Publications

An up to date list of publications can also be found on Google scholar. When available, the Links for each paper will also point to video highlights, code repositories, and presentation recordings.

Preprints

Yu-Ming Chen, Michael Posa

Optimal Reduced-order Modeling of Bipedal Locomotion

Under review, 2019.

Abstract | Links | BibTeX

Alp Aydinoglu, Victor Preciado, Michael Posa

Contact-Aware Controller Design for Complementarity Systems

Under review, 2019.

Abstract | Links | BibTeX

Conference

Mathew Halm, Michael Posa

Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts

Robotics: Science and Systems (RSS), 2019.

Abstract | Links | BibTeX

Mathew Halm, Michael Posa

A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming

The Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.

Abstract | Links | BibTeX

Michael Posa, Twan Koolen, Russ Tedrake

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

Robotics: Science and Systems (RSS), 2017.

Abstract | Links | BibTeX

Twan Koolen, Michael Posa, Russ Tedrake

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

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 8–15, IEEE, 2016, (Finalist for the Best Oral Paper Award).

Abstract | Links | BibTeX

Michael Posa, Scott Kuindersma, Russ Tedrake

Optimization and Stabilization of Trajectories for Constrained Dynamical Systems

International Conference on Robotics and Automation (ICRA), 2016.

Abstract | Links | BibTeX

Michael Posa, Mark Tobenkin, Russ Tedrake

Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares

The 16th International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 63–72, ACM 2013, (Winner of the Best Paper Award).

Abstract | Links | BibTeX

Michael Posa, Russ Tedrake

Direct Trajectory Optimization of Rigid Body Dynamical Systems Through Contact

The Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 16, Cambridge, MA, 2012.

Abstract | Links | BibTeX

Journal

Michael Posa, Mark Tobenkin, Russ Tedrake

Stability analysis and control of rigid-body systems with impacts and friction

IEEE Transactions on Automatic Control (TAC), 61 (6), pp. 1423–1437, 2016.

Abstract | Links | BibTeX

Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Perez D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, Seth Teller

An architecture for online affordance-based perception and whole-body planning

Journal of Field Robotics, 32 (2), pp. 229–254, 2015.

Abstract | Links | BibTeX

Michael Posa, Cecilia Cantu, Russ Tedrake

A direct method for trajectory optimization of rigid bodies through contact

The International Journal of Robotics Research (IJRR), 33 (1), pp. 69–81, 2014.

Abstract | Links | BibTeX

Theses

Michael Posa

Optimization for Control and Planning of Multi-contact Dynamic Motion

PhD Thesis, Massachusetts Institute of Technology, 2017.

Links | BibTeX