Michael Posa
Michael Posa
Assistant Professor, University of Pennsylvania
Verified email at seas.upenn.edu - Homepage
Cited by
Cited by
A Direct Method for Trajectory Optimization of Rigid Bodies Through Contact
M Posa, C Cantu, R Tedrake
International Journal of Robotics Research 33 (1), 69:81, 2014
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
Direct trajectory optimization of rigid body dynamical systems through contact
M Posa, R Tedrake
Algorithmic foundations of robotics X, 527-542, 2013
Optimization and stabilization of trajectories for constrained dynamical systems
M Posa, S Kuindersma, R Tedrake
Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016
Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction
M Posa, M Tobenkin, R Tedrake
IEEE Transactions on Automatic Control 61 (6), 1423 - 1437, 2016
Balance control using center of mass height variation: limitations imposed by unilateral contact
T Koolen, M Posa, R Tedrake
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 8-15, 2016
Balancing and step recovery capturability via sums-of-squares optimization
MA Posa, T Koolen, RL Tedrake
Robotics: Science and Systems Foundation, 2017
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
M Posa, M Tobenkin, R Tedrake
Proceedings of the 16th international conference on Hybrid systems …, 2013
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
S Pfrommer, M Halm, M Posa
Conference on Robot Learning (CoRL), 2020
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
M Halm, M Posa
Robotics: Science and Systems, 2019
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
M Halm, M Posa
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018
Contact-aware controller design for complementarity systems
A Aydinoglu, VM Preciado, M Posa
2020 IEEE International Conference on Robotics and Automation (ICRA), 1525-1531, 2020
Optimization for control and planning of multi-contact dynamic motion
MA Posa
Massachusetts Institute of Technology, 2017
Optimal reduced-order modeling of bipedal locomotion
YM Chen, M Posa
2020 IEEE International Conference on Robotics and Automation (ICRA), 8753-8760, 2020
Stability analysis of complementarity systems with neural network controllers
A Aydinoglu, M Fazlyab, M Morari, M Posa
Proceedings of the 24th International Conference on Hybrid Systems …, 2021
Impact Invariant Control with Applications to Bipedal Locomotion
W Yang, M Posa
arXiv preprint arXiv:2103.06907, 2021
Stabilization of complementarity systems via contact-aware controllers
A Aydinoglu, P Sieg, VM Preciado, M Posa
arXiv preprint arXiv:2008.02104, 2020
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
M Parmar, M Halm, M Posa
arXiv preprint arXiv:2103.15406, 2021
Validating Robotics Simulators on Real World Impacts
B Acosta, W Yang, M Posa
arXiv preprint arXiv:2110.00541, 2021
Real-Time Multi-Contact Model Predictive Control via ADMM
A Aydinoglu, M Posa
arXiv preprint arXiv:2109.07076, 2021
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