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The HAWK Seminar Series

Neural Network Control Project

 

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Publications

 

Preprints

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

  • Russ Tedrake. Underactuated Robotics: Learning, Planning, and Control for Efficient and Agile Machines: Course Notes for MIT 6.832. Working draft edition, 2009. Chapters will be reinserted as they are updated over the course of the 2009 spring term. [ .pdf ]

  • John W. Roberts, Jun Zhang, and Russ Tedrake. Motor learning at intermediate reynolds number: Experiments with policy gradient on a heaving plate. In Under Review. 2009. [ .pdf ]

  • Ian R. Manchester, Uwe Mettin, Fumiya Iida, and Russ Tedrake. Stable dynamic walking over rough terrain: Theory and experiment. In Under Review, 2009. [ .pdf ]

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

  • Russ Tedrake, Zack Jackowski, Rick Cory, John William Roberts, and Warren Hoburg. Learning to fly like a bird. Under review, 2009. [ .pdf ]

  • Katie Byl and Russ Tedrake. Metastable walking machines. Under review, 2009. [ .pdf ]

 

Refereed Conferences and Journals

  • 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 To Appear in the Proceedings of the American Controls 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 IEEE/RAS International Conference on Robotics and Automation (ICRA). 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 ]

 

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 ]

 

Conference Abstracts

  • 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

  • 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 ]

  • 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.

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