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.

Peprints

  1. Real-Time Multi-Contact Model Predictive Control via ADMM
    Alp Aydinoglu and Michael Posa
    Accepted to the IEEE International Conference on Robotics and Automation (ICRA) , 2022
  2. Validating Robotics Simulators on Real World Impacts
    Brian Acosta*, William Yang*, and Michael Posa
    Accepted to IEEE Robotics and Automation Letters (RA-L) , 2022
  3. Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact
    Mathew Halm and Michael Posa
    arXiv preprint arXiv:2103.15714 , 2021

Conference and Journal

  1. Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
    Bibit Bianchini, Mathew Halm, Nikolai Matni, and Michael Posa
    4th Annual Learning for Dynamics and Control Conference (L4DC) , 2022
  2. Learning Linear Complementarity Systems
    Wanxin Jin, Alp Aydinoglu, Mathew Halm, and Michael Posa
    4th Annual Learning for Dynamics and Control Conference (L4DC) , 2022
  3. Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
    Mihir Parmar*, Mathew Halm*, and Michael Posa
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021
  4. Impact Invariant Control with Applications to Bipedal Locomotion
    William Yang and Michael Posa
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021
  5. Stabilization of Complementarity Systems via Contact-Aware Controllers
    Alp Aydinoglu, Philip Sieg, Victor Preciado, and Michael Posa
    IEEE Transactions on Robotics (TRO) , 2021
  6. Stability analysis of complementarity systems with neural network controllers
    Alp Aydinoglu, Fazlyab Mahyar, Manfred Morari, and Michael Posa
    In Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control (HSCC) , 2021
  7. Contact-Aware Controller Design for Complementarity Systems
    Alp Aydinoglu, V.M. Victor Preciado, and Michael Posa
    In IEEE International Conference on Robotics and Automation (ICRA) , 2020
  8. ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations
    Samuel Pfrommer*, Mathew Halm*, and Michael Posa
    In The Conference on Robot Learning (CoRL) , 2020
  9. Optimal Reduced-order Modeling of Bipedal Locomotion
    Yu-Ming Chen and Michael Posa
    In IEEE International Conference on Robotics and Automation (ICRA) , 2020
  10. Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
    Mathew Halm and Michael Posa
    In Robotics: Science and Systems (RSS) , 2019
  11. A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
    Mathew Halm and Michael Posa
    In The Workshop on the Algorithmic Foundations of Robotics (WAFR) , 2018
  12. Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
    Michael Posa, Twan Koolen, and Russ Tedrake
    In Robotics: Science and Systems (RSS) , 2017
  13. Stability analysis and control of rigid-body systems with impacts and friction
    Michael Posa, Mark Tobenkin, and Russ Tedrake
    IEEE Transactions on Automatic Control (TAC) , 2016
  14. Optimization and stabilization of trajectories for constrained dynamical systems
    Michael Posa, Scott Kuindersma, and Russ Tedrake
    In IEEE International Conference on Robotics and Automation (ICRA) , 2016
  15. Balance control using center of mass height variation: limitations imposed by unilateral contact
    Twan Koolen, Michael Posa, and Russ Tedrake
    In IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , 2016
  16. An Architecture for Online Affordance-based Perception and Whole-body Planning
    Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D’Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andrés Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, and Seth Teller
    Journal of Field Robotics (JFR) , 2015
  17. A Direct Method for Trajectory Optimization of Rigid Bodies Through Contact
    Michael Posa, Cecilia Cantu, and Russ Tedrake
    International Journal of Robotics Research (IJRR) , 2014
  18. Lyapunov Analysis of Rigid Body Systems with Impacts and Friction via Sums-of-Squares
    Michael Posa, Mark Tobenkin, and Russ Tedrake
    In Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control (HSCC) , 2013
  19. Direct Trajectory Optimization of Rigid Body Dynamical Systems Through Contact
    Michael Posa and Russ Tedrake
    In The Workshop on the Algorithmic Foundations of Robotics (WAFR) , 2012

Theses

  1. Optimization for control and planning of multi-contact dynamic motion
    Michael Antonio Posa
    Massachusetts Institute of Technology , 2017