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

  1. Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
    Wei-Cheng Huang*, Alp Aydinoglu*, Wanxin Jin, and Michael Posa
    In Accepted to IEEE International Conference on Robotics and Automation (ICRA), 2024
  2. Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
    Hien Bui and Michael Posa
    In Accepted to IEEE International Conference on Robotics and Automation (ICRA), 2024
  3. Reinforcement Learning for Reduced-order Models of Legged Robots
    Yu-Ming Chen, Hien Bui, and Michael Posa
    In Accepted to IEEE International Conference on Robotics and Automation (ICRA), 2024
  4. Set-Valued Rigid Body Dynamics for Simultaneous, Inelastic, Frictional Impacts
    Mathew Halm and Michael Posa
    arXiv preprint arXiv:2103.15714, 2023
  5. Consensus Complementarity Control for Multi-Contact MPC
    Alp Aydinoglu, Adam Wei, and Michael Posa
    arXiv preprint arXiv:2304.11259, 2023
  6. Impact-Invariant Control: Maximizing Control Authority During Impacts
    William Yang and Michael Posa
    arXiv preprint arXiv:2303.00817, 2023
  7. Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion
    Yu-Ming Chen, Jianshu Hu, and Michael Posa
    arXiv preprint arXiv:2301.02075, 2023

Conference and Journal

  1. Task-Driven Hybrid Model Reduction for Dexterous Manipulation
    Wanxin Jin and Michael Posa
    IEEE Transactions on Robotics (TRO), 2024
  2. Bipedal Walking on Constrained Footholds with MPC Footstep Control
    Brian Acosta and Michael Posa
    In IEEE-RAS International Conference on Humanoid Robotics, 2023
  3. Im2Contact: Vision-Based Contact Localization Without Touch or Force Sensing
    Leon Kim, Yunshuang Li, Michael Posa, and Dinesh Jayaraman
    In Conference on Robot Learning (CoRL), 2023
  4. Simultaneous Learning of Contact and Continuous Dynamics
    Bibit Bianchini, Mathew Halm, and Michael Posa
    In Conference on Robot Learning (CoRL), 2023
  5. Optimization-Based Control for Dynamic Legged Robots
    Patrick M Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, and Andrea Del Prete
    IEEE Transactions on Robotics (TRO), 2023
  6. Integrable Whole-body Orientation Coordinates for Legged Robots
    Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, and Jerry Pratt
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
  7. Real-Time Multi-Contact Model Predictive Control via ADMM
    Alp Aydinoglu and Michael Posa
    In IEEE International Conference on Robotics and Automation (ICRA), 2022
  8. Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
    Bibit Bianchini, Mathew Halm, Nikolai Matni, and Michael Posa
    In Proceedings of The 4th Annual Learning for Dynamics and Control Conference (L4DC), 2022
  9. Learning Linear Complementarity Systems
    Wanxin Jin, Alp Aydinoglu, Mathew Halm, and Michael Posa
    In Proceedings of The 4th Annual Learning for Dynamics and Control Conference (L4DC), 2022
  10. Stabilization of Complementarity Systems via Contact-Aware Controllers
    Alp Aydinoglu, Philip Sieg, Victor Preciado, and Michael Posa
    IEEE Transactions on Robotics (TRO), 2022
  11. Validating Robotics Simulators on Real World Impacts
    Brian Acosta*, William Yang*, and Michael Posa
    IEEE Robotics and Automation Letters (RA-L), 2022
  12. 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
  13. 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
  14. 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
  15. 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
  16. ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
    Samuel Pfrommer*, Mathew Halm*, and Michael Posa
    In The Conference on Robot Learning (CoRL), 2020
  17. Optimal Reduced-order Modeling of Bipedal Locomotion
    Yu-Ming Chen and Michael Posa
    In IEEE International Conference on Robotics and Automation (ICRA), 2020
  18. Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
    Mathew Halm and Michael Posa
    In Robotics: Science and Systems (RSS), 2019
  19. 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
  20. Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
    Michael Posa, Twan Koolen, and Russ Tedrake
    In Robotics: Science and Systems (RSS), 2017
  21. 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
  22. 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
  23. Balance control using center of mass height variation: limitations imposed by unilateral contact
    Twan Koolen, Michael Posa, and Russ Tedrake
    In IEEE-RAS International Conference on Humanoid Robots, 2016
  24. 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
  25. 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
  26. 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
  27. 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

Ph.D. Theses

  1. Addressing stiffness-induced challenges in modeling and identification of for rigid-body systems with friction and impact
    Mathew Halm
    University of Pennsylvania, 2023
  2. Control of Multi-Contact Systems via Local Hybrid Models
    Alp Aydinoglu
    University of Pennsylvania, 2023
  3. Toward High-Performance Simple Models of Legged Locomotion
    Yu-Ming Chen
    University of Pennsylvania, 2023
  4. Optimization for control and planning of multi-contact dynamic motion
    Michael Antonio Posa
    Massachusetts Institute of Technology, 2017