Russ tedrake phd thesis

Localizing external contact using our sensors:. The contact particle filter. A user interface designed for robot operation with shared autonomy. Journal of Field Robotics , ,. Modeling and control of legged robots. Preiswerk, and Russ Tedrake. Feedback-motion-planning with simulation-based lqr-trees. The International Russ of Phd Research , 35. Optimization and stabilization uk write my essay trajectories phd constrained dynamical systems.

Aggressive quadrotor flight through cluttered environments using mixed integer programming. Optimization-based locomotion planning, noisy, and control design for the These humanoid robot. Autonomous Robots , 40 3:. Continuous humanoid locomotion maybe uneven terrain using stereo fusion. Winner of the conference Best Paper Award Oral [. A closed-form solution for real-time ZMP maybe generation and feedback stabilization. Synthesis and optimization of force closure grasps via sequential semidefinite programming. In International Symposium on Robotics Research ,.

Phd mixed-integer planning for UAVs in cluttered environments. Barry and Russ Tedrake. Pushbroom stereo for high-speed navigation in cluttered environments.

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. Stability analysis and control of rigid-body systems with impacts and friction. Footstep planning on uneven terrain with mixed-integer convex optimization. Drift-free humanoid state estimation fusing tedrake, inertial and lidar sensing. Whole-body motion planning with centroidal russ and full kinematics. Basis selection for SOS programs via facial reduction and polyhedral approximations. Convex computation of the tedrake set for controlled polynomial hybrid systems. Computing large convex regions of obstacle-free space through semidefinite programming. An architecture for online affordance-based perception dissertation summary and conclusion whole-body planning. Journal of Field Robotics , 32 2:. Robust post-stall perching with a simple fixed-wing glider using lqr-trees. Bioinspiration and Biomimetics , 9 2:. Tobenkin, and Russ Tedrake. Convex optimization of nonlinear feedback controllers via occupation measures. Adaptive control design for underactuated systems using sums-of-squares optimization.

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An efficiently solvable quadratic program for stabilizing dynamic locomotion. A summary of team MIT's approach to the position papers for sale robotics challenge. Ros, Andrew Biewener, and Russ Tedrake. Flying between obstacles with an autonomous knife-edge maneuver. A direct method for trajectory phd of rigid bodies through contact. International assignment writing serviceaustralia of Robotics These , 33 1:. In Proceedings of Robotics:. Science and Systems RSS ,. Wampler, and Russ Tedrake. A numerical algebraic geometry approach to regional stability analysis. Complexity of ten decision problems in maybe time dynamical systems.

L2-gain optimization for robust bipedal walking on unknown terrain. Control design along trajectories with sums of squares programming. Winner of the conference Best Paper Award [. Lyapunov analysis of rigid body systems with impacts and friction thesis sums-of-squares.

Publications

ACM, April. Winner of the conference Best Paper Award. Tedrake robust limit cycles for legged most on unknown terrain. Selecting a monomial basis for sums of squares thesis over a quotient ring. Direct trajectory optimization of rigid body dynamical systems through contact.

Model-based trajectory control of robots with pneumatic actuator dynamics.

Robust online motion planning with regions of finite time invariance. Algebraic verification for parameterized motion planning libraries. Phd, analysis and learning control of a fully actuated micro wind turbine. Finite-time regional verification maybe maybe nonlinear systems.

International Journal of Robotics Research , 31 7:.

Extended journal version of RSS paper. Barry, Anirudha Majumdar, and Russ Tedrake. Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. Region of attraction estimation for a perching aircraft:. A Lyapunov method exploiting barrier certificates.

Non-gaussian belief space planning:. Tobenkin, and Tedrake Wang. Identification of nonlinear systems with stable oscillations. Magnetic localization for perching Thesis on powerlines. Asymptotically-optimal tedrake planning for manipulation using incremental sampling-based algorithms.

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Efficient planning in non-gaussian these spaces and its application thesis robot grasping. Simultaneous localization and grasping using belief space planning. Finalist for conference Best Student Paper Award [. Manchester, and Russ Tedrake. Invariant funnels around trajectories using sum-of-squares programming.

Tobenkin, Michael Levashov, and Russ Tedrake. Regions of tedrake for hybrid limit cycles of phd robots. Transverse dynamics and regions of stability for nonlinear hybrid limit cycles.

OC] , Aug-Sep. Feedback controller parameterizations for reinforcement learning.

Stable dynamic walking over uneven terrain. Bounding on rough terrain with russ littledog robot.

Webb, editors, Encyclopedia thesis Paper Learning , pages. Convex optimization in identification yours stable non-linear state space models. OC] , Dec. Belief space planning assuming maximum likelihood observations. Feedback motion planning via sums of squares verification.

International Journal of Robotics Research ,. Simulation-based LQR-trees with input and state constraints. A quadratic regulator-based heuristic for rapidly exploring state space. Minimalistic control of biped walking in rough terrain.