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Michael Posa

Dynamic On-Palm Manipulation via Controlled Sliding

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May 14, 2024
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Simultaneous Learning of Contact and Continuous Dynamics

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Oct 18, 2023
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Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning

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Oct 15, 2023
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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning

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Oct 15, 2023
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Reinforcement Learning for Reduced-order Models of Legged Robots

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Oct 15, 2023
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Instance-Agnostic Geometry and Contact Dynamics Learning

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Sep 28, 2023
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Bipedal Walking on Constrained Footholds with MPC Footstep Control

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Sep 14, 2023
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Consensus Complementarity Control for Multi-Contact MPC

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Apr 21, 2023
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Impact-Invariant Control: Maximizing Control Authority During Impacts

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Mar 01, 2023
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Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion

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Jan 05, 2023
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