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Publications

 

Preprints

    The following manuscripts are still in progress. Suggestions are welcome.

  • Michael Posa, Cecilia Cantu, and Russ Tedrake. A direct method for trajectory optimization of rigid bodies through contact. Under Review, 2013. [ .pdf ]

  • Russ Tedrake. Underactuated Robotics: Learning, Planning, and Control for Efficient and Agile Machines: Course Notes for MIT 6.832. Working draft edition, 2012. [ http ] [ .xml ]

 

Refereed Conferences, Journals, and Book Chapters

  • Frank Permenter, Charles W. Wampler, and Russ Tedrake. A numerical algebraic geometry approach to regional stability analysis. In Proceedings of the 2013 American Controls Conference, page 6, Washington, D.C., June 2013. [ .pdf ]

  • Amir Ali Ahmadi, Anirudha Majumdar, and Russ Tedrake. Complexity of ten decision problems in continuous time dynamical systems. In Proceedings of the 2013 American Control Conference (ACC), 2013. [ .pdf ]

  • Hongkai Dai and Russ Tedrake. L2-gain optimization for robust bipedal walking on unknown terrain. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013. [ .pdf ]

  • Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake. Control design along trajectories with sums of squares programming. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013. Winner of the conference Best Paper Award [ .pdf ]

  • Michael Posa, Mark Tobenkin, and Russ Tedrake. Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares. In Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control (HSCC 2013), pages 63-72. ACM, April 8-11 2013. Winner of the conference Best Paper Award. [ .pdf ]

  • Hongkai Dai and Russ Tedrake. Optimizing robust limit cycles for legged locomotion on unknown terrain. In Proceedings of the IEEE Conference on Decision and Control, 2012. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Control synthesis and verification for a perching uav using lqr-trees. In Proceedings of the IEEE Conference on Decision and Control, December 2012. [ .pdf ]

  • F. Permenter and P.A. Parrilo. Selecting a monomial basis for sums of squares programming over a quotient ring. In The 51st IEEE Conference on Decision and Control, 2012. [ .pdf ]

  • Michael Posa and Russ Tedrake. Direct trajectory optimization of rigid body dynamical systems through contact. In Proceedings of the Workshop on the Algorithmic Foundations of Robotics, Cambridge, MA, 2012. [ .pdf ]

  • Ryuma Niiyama. Model-based trajectory control of robots with pneumatic actuator dynamics. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 2012. [ .pdf ]

  • Anirudha Majumdar and Russ Tedrake. Robust online motion planning with regions of finite time invariance. In Proceedings of the Workshop on the Algorithmic Foundations of Robotics, 2012. [ .pdf ]

  • Anirudha Majumdar, Mark Tobenkin, and Russ Tedrake. Algebraic verification for parameterized motion planning libraries. In Proceedings of the 2012 American Control Conference (ACC), 2012. [ .pdf ]

  • J. Zico Kolter, Zachary Jackowski, and Russ Tedrake. Design, analysis and learning control of a fully actuated micro wind turbine. In Proceedings of the 2012 American Control Conference (ACC), 2012. [ .pdf ]

  • Jacob Steinhardt and Russ Tedrake. Finite-time regional verification of stochastic nonlinear systems. International Journal of Robotics Research, 31(7):901-923, June 2012. Extended journal version of RSS 2011 paper. [ http ] [ .pdf ]

  • Andrew J. Barry, Anirudha Majumdar, and Russ Tedrake. Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ] [ .tv/talks/55180/ ]

  • Elena Leah Glassman, Alexis Lussier Desbiens, Mark Tobenkin, Mark Cutkosky, and Russ Tedrake. Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ]

  • Robert Platt, Leslie Kaelbling, Tomas Lozano-Perez, and Russ Tedrake. Non-gaussian belief space planning: Correctness and complexity. In Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012. [ .pdf ]

  • Ian R. Manchester, Mark M. Tobenkin, and Jennifer Wang. Identification of nonlinear systems with stable oscillations. arXiv:1103.5431v1, 2011. [ http ]

  • Joseph Moore and Russ Tedrake. Magnetic localization for perching UAVs on powerlines. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2011. [ .pdf ]

  • A. Perez, S. Karaman, A. Shkolnik, E. Frazzoli, S. Teller, and M.R. Walter. Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 4307-4313. IEEE, 2011. [ .pdf ]

  • R. Platt, L. Kaelbling, T. Lozano-Perez, and R. Tedrake. Efficient planning in non-gaussian belief spaces and its application to robot grasping. In Proceedings of the 15th International Symposium on Robotics Research, 2011. Extended version available in CSAIL Tech Report MIT- CSAIL-TR-2011-039 [ .pdf ]

  • Jacob Steinhardt and Russ Tedrake. Finite-time regional verification of stochastic nonlinear systems. In Proceedings of Robotics: Science and Systems (RSS) 2011, January 17 2011. Finalist for conference Best Student Paper Award [ .pdf ] [ .pdf ]

  • Mark M. Tobenkin, Ian R. Manchester, and Russ Tedrake. Invariant funnels around trajectories using sum-of-squares programming. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.3013 [math.DS], 2011. MATLAB example in supplemental zip file [ arXiv | http ] [ .zip ]

  • Ian R. Manchester, Mark M. Tobenkin, Michael Levashov, and Russ Tedrake. Regions of attraction for hybrid limit cycles of walking robots. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.2247 [math.OC], 2011. [ arXiv | http ]

  • Ian R. Manchester. Transverse dynamics and regions of stability for nonlinear hybrid limit cycles. Proceedings of the 18th IFAC World Congress, extended version available online: arXiv:1010.2241 [math.OC], Aug-Sep 2011. [ arXiv | http ]

  • John Roberts, Ian Manchester, and Russ Tedrake. Feedback controller parameterizations for reinforcement learning. In Proceedings of the 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL), 2011. [ .pdf ]

  • Ian R. Manchester, Uwe Mettin, Fumiya Iida, and Russ Tedrake. Stable dynamic walking over uneven terrain. The International Journal of Robotics Research (IJRR), 30(3):265-279, January 24 2011. [ .pdf ]

  • Alexander Shkolnik, Michael Levashov, Ian R. Manchester, and Russ Tedrake. Bounding on rough terrain with the littledog robot. The International Journal of Robotics Research (IJRR), 30(2):192-215, Feb 2011. [ .pdf ]

  • Jan Peters, Russ Tedrake, Nicholas Roy, and Jun Morimoto. Robot learning. In Claude Sammut and Geoffrey I. Webb, editors, Encyclopedia of Machine Learning, pages 865-9. Springer, 2011. [ .pdf ]

  • Mark Tobenkin, Ian R. Manchester, Jennifer Wang, Alex Megretski, and Russ Tedrake. Convex optimization in identification of stable non-linear state space models. In Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), extended version available online: arXiv:1009.1670 [math.OC], Dec 2010. [ .pdf ]

  • R. Platt, R. Tedrake, L.P. Kaelbling, and T. Lozano-Perez. Belief space planning assuming maximum likelihood observations. In Proceedings of Robotics: Science and Systems, 2010. [ .pdf ]

  • Russ Tedrake, Ian R. Manchester, Mark M. Tobenkin, and John W. Roberts. LQR-Trees: Feedback motion planning via sums of squares verification. International Journal of Robotics Research, 29:1038-1052, July 2010. [ http ] [ .pdf ]

  • Philipp Reist and Russ Tedrake. Simulation-based LQR-trees with input and state constraints. In Proceedings of the International Conference on Robotics and Automation (ICRA), 2010. [ .pdf ] [ .mp4 ]

  • Elena Glassman and Russ Tedrake. A quadratic regulator-based heuristic for rapidly exploring state space. In Proceedings of the International Conference on Robotics and Automation (ICRA), 2010. [ .pdf ]

  • Fumiya Iida and Russ Tedrake. Minimalistic control of biped walking in rough terrain. Autonomous Robots, OnlineFirst:355-368, January 7 2010. [ .pdf ] [ .1007/s10514-009-9174-3 ]

  • John W. Roberts, Jun Zhang, and Russ Tedrake. Motor learning at intermediate reynolds number: Experiments with policy gradient on the flapping flight of a rigid wing. In From Motor to Interaction Learning in Robots. Springer, 2009. [ .pdf ]

  • Russ Tedrake. LQR-Trees: Feedback motion planning on sparse randomized trees. In Proceedings of Robotics: Science and Systems (RSS), page 8, 2009. Winner of the Best Paper Award. (MATLAB examples/toolbox coming soon!). [ .pdf ] [ .pdf ]

  • Ian R. Manchester, Uwe Mettin, Fumiya Iida, and Russ Tedrake. Stable dynamic walking over rough terrain: Theory and experiment. In Proceedings of the International Symposium on Robotics Research (ISRR), 2009. [ .pdf ]

  • Katie Byl and Russ Tedrake. Metastable walking machines. International Journal of Robotics Research, 28(8):1040-1064, August 1 2009. [ http ] [ .pdf ]

  • Khashayar Rohanimanesh, Nicholas Roy, and Russ Tedrake. Towards feature selection in actor-critic algorithms. In Proceedings of the Workshop on Abstraction in Reinforcement Learning (ICML, UAI, COLT 2009), Montreal, Canada, June 18 2009. [ .pdf ]

  • Warren Hoburg and Russ Tedrake. System identification of post stall aerodynamics for UAV perching. In Proceedings of the AIAA Infotech@Aerospace Conference, Seattle, WA, April 2009. AIAA. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Powerline perching with a fixed-wing UAV. In Proceedings of the AIAA Infotech@Aerospace Conference, Seattle, WA, April 2009. AIAA. [ .pdf ]

  • John W. Roberts, Rick Cory, and Russ Tedrake. On the controllability of fixed-wing perching. In Proceedings of the American Control Conference (ACC), 2009. [ .pdf ]

  • Alexander Shkolnik and Russ Tedrake. Path planning in 1000+ dimensions using a task-space Voronoi bias. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA). IEEE/RAS, 2009. [ .pdf ]

  • Alexander Shkolnik, Matthew Walter, and Russ Tedrake. Reachability-guided sampling for planning under differential constraints. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 2859-2865. IEEE/RAS, 2009. [ .pdf ]

  • Fumiya Iida and Russ Tedrake. Minimalistic control of a compass gait robot in rough terrain. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA). IEEE/RAS, 2009. [ .pdf ] [ .mp4 ]

  • Katie Byl and Russ Tedrake. Dynamically diverse legged locomotion for rough terrain. In Proceedings of the IEEE/RAS International Conference on Robotics and Automation (ICRA), video submission, May 2009. [ .pdf ] [ .mp4 ]

  • John W. Roberts and Russ Tedrake. Signal-to-noise ratio analysis of policy gradient algorithms. In Advances of Neural Information Processing Systems (NIPS) 21, page 8, 2009. [ .pdf ]

  • 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 ] [ .mov ]

  • Alexander Shkolnik and Russ Tedrake. High-dimensional underactuated motion planning via task space control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ, 2008. [ .pdf ]

  • Rick Cory and Russ Tedrake. Experiments in fixed-wing UAV perching. In Proceedings of the AIAA Guidance, Navigation, and Control Conference. AIAA, 2008. [ .pdf ] [ .mov ]

  • Katie Byl and Russ Tedrake. Metastable walking on stochastically rough terrain. In Proceedings of Robotics: Science and Systems IV, 2008. [ .pdf ] [ .avi ]

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

  • Finale Doshi, Emma Brunskill, Alexander Shkolnik, Thomas Kollar, Khash Rohanimanesh, Russ Tedrake, and Nicholas Roy. 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 ]

  • Fumiya Iida and Russ Tedrake. 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 ]

  • Alexander Shkolnik and Russ Tedrake. 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 ]

  • Jerry E. Pratt and Russ Tedrake. 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, volume 340, pages 299-324, Sep 2005. [ .pdf ] [ .mov ]

  • Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. 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 ]

  • Steven H. Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on passive-dynamic walkers. Science, 307:1082-1085, February 18 2005. [ .pdf ] [ .pdf ] [ .mov ] [ .mov ] [ .mov ] [ .pdf ]

  • Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. Stochastic policy gradient reinforcement learning on a simple 3D biped. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), volume 3, pages 2849-2854, Sendai, Japan, September 2004. [ .pdf ]

  • Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. 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 ]

  • Russ Tedrake and H. Sebastian Seung. 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 ]

  • Mike van Lent, John Laird, Josh Buckman, Joe Hartford, Steve Houchard, Kurt Steinkraus, and Russ Tedrake. Intelligent agents in computer games. In Proceedings of the American Association for Artificial Intelligence, pages 929-930, Orlando, FL, July 1999. [ .pdf ]

 

Archives and Technical Reports

  • Alexander Shkolnik and Russ Tedrake. Sample-based planning with volumes in configuration space. arXiv:1109.3145v1 [cs.RO], 2011. [ http ]

  • Robert Platt, Leslie Kaelbling, Tomas Lozano-Perez, and Russ Tedrake. A hypothesis-based algorithm for planning and control in non-gaussian belief spaces. Technical Report MIT- CSAIL-TR-2011-039, Massachusetts Institute of Technology, August 2011. Extended version of ISRR 2011 paper. [ .pdf ]

  • Mark M. Tobenkin, Ian R. Manchester, Jennifer Wang, Alexandre Megretski, and Russ Tedrake. Convex optimization in identification of stable non-linear state space models. arXiv:1009.1670 [math.OC], 2010. Extended version of CDC paper. [ arXiv | http ]

  • 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 ]

 

Conference Abstracts and Other Publications

  • Jan Peters, Jun Morimoto, Russ Tedrake, and Nicholas Roy. Robot learning [TC Spotlight]. Robotics and Automation Magazine, IEEE, 16(3):19-20, September 2009. [ .pdf ]

  • John Roberts, Lionel Moret, Jun Zhang, and Russ Tedrake. Optimization of unsteady fluid-body interactions via machine learning. Presented at APS-DFD Meeting, November 2008.

  • Abderrahmane Bennis, Miriam Leeser, Gilead Tadmor, and Russ Tedrake. Implementation of a highly parameterized digital PIV system on reconfigurable hardware. In Proceedings of the Twelfth Annual Workshop on High Performance Embedded Computing (HPEC), Lexington, MA, September 2008. [ .pdf ]

  • Katie Byl and Russ Tedrake. Metastable rimless wheels. In Martijn Wisse, editor, Proceedings of Dynamic Walking IV, June 2008. [ .pdf ]

  • Katie Byl and Russ Tedrake. Control of the compass gait on rough terrain. In Martijn Wisse, editor, Proceedings of Dynamic Walking IV, June 2008. [ .pdf ]

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

  • Katie Byl and Russ Tedrake. Stability of passive dynamic walking on uneven terrain. In Art Kuo, editor, Proceedings of Dynamic Walking 2006, May 2006. [ .pdf ] [ .pdf ]

 

Theses

  • John W. Roberts. Control of Underactuated Fluid-Body Systems with Real-Time Particle Image Velocimetry. PhD thesis, Massachusetts Institute of Technology, June 2012. [ .pdf ]

  • Rick Cory. Supermaneuverable Perching. PhD thesis, Massachusetts Institute of Technology, June 2010. [ .pdf ]

  • Alexander Shkolnik. Sample-Based Motion Planning in High-Dimensional and Differentially-Constrained Systems. PhD thesis, MIT, February 2010. [ .pdf ]

  • Katie Byl. Metastable Legged-Robot Locomotion. PhD thesis, MIT, Sep 2008. [ .pdf ]

  • Russell L Tedrake. Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis, Massachusetts Institute of Technology, 2004. [ .pdf ]

     

  • Andrew J. Barry. Flying between obstacles with an autonomous knife-edge maneuver. Master's thesis, Massachusetts Institute of Technology, Sep 2012. [ .pdf ]

  • Hongkai Dai. Robust Bipedal Locomotion on Unknown Terrain. Master's thesis, Massachusetts Institute of Technology, September 2012. [ .pdf ]

  • Michael Yurievich Levashov. Modeling, system identi cation, and control for dynamic locomotion of the LittleDog robot on rough terrain. Master's thesis, Massachusetts Institute of Technology, September 2011. [ .pdf ]

  • Zack Jackowski. Design, construction, and experiments with a compass gait walking robot. Master's thesis, Massachusetts Institute of Technology, June 2011. [ .pdf ]

  • Joseph Moore. Powerline perching with a fixed-wing uav. Master's thesis, Massachusetts Institute of Technology, May 2011. [ .pdf ]

  • Elena Leah Glassman. A quadratic regulator-based heuristic for rapidly exploring state space. Master's thesis, Massachusetts Institute of Technology, February 2010. [ .pdf ]

  • John W. Roberts. Motor learning on a heaving plate via improved-SNR algorithms. Master's thesis, Massachusetts Institute of Technology, February 2009. [ .pdf ]

  • Rick E. Cory. Perching with fixed wings. Master's thesis, Massachusetts Institute of Technology, 2008. Winner of the 2008 MIT Computer Science MS Thesis Award [ .pdf ]

  • Vanessa Hsu. Passive dynamic walking with knees: A point-foot model. Master's thesis, Massachusetts Institute of Technology, February 2007. [ .pdf ]

     

  • Zachary Jackowski. The design and construction of an autonomous ornithopter. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2009. [ .pdf ]

  • John Glowa. 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 ]

  • Arlis Reynolds. 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 ]

  • Andrew Griffin Baines. Knee design for a bipedal walking robot based on a passive-dynamic walker. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2005. [ .pdf ]

  • Ming fai Fong. Mechanical design of a simple bipedal robot. Mechanical Engineering Undergraduate Thesis, Massachusetts Institute of Technology, June 2005. [ .pdf ]

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