[IEEE 2012 IEEE International Conference on Robotics and Automation (ICRA) - St Paul, MN, USA (2012.05.14-2012.05.18)] 2012 IEEE International Conference on Robotics and Automation - Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates

Glassman, Elena, Desbiens, Alexis Lussier, Tobenkin, Mark, Cutkosky, Mark, Tedrake, Russ

Year:

2012

Language:

english

File:

PDF, 974 KB

english, 2012

24

[IEEE 2007 IEEE International Conference on Robotics and Automation - Rome, Italy (2007.04.10-2007.04.14)] Proceedings 2007 IEEE International Conference on Robotics and Automation - Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution

Shkolnik, Alexander, Tedrake, Russ

Year:

2007

Language:

english

File:

PDF, 975 KB

english, 2007

25

[IEEE 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) - Anchorage, AK (2010.05.3-2010.05.7)] 2010 IEEE International Conference on Robotics and Automation - A quadratic regulator-based heuristic for rapidly exploring state space

Glassman, Elena, Tedrake, Russ

Year:

2010

Language:

english

File:

PDF, 612 KB

english, 2010

26

[American Institute of Aeronautics and Astronautics 36th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit - Las Vegas,NV,U.S.A. (24 July 2000 - 28 July 2000)] 36th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit - Performance of a multi-kilowatt non-circular discharge Hall thruster

Pote, B., Hruby, V., Tedrake, R.

Year:

2000

Language:

english

File:

PDF, 1.88 MB

english, 2000

27

[American Institute of Aeronautics and Astronautics 44th AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit - Hartford, CT ()] 44th AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit - Effect of Anode Current Fluctuations on Ion Energy Distributions within a 600 W Hall Effect Thruster

Hargus, William, Nakles, Michael, Tedrake, Rachel, Pote, Bruce

Year:

2008

Language:

english

File:

PDF, 1.50 MB

english, 2008

28

[American Institute of Aeronautics and Astronautics AIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, Hawaii ()] AIAA Guidance, Navigation and Control Conference and Exhibit - Experiments in Fixed-Wing UAV Perching

Cory, Rick, Tedrake, Russ

Year:

2008

Language:

english

File:

PDF, 2.45 MB

english, 2008

29

[American Institute of Aeronautics and Astronautics AIAA Infotech@Aerospace Conference - Seattle, Washington ()] AIAA Infotech@Aerospace Conference - Powerline Perching with a Fixed-Wing UAV

Moore, Joseph, Tedrake, Russ

Year:

2009

Language:

english

File:

PDF, 7.77 MB

english, 2009

30

[American Institute of Aeronautics and Astronautics AIAA Infotech@Aerospace Conference - Seattle, Washington ()] AIAA Infotech@Aerospace Conference - System Identification of Post Stall Aerodynamics for UAV Perching

Hoburg, Warren, Tedrake, Russ

Year:

2009

Language:

english

File:

PDF, 1.22 MB

english, 2009

31

[American Institute of Aeronautics and Astronautics 49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition - Orlando, Florida ()] 49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition - µ-Hall Effect Thruster Characterization

de La Harpe, John-David, Branam, Richard, Huffman, Richard, Paintal, Sujeet, Tedrake, Rachel

Year:

2011

Language:

english

File:

PDF, 1.04 MB

english, 2011

32

[IEEE 2009 IEEE International Conference on Robotics and Automation (ICRA) - Kobe (2009.05.12-2009.05.17)] 2009 IEEE International Conference on Robotics and Automation - Minimalistic control of a compass gait robot in rough terrain

Iida, Fumiya, Tedrake, Russ

Year:

2009

Language:

english

File:

PDF, 649 KB

english, 2009

33

[IEEE 2008 IEEE International Conference on Robotics and Automation (ICRA) - Pasadena, CA, USA (2008.05.19-2008.05.23)] 2008 IEEE International Conference on Robotics and Automation - Approximate optimal control of the compass gait on rough terrain

Byl, Katie, Tedrake, Russ

Year:

2008

Language:

english

File:

PDF, 1.40 MB

english, 2008

34

[IEEE IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 - New Orleans, LA, USA (2004.04.26-2004.05.1)] IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 - Actuating a simple 3D passive dynamic walker

Tedrake, R., Zhang, T.W., Ming-fai Fong,, Seung, H.S.

Year:

2004

Language:

english

File:

PDF, 656 KB

english, 2004

35

Finite-time regional verification of stochastic non-linear systems

Steinhardt, J., Tedrake, R.

Journal:

Internatinal Journal of Robotics Research

Year:

2012

Language:

english

File:

PDF, 513 KB

english, 2012

36

Metastable Walking Machines

Byl, K., Tedrake, R.

Journal:

Internatinal Journal of Robotics Research

Year:

2009

Language:

english

File:

PDF, 1.44 MB

english, 2009

37

[IEEE 2013 IEEE International Conference on Robotics and Automation (ICRA) - Karlsruhe, Germany (2013.05.6-2013.05.10)] 2013 IEEE International Conference on Robotics and Automation - L2-gain optimization for robust bipedal walking on unknown terrain

Dai, Hongkai, Tedrake, Russ

Year:

2013

Language:

english

File:

PDF, 325 KB

english, 2013

38

Stable dynamic walking over uneven terrain

Manchester, I. R., Mettin, U., Iida, F., Tedrake, R.

Journal:

Internatinal Journal of Robotics Research

Year:

2011

Language:

english

File:

PDF, 771 KB

english, 2011

39

[IEEE 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems - San Diego, CA, USA (2007.10.29-2007.11.2)] 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems - Collision detection in legged locomotion using supervised learning

Doshi, Finale, Brunskill, Emma, Shkolnik, Alexander, Kollar, Thomas, Khashayar Rohanimanesh,, Tedrake, Russ, Roy, Nicholas

Year:

2007

Language:

english

File:

PDF, 253 KB

english, 2007

40

[IEEE 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) - San Francisco, CA (2011.09.25-2011.09.30)] 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems - Magnetic localization for perching UAVs on powerlines

Moore, Joseph, Tedrake, Russ

Year:

2011

Language:

english

File:

PDF, 1.84 MB

english, 2011

41

[IEEE 2013 American Control Conference (ACC) - Washington, DC (2013.6.17-2013.6.19)] 2013 American Control Conference - Complexity of ten decision problems in continuous time dynamical systems

Ahmadi, Amir Ali, Majumdar, Anirudha, Tedrake, Russ

Year:

2013

Language:

english

File:

PDF, 270 KB

english, 2013

42

[IEEE 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) - Sendai, Japan (28 Sept.-2 Oct., 2004)] 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) - Stochastic policy gradient reinforcement learning on a simple 3D biped

Tedrake, R., Zhang, T.W., Seung, H.S.

Year:

2004

Language:

english

File:

PDF, 459 KB

english, 2004

43

[IEEE 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems - Nice (2008.09.22-2008.09.26)] 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems - High-dimensional underactuated motion planning via task space control

Shkolnik, A., Tedrake, R.

Year:

2008

Language:

english

File:

PDF, 829 KB

english, 2008

44

[IEEE 2009 IEEE International Conference on Robotics and Automation (ICRA) - Kobe (2009.05.12-2009.05.17)] 2009 IEEE International Conference on Robotics and Automation - Reachability-guided sampling for planning under differential constraints

Shkolnik, A., Walter, M., Tedrake, R.

Year:

2009

Language:

english

File:

PDF, 307 KB

english, 2009

45

[IEEE 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) - Anchorage, AK (2010.05.3-2010.05.7)] 2010 IEEE International Conference on Robotics and Automation - Simulation-based LQR-trees with input and state constraints

Reist, Philipp, Tedrake, Russ

Year:

2010

Language:

english

File:

PDF, 710 KB

english, 2010

46

[IEEE 2012 IEEE 51st Annual Conference on Decision and Control (CDC) - Maui, HI, USA (2012.12.10-2012.12.13)] 2012 IEEE 51st IEEE Conference on Decision and Control (CDC) - Optimizing robust limit cycles for legged locomotion on unknown terrain

Dai, Hongkai, Tedrake, Russ

Year:

2012

Language:

english

File:

PDF, 772 KB

english, 2012

47

[IEEE 2009 IEEE International Conference on Robotics and Automation (ICRA) - Kobe (2009.05.12-2009.05.17)] 2009 IEEE International Conference on Robotics and Automation - Dynamically diverse legged locomotion for rough terrain

Byl, Katie, Tedrake, Russ

Year:

2009

Language:

english

File:

PDF, 245 KB

english, 2009

48

[IEEE 2014 American Control Conference - ACC 2014 - Portland, OR, USA (2014.6.4-2014.6.6)] 2014 American Control Conference - Adaptive control design for underactuated systems using sums-of-squares optimization

Moore, Joseph, Tedrake, Russ

Year:

2014

Language:

english

File:

PDF, 574 KB

english, 2014

49

[IEEE 2012 IEEE 51st Annual Conference on Decision and Control (CDC) - Maui, HI, USA (2012.12.10-2012.12.13)] 2012 IEEE 51st IEEE Conference on Decision and Control (CDC) - Control synthesis and verification for a perching UAV using LQR-Trees

Moore, Joseph, Tedrake, Russ

Year:

2012

Language:

english

File:

PDF, 452 KB

english, 2012

50

[IEEE 2011 Ieee Symposium On Adaptive Dynamic Programming And Reinforcement Learning - Paris, France (2011.04.11-2011.04.15)] 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL) - Feedback controller parameterizations for Reinforcement Learning

Roberts, John W., Manchester, Ian R., Tedrake, Russ

Year:

2011

Language:

english

File:

PDF, 210 KB

english, 2011