Michael Posa

Most-cited papers

A direct method for trajectory optimization of rigid bodies through contact
Michael Posa, Cecilia Cantu, Russ Tedrake
2014Int. J. Robotics Res.776 citations Open access
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Optimization-Based Control for Dynamic Legged Robots
P. Wensing, Michael Posa, Yue Hu, Adrien Escande +2 more
2022IEEE Transactions on robotics318 citations Open access
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Optimization and stabilization of trajectories for constrained dynamical systems
Michael Posa, S. Kuindersma, Russ Tedrake
2016IEEE International Conference on Robotics and Automation182 citations
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An Architecture for Online Affordance‐based Perception and Whole‐body Planning
M. Fallon, S. Kuindersma, Sisir Karumanchi, Matthew E. Antone +15 more
2015J. Field Robotics162 citations Open access
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Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact
Michael Posa, Russ Tedrake
2012Workshop on the Algorithmic Foundations of Robotics151 citations Open access
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ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit Representations
Samuel Pfrommer, Mathew Halm, Michael Posa
2020Conference on Robot Learning104 citations
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Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction
Michael Posa, Mark M. Tobenkin, Russ Tedrake
2016IEEE Transactions on Automatic Control80 citations Open access
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Balance control using center of mass height variation: Limitations imposed by unilateral contact
T. Koolen, Michael Posa, Russ Tedrake
2016IEEE-RAS International Conference on Humanoid Robots78 citations Open access
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Real-Time Multi-Contact Model Predictive Control via ADMM
Alp Aydinoglu, Michael Posa
2021IEEE International Conference on Robotics and Automation65 citations
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Consensus Complementarity Control for Multicontact MPC
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, Michael Posa
2023IEEE Transactions on robotics61 citations
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Validating Robotics Simulators on Real-World Impacts
Brian Acosta, William Yang, Michael Posa
2021IEEE Robotics and Automation Letters52 citations Open access
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Balancing and Step Recovery Capturability via Sums-of-Squares Optimization
Michael Posa, T. Koolen, Russ Tedrake
2017Robotics: Science and Systems Conference47 citations Open access
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Fundamental Challenges in Deep Learning for Stiff Contact Dynamics
Mihir Parmar, Mathew Halm, Michael Posa
2021IEEE/RJS International Conference on Intelligent RObots and Systems44 citations Open access
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Stabilization of Complementarity Systems via Contact-Aware Controllers
Alp Aydinoglu, Philip Sieg, V. Preciado, Michael Posa
2020IEEE Transactions on robotics38 citations Open access
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Optimal Reduced-order Modeling of Bipedal Locomotion
Yu-Ming Chen, Michael Posa
2019IEEE International Conference on Robotics and Automation36 citations Open access
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Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares
Michael Posa, Mark M. Tobenkin, Russ Tedrake
2013International Conference on Hybrid Systems: Computation and Control35 citations
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Impact Invariant Control with Applications to Bipedal Locomotion
William Yang, Michael Posa
2021IEEE/RJS International Conference on Intelligent RObots and Systems31 citations Open access
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Bipedal Walking on Constrained Footholds with MPC Footstep Control
Brian Acosta, Michael Posa
2023IEEE-RAS International Conference on Humanoid Robots25 citations Open access
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Contact-Aware Controller Design for Complementarity Systems
Alp Aydinoglu, V. Preciado, Michael Posa
2019IEEE International Conference on Robotics and Automation25 citations Open access
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Reinforcement Learning for Reduced-order Models of Legged Robots
Yu-Ming Chen, Hien Bui, Michael Posa
2023IEEE International Conference on Robotics and Automation23 citations Open access
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Task-Driven Hybrid Model Reduction for Dexterous Manipulation
Wanxin Jin, Michael Posa
2022IEEE Transactions on robotics22 citations Open access
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Dynamic On-Palm Manipulation via Controlled Sliding
William Yang, Michael Posa
2024Robotics: Science and Systems Conference19 citations
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Simultaneous Learning of Contact and Continuous Dynamics
Bibit Bianchini, Mathew Halm, Michael Posa
2023Conference on Robot Learning19 citations
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A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Mathew Halm, Michael Posa
2018Workshop on the Algorithmic Foundations of Robotics19 citations Open access
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Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Mathew Halm, Michael Posa
2019Robotics: Science and Systems Conference18 citations Open access
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Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain
Brian Acosta, Michael Posa
2025IEEE Transactions on robotics17 citations Open access
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Learning Linear Complementarity Systems
Wanxin Jin, Alp Aydinoglu, Mathew Halm, Michael Posa
2021Conference on Learning for Dynamics & Control17 citations
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Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion
Yu-Ming Chen, Jian-bo Hu, Michael Posa
2023IEEE Transactions on robotics16 citations Open access
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Adaptive Contact-Implicit Model Predictive Control with Online Residual Learning
Wei-Cheng Huang, Alp Aydinoglu, Wan-Xin Jin, Michael Posa
2023IEEE International Conference on Robotics and Automation13 citations Open access
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Generalization Bounded Implicit Learning of Nearly Discontinuous Functions
Bibit Bianchini, Mathew Halm, N. Matni, Michael Posa
2021Conference on Learning for Dynamics & Control13 citations
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Set-Valued Rigid Body Dynamics for Simultaneous Frictional Impact
Mathew Halm, Michael Posa
2021arXiv.org10 citations
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Stability analysis of complementarity systems with neural network controllers
Alp Aydinoglu, Mahyar Fazlyab, M. Morari, Michael Posa
2020International Conference on Hybrid Systems: Computation and Control10 citations Open access
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Integrable Whole-Body Orientation Coordinates for Legged Robots
Yu-Ming Chen, G. Nelson, Robert J. Griffin, Michael Posa +1 more
2022IEEE/RJS International Conference on Intelligent RObots and Systems9 citations Open access
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Approximating Global Contact-Implicit MPC via Sampling and Local Complementarity
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu, William Yang +1 more
2025IEEE Robotics and Automation Letters8 citations Open access
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Impact-invariant control: maximizing control authority during impacts
William Yang, Michael Posa
2023Autonomous Robots8 citations Open access
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Set-valued rigid-body dynamics for simultaneous, inelastic, frictional impacts
Mathew Halm, Michael Posa
2021Int. J. Robotics Res.6 citations Open access
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Erratum: Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact
Michael Posa, Russ Tedrake
2012Workshop on the Algorithmic Foundations of Robotics6 citations
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Learning a Vision-Based Footstep Planner for Hierarchical Walking Control
Minku Kim, Brian Acosta, Pratik Chaudhari, Michael Posa
2025IEEE-RAS International Conference on Humanoid Robots5 citations
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Algorithmic Foundations of Robotics XIV, Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2021, Oulu, Finland, June 21-23, 2021
G. Antonelli, D. Fox, M. A. Hsieh, Torsten Kr Ö. Ger +155 more
2021Workshop on the Algorithmic Foundations of Robotics5 citations
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Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning
Hien Bui, Michael Posa
2023IEEE International Conference on Robotics and Automation3 citations Open access
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Optimization for control and planning of multi-contact dynamic motion
Michael Posa
20173 citations
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Active Tactile Exploration for Rigid Body Pose and Shape Estimation
E. Gordon, Bruke Baraki, Hien Bui, Michael Posa
2025IEEE International Conference on Robotics and Automation2 citations Open access
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Editorial Introduction to the IEEE T-RO Special Collection on Impact-Aware Robotics
A. Kheddar, Yan Gu, Michael Posa, A. Saccon
2024IEEE Trans. Robotics2 citations Open access
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Angular Center of Mass for Humanoid Robots
Yu-Ming Chen, G. Nelson, Robert J. Griffin, Michael Posa +1 more
2022arXiv.org2 citations Open access
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Sampling-Based Model Predictive Control for Contact-Rich Manipulation
Sharanya Venkatesh, Bibit Bianchini, Alp Aydinoglu, Michael Posa
2 citations
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Instance-Agnostic Geometry and Contact Dynamics Learning
Mengti Sun, Bo-Wen Jiang, Bibit Bianchini, C. J. Taylor +1 more
2023arXiv.org1 citations Open access
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Simultaneously Learning Contact and Continuous Dynamics
Bibit Bianchini, Michael Posa
20221 citations
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Whole-Body Dynamic Planning and Stabilization with Contact
Michael Posa, S. Kuindersma, Russ Tedrake
20150 citations
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Exploiting the complementarity structure: stability analysis of contact dynamics via sums-of-squares (Michael Posa and Russ Tedrake)
Michael Posa
20140 citations
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Reviewers
Maren Bennewitz, Tim Bretl Uiuc, M. Cakmak, Gentiane Venture +23 more
2005IEEE International Symposium on Multimedia0 citations Open access
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