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The HAWK Seminar Series

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Publications

Refereed Conferences and Journals

• John W. Roberts, Rick Cory, and Russ Tedrake. On the controllability of fixed-wing perching. Submitted to the American Controls Conference (ACC), 2009.
  pdf (1.1M)

• Alexander Shkolnik and Russ Tedrake. Path planning in 1000+ dimensions using a task-space voronoi bias. Submitted to the IEEE/RAS International Conference on Robotics and Automation (ICRA), 2009.
  pdf (233K)

• Alexander Shkolnik, Matthew Walter, and Russ Tedrake. Reachability-guided sampling for planning under differential constraints. Submitted to the IEEE/RAS International Conference on Robotics and Automation (ICRA), 2009.
  pdf (275K)

• Fumiya Iida and Russ Tedrake. Minimalistic control of a compass gait robot in rough terrain. Submitted to the IEEE/RAS International Conference on Robotics and Automation (ICRA), 2009.
  pdf (1.7M), mp4 (3.2M)

• John W. Roberts and Russ Tedrake. Signal-to-noise ratio analysis of policy gradient algorithms. To appear in Advances in Neural Information Processing Systems (NIPS) 21, 2009.
  pdf (231K)

• Katie Byl, Alexander Shkolnik, Sam Prentice, Nicholas Roy, and Russ Tedrake. Reliable dynamic motions for a stiff quadruped. In Proceedings of the 11th International Symposium on Experimental Robotics (ISER), 2008. Winner of IFRR Student Fellowship Award.
  pdf (794K), mov ( 76M)

• Alexander Shkolnik and Russ Tedrake. High-dimensional underactuated motion planning via task space control. To appear in Proceedings of teh IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
  pdf (797K)

• Rick Cory and Russ Tedrake. Experiments in fixed-wing UAV perching. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, 2008.
  pdf (2.4M)

• Katie Byl and Russ Tedrake. (2008) Metastable walking on stochastically rough terrain. In Proceedings of Robotics: Science and Systems IV, 2008.
  pdf (788K), avi (9.7M)

• Katie Byl and Russ Tedrake. (2008) Approximate optimal control of the compass gait on rough terrain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008.
  pdf (1.9M), avi (2.7M)

• Finale Doshi, Emma Brunskill, Alec Shkolnik, Thomas Kollar, Khash Rohanimanesh, Russ Tedrake, and Nicholas Roy. (2007) A supervised learning approach for collision detection in legged locomotion. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
  pdf (224K)

• Fumiya Iida and Russ Tedrake. (2007) Motor control optimization of compliant one-legged locomotion in rough terrain. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
  pdf (1.0M)

• Alexander Shkolnik and Russ Tedrake. (2007) Inverse kinematics for a point-foot quadruped robot with dynamic redundancy resolution. In Proceedings of the 2007 IEEE International Conference on Robotics and Automation, April 2007.
  pdf (714K)

• Jerry E. Pratt and Russ Tedrake. (2005) Velocity-based Stability Margins for Fast Bipedal Walking. In Proceedings of the First Ruperto Carola Symposium on Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control. Heidelberg, Germany, September 2005.
  pdf (455K), mov (4.0M)

• Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. (2005) Learning to Walk in 20 Minutes. In Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems, Yale University, New Haven, CT, 2005.
  pdf (239K)

• Steven H. Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. (2005) Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082-1085, February 18 2005.
  pdf (355K). Supporting Material: pdf (1.1M), s1.mov (8.4M), s2.mov (9.3M), s3.mov (3.6M)
  Commentary by R. McNeill Alexander: pdf (293K)

• Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. (2004) Stochastic Policy Gradient Reinforcement Learning on a Simple 3D Biped. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2849-2854, Senda, Japan, September 2004.
  pdf (243K)

• Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. (2004) Actuating a Simple 3D Passive Dynamic Walker. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), volume 5, pages 4656-4661, New Orleans, LA, April 2004.
  pdf (530K)

• Russ Tedrake and H. Sebastian Seung. (2002) Improved Dynamic Stability using Reinforcement Learning. In 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pages 341-348, Paris, France, September 2002. Professional Engineering Publishing Limited.
  pdf ( 66K)
• M. Van Lent, J. Laird, J. Buckman, J. Hartford, S. Houchard, K. Steinkraus, R. Tedrake. (1999) Intelligent Agents in Computer Games. In Proceedings of the American Association for Artificial Intelligence (AAAI), pages 929-930, Orlando, FL, July 1999.
  pdf ( 12K)

Technical Reports

• Khashayar Rohanimanesh, Nicholas Roy, and Russ Tedrake. Towards feature selection in actor-critic algorithms. Technical report, Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory, 2007.
  pdf (185K)

Conference Abstracts

• Rick Cory and Russ Tedrake. (2007) On the controllability of agile fixed-wing flight. In Proceedings of the 2007 Symposium on Flying Insects and Robots (FIR), August 2007.
  pdf ( 79K)

• Katie Byl and Russ Tedrake. (2006) Stability of passive dynamic walking on uneven terrain. In Art Kuo, editor, Proceedings of Dynamic Walking 2006, May 2006.
  pdf ( 49K), slides: pdf ( 16M)

Student Theses

• Russell L Tedrake. (2004) Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis, Massachusetts Institute of Technology, August, 2004.
  Standard format: pdf (1.1M), Book format: pdf (3.1M),

• Vanessa Hsu. (2007) Passive Dynamic Walking with Knees: A Point-foot Model. Master's Thesis, Massachusetts Institute of Technology, February, 2007.
  pdf (1.7M)

• John Glowa. (2007) Design and Process/Measurement for Immersed Element Control in a Reconfigurable Vertically Falling Soap Film. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June, 2007.
  pdf (911K)

• Arlis Reynolds. (2006) Design and Control of a Clutch for a Minimally-Actuated Biped Based on the Passive-Dynamic Simple Walker. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June, 2006.
  pdf (661K)

• Andrew Griffin Baines. (2005) Knee Design for a Bipedal Walking Robot Based on a Passive-Dynamic Walker. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June, 2005.
  pdf (313K)

• Ming-fai Fong. (2005) Mechanical Design of a Simple Bipedal Robot. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June, 2005.
  pdf (737K)