|Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot|
S Kuindersma, R Deits, M Fallon, A Valenzuela, H Dai, F Permenter, ...
Autonomous robots 40 (3), 429-455, 2016
|Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models|
T Koolen, T De Boer, J Rebula, A Goswami, J Pratt
The international journal of robotics research 31 (9), 1094-1113, 2012
|Capturability-based analysis and control of legged locomotion, part 2: Application to M2V2, a lower body humanoid|
J Pratt, T Koolen, T De Boer, J Rebula, S Cotton, J Carff, M Johnson, ...
The International Journal of Robotics Research, 0278364912452762, 2012
|Team IHMC's lessons learned from the DARPA robotics challenge trials|
M Johnson, B Shrewsbury, S Bertrand, T Wu, D Duran, M Floyd, P Abeles, ...
Journal of Field Robotics 32 (2), 192-208, 2015
|Design of a momentum-based control framework and application to the humanoid robot atlas|
T Koolen, S Bertrand, G Thomas, T De Boer, T Wu, J Smith, J Englsberger, ...
International Journal of Humanoid Robotics 13 (01), 1650007, 2016
|An architecture for online affordance‐based perception and whole‐body planning|
M Fallon, S Kuindersma, S Karumanchi, M Antone, T Schneider, H Dai, ...
Journal of Field Robotics 32 (2), 229-254, 2015
|Summary of team IHMC's virtual robotics challenge entry|
T Koolen, J Smith, G Thomas, S Bertrand, J Carff, N Mertins, D Stephen, ...
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids …, 2013
|Balance control using center of mass height variation: limitations imposed by unilateral contact|
T Koolen, M Posa, R Tedrake
Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on, 2016
|Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion|
J Englsberger, T Koolen, S Bertrand, J Pratt, C Ott, A Albu-Schäffer
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
|Director: A user interface designed for robot operation with shared autonomy|
P Marion, M Fallon, R Deits, A Valenzuela, C Pérez D'Arpino, G Izatt, ...
Journal of Field Robotics 34 (2), 262-280, 2017
|Balancing and step recovery capturability via sums-of-squares optimization|
MA Posa, T Koolen, RL Tedrake
Robotics: Science and Systems Foundation, 2017
|The Yobotics-IHMC lower body humanoid robot|
JE Pratt, B Krupp, V Ragusila, J Rebula, T Koolen, N van Nieuwenhuizen, ...
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2009
|Julia for robotics: Simulation and real-time control in a high-level programming language|
T Koolen, R Deits
2019 International Conference on Robotics and Automation (ICRA), 604-611, 2019
|LVIS: Learning from value function intervals for contact-aware robot controllers|
R Deits, T Koolen, R Tedrake
2019 International Conference on Robotics and Automation (ICRA), 7762-7768, 2019
|Humanoid robot that can dynamically walk with limited available footholds in the presence of disturbances|
JE Pratt, T Koolen, J Rebula
US Patent 8,942,848, 2015
|Threshold amplitude and frequency for ocular tissue release from a vibrating instrument: an experimental study|
K Maaijwee, T Koolen, D Rosenbrand, E Jacobs, S Kleinheerenbrink, ...
Investigative ophthalmology & visual science 49 (4), 1629--1632, 2008
|Benchmarking and workload analysis of robot dynamics algorithms|
SM Neuman, T Koolen, J Drean, JE Miller, S Devadas
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
|Capturability-based analysis and control of legged locomotion|
|Balance control and locomotion planning for humanoid robots using nonlinear centroidal models|
Massachusetts Institute of Technology, 2020
|Approximate explicit model predictive control for push recovery using mixed-integer convex optimization|
R Deits, T Marcucci, L Manuelli, T Koolen, R Tedrake
Dynamic Walking Conference, 2017