Michael Posa

ORCID

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 56

Top Venues

Massachusetts Institute of Technology, Cambridge, USA (PHD)

Education History

Massachusetts Institute of Technology, Cambridge, USA

PHD

Publications

William Yang, Michael Posa
Dynamic On-Palm Manipulation via Controlled Sliding. CoRR (2024)
Yu-Ming Chen, Jianshu Hu, Michael Posa
Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion. IEEE Trans. Robotics 40 (2024)
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, Michael Posa
Consensus Complementarity Control for Multicontact MPC. IEEE Trans. Robotics 40 (2024)
Hien Bui, Michael Posa
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning. ICRA (2024)
Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin, Michael Posa
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning. ICRA (2024)
Yu-Ming Chen, Hien Bui, Michael Posa
Reinforcement Learning for Reduced-order Models of Legged Robots. ICRA (2024)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. IEEE Trans. Robotics 40 (2024)
Wanxin Jin, Michael Posa
Task-Driven Hybrid Model Reduction for Dexterous Manipulation. IEEE Trans. Robotics 40 (2024)
Wei-Cheng Huang, Alp Aydinoglu, Wanxin Jin, Michael Posa
Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning. CoRR (2023)
Brian Acosta, Michael Posa
Bipedal Walking on Constrained Footholds with MPC Footstep Control. Humanoids (2023)
Bibit Bianchini, Mathew Halm, Michael Posa
Simultaneous Learning of Contact and Continuous Dynamics. CoRL (2023)
Bibit Bianchini, Mathew Halm, Michael Posa
Simultaneous Learning of Contact and Continuous Dynamics. CoRR (2023)
Brian Acosta, Michael Posa
Bipedal Walking on Constrained Footholds with MPC Footstep Control. CoRR (2023)
Yu-Ming Chen, Jianshu Hu, Michael Posa
Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion. CoRR (2023)
Mengti Sun, Bowen Jiang, Bibit Bianchini, Camillo Jose Taylor, Michael Posa
Instance-Agnostic Geometry and Contact Dynamics Learning. CoRR (2023)
Alp Aydinoglu, Adam Wei, Michael Posa
Consensus Complementarity Control for Multi-Contact MPC. CoRR (2023)
Hien Bui, Michael Posa
Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning. CoRR (2023)
Yu-Ming Chen, Gabriel Nelson, Robert J. Griffin, Michael Posa, Jerry E. Pratt
Integrable Whole-Body Orientation Coordinates for Legged Robots. IROS (2023)
Leon Kim, Yunshuang Li, Michael Posa, Dinesh Jayaraman
Im2Contact: Vision-Based Contact Localization Without Touch or Force Sensing. CoRL (2023)
William Yang, Michael Posa
Impact-Invariant Control: Maximizing Control Authority During Impacts. CoRR (2023)
Yu-Ming Chen, Hien Bui, Michael Posa
Reinforcement Learning for Reduced-order Models of Legged Robots. CoRR (2023)
Wanxin Jin, Michael Posa
Task-Driven Hybrid Model Reduction for Dexterous Manipulation. CoRR (2022)
Alp Aydinoglu, Michael Posa
Real-Time Multi-Contact Model Predictive Control via ADMM. ICRA (2022)
Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry E. Pratt
Angular Center of Mass for Humanoid Robots. CoRR (2022)
Brian Acosta, William Yang, Michael Posa
Validating Robotics Simulators on Real-World Impacts. IEEE Robotics Autom. Lett. 7 (3) (2022)
Alp Aydinoglu, Philip Sieg, Victor M. Preciado, Michael Posa
Stabilization of Complementarity Systems via Contact-Aware Controllers. IEEE Trans. Robotics 38 (3) (2022)
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Optimization-Based Control for Dynamic Legged Robots. CoRR (2022)
Wanxin Jin, Alp Aydinoglu, Mathew Halm, Michael Posa
Learning Linear Complementarity Systems. L4DC (2022)
Bibit Bianchini, Mathew Halm, Nikolai Matni, Michael Posa
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. L4DC (2022)
Bibit Bianchini, Mathew Halm, Nikolai Matni, Michael Posa
Generalization Bounded Implicit Learning of Nearly Discontinuous Functions. CoRR (2021)
William Yang, Michael Posa
Impact Invariant Control with Applications to Bipedal Locomotion. IROS (2021)
Wanxin Jin, Alp Aydinoglu, Mathew Halm, Michael Posa
Learning Linear Complementarity Systems. CoRR (2021)
Alp Aydinoglu, Mahyar Fazlyab, Manfred Morari, Michael Posa
Stability analysis of complementarity systems with neural network controllers. HSCC (2021)
William Yang, Michael Posa
Impact Invariant Control with Applications to Bipedal Locomotion. CoRR (2021)
Alp Aydinoglu, Michael Posa
Real-Time Multi-Contact Model Predictive Control via ADMM. CoRR (2021)
Mihir Parmar, Mathew Halm, Michael Posa
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics. IROS (2021)
Mihir Parmar, Mathew Halm, Michael Posa
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics. CoRR (2021)
Mathew Halm, Michael Posa
Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact. CoRR (2021)
Brian Acosta, William Yang, Michael Posa
Validating Robotics Simulators on Real World Impacts. CoRR (2021)
Alp Aydinoglu, Victor M. Preciado, Michael Posa
Stabilization of Complementarity Systems via Contact-Aware Controllers. CoRR (2020)
Alp Aydinoglu, Mahyar Fazlyab, Manfred Morari, Michael Posa
Stability Analysis of Complementarity Systems with Neural Network Controllers. CoRR (2020)
Yu-Ming Chen, Michael Posa
Optimal Reduced-order Modeling of Bipedal Locomotion. ICRA (2020)
Samuel Pfrommer, Mathew Halm, Michael Posa
ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations. CoRR (2020)
Samuel Pfrommer, Mathew Halm, Michael Posa
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations. CoRL (2020)
Alp Aydinoglu, Victor M. Preciado, Michael Posa
Contact-Aware Controller Design for Complementarity Systems. ICRA (2020)
Mathew Halm, Michael Posa
Modeling and Analysis of Non-Unique Behaviors in Multiple Frictional Impacts. Robotics: Science and Systems (2019)
Mathew Halm, Michael Posa
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts. CoRR (2019)
Alp Aydinoglu, Victor M. Preciado, Michael Posa
Contact-Aware Controller Design for Complementarity Systems. CoRR (2019)
Mathew Halm, Michael Posa
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming. CoRR (2019)
Yu-Ming Chen, Michael Posa
Optimal Reduced-order Modeling of Bipedal Locomotion. CoRR (2019)
Mathew Halm, Michael Posa
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming. WAFR (2018)
Michael Posa, Twan Koolen, Russ Tedrake
Balancing and Step Recovery Capturability via Sums-of-Squares Optimization. Robotics: Science and Systems (2017)
Michael Posa, Mark M. Tobenkin, Russ Tedrake
Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction. IEEE Trans. Autom. Control. 61 (6) (2016)
Twan Koolen, Michael Posa, Russ Tedrake
Balance control using center of mass height variation: Limitations imposed by unilateral contact. Humanoids (2016)
Michael Posa, Scott Kuindersma, Russ Tedrake
Optimization and stabilization of trajectories for constrained dynamical systems. ICRA (2016)
Maurice F. Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew E. Antone, Toby Schneider, Hongkai Dai, Claudia Pérez-D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie A. Shah, Karl Iagnemma, Russ Tedrake, Seth J. Teller
An Architecture for Online Affordance-based Perception and Whole-body Planning. J. Field Robotics 32 (2) (2015)
Michael Posa, Cecilia Cantu, Russ Tedrake
A direct method for trajectory optimization of rigid bodies through contact. Int. J. Robotics Res. 33 (1) (2014)
Michael Posa, Mark M. Tobenkin, Russ Tedrake
Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. HSCC (2013)
Michael Posa, Russ Tedrake
Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. WAFR (2012)
Michael Posa, Russ Tedrake
Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact. WAFR (2012)

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Publication Activity (10 Years)

Top Topics

Top Venues

Michael Posa