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Publications

 

Preprints

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

  • Anirudha Majumdar and Russ Tedrake. Funnel libraries for real-time robust feedback motion planning. International Journal of Robotics Research (To Appear), 2017. [ .pdf ]

  • Andrew J. Barry, Peter R. Florence, and Russ Tedrake. High-speed autonomous obstacle avoidance with pushbroom stereo. Journal of Field Robotics (To Appear), 2017. [ .pdf ]

 

Refereed Conferences, Journals, and Book Chapters

  • Gregory Izatt, Geronimo Mirano, Edward Adelson, and Russ Tedrake. Tracking objects with point clouds from vision and touch. In Proceedings of the International Conference on Robotics and Automation (ICRA), Singapore, May 2017. [ .pdf ] [ .com/watch?v=BIW_jq3dOEE ]

  • Hongkai Dai and Russ Tedrake. Planning robust walking motion on uneven terrain via convex optimization. IEEE-RAS International Conference on Humanoid Robots, 2016. Best Paper Award Finalist.pdf ]

  • Twan Koolen, Michael Posa, and Russ Tedrake. Balance control using center of mass height variation: limitations imposed by unilateral contact. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on, pages 8-15. IEEE, 2016. Best Paper Award Finalist.pdf ]

  • Peter R. Florence, John Carter, and Russ Tedrake. Integrated perception and control at high speed: Evaluating collision avoidance maneuvers without maps. In Proceedings of the Twelfth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), San Francisco, 2016. [ .pdf ]

  • Lucas Manuelli and Russ Tedrake. Localizing external contact using proprioceptive sensors: The contact particle filter. In International Conference on Intelligent Robots and Systems (IROS), October 2016. [ .pdf ] [ .be/ckvsMK0QhB0 ]

  • Pat Marion, Maurice Fallon, Robin Deits, Andrés Valenzuela, Claudia Pérez D'Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, and Russ Tedrake. Director: A user interface designed for robot operation with shared autonomy. Journal of Field Robotics, 1556-4967, 2016. [ .pdf ] [ .21681/full ]

  • Pierre-Brice Wieber, Russ Tedrake, and Scott Kuindersma. Modeling and control of legged robots. In Bruno Siciliano and Oussama Khatib, editors, Springer Handbook of Robotics, 2nd Ed, chapter 48. Springer, 2015. [ .pdf ]

  • Philipp Reist, Pascal V. Preiswerk, and Russ Tedrake. Feedback-motion-planning with simulation-based lqr-trees. The International Journal of Robotics Research, 35(11):1393-1416, July 2 2016. [ .pdf ] [ .be/0-iHS6QdDuM ] [ .zip ]

  • Michael Posa, Scott Kuindersma, and Russ Tedrake. Optimization and stabilization of trajectories for constrained dynamical systems. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 1366-1373, Stockholm, Sweden, May 2016. [ .pdf ] [ .be/62GIUJC60P4 ]

  • Benoit Landry, Robin Deits, Peter R. Florence, and Russ Tedrake. Aggressive quadrotor flight through cluttered environments using mixed integer programming. In Proceedings of the International Conference on Robotics and Automation (ICRA), Stockhom, Sweden, May 2016. [ .pdf ] [ .com/watch?v=v-s564NoAu0 ]

  • Scott Kuindersma, Robin Deits, Maurice Fallon, Andrés Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, and Russ Tedrake. Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot. Autonomous Robots, 40(3):429-455, 2016. [ .pdf ]

  • Maurice F. Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, and Russ Tedrake. Continuous humanoid locomotion over uneven terrain using stereo fusion. In Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robotics, 2015. Winner of the conference Best Paper Award (Oral).pdf ]

  • Russ Tedrake, Scott Kuindersma, Robin Deits, and Kanako Miura. A closed-form solution for real-time ZMP gait generation and feedback stabilization. In Proceedings of the International Conference on Humanoid Robotics, Seoul, Korea, November 2015. [ .pdf ]

  • Hongkai Dai, Anirudha Majumdar, and Russ Tedrake. Synthesis and optimization of force closure grasps via sequential semidefinite programming. In International Symposium on Robotics Research, 2015. [ .pdf ]

  • Nima Fazeli, Russ Tedrake, and Alberto Rodriguez. Identifiability analysis of planar rigid-body frictional contact. In Proceedings of the International Symposium on Robotics Research, page 16, September 2015. [ .pdf ]

  • Andrew J. Barry, Helen Oleynikova, Dominik Honegger, Marc Pollefeys, and Russ Tedrake. FPGA vs. pushbroom stereo vision for MAVs. Vision-based Control and Navigation of Small Lightweight UAVs, IROS Workshop, 2015. [ .pdf ]

  • Robin Deits and Russ Tedrake. Efficient mixed-integer planning for UAVs in cluttered environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015. [ .pdf ] [ .com/watch?v=gJBitAHDPsA ]

  • Andrew J. Barry and Russ Tedrake. Pushbroom stereo for high-speed navigation in cluttered environments. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015. [ .pdf ] [ .com/watch?v=cZE01bJIgvQ ]

  • Andrew D Marchese, Russ Tedrake, and Daniela Rus. Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 2015. IEEE. [ .pdf ]

  • Andrew D Marchese, Russ Tedrake, and Daniela Rus. Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator. International Journal of Robotics Research, OnlineFirst:1-20, August 2015. [ .pdf ]

  • Michael Posa, Mark Tobenkin, and Russ Tedrake. Stability analysis and control of rigid-body systems with impacts and friction. IEEE Transactions on Automatic Control (TAC), 61(6):1423 - 1437, June 2016. [ .pdf ]

  • Robin Deits and Russ Tedrake. Footstep planning on uneven terrain with mixed-integer convex optimization. In Proceedings of the 2014 IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 2014. Winner of the conference Best Paper Award (Oral).pdf ] [ .be/hGhCTPQuMy4 ]

  • Maurice F. Fallon, Matthew Antone, Nicholas Roy, and Seth Teller. Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. In International Conference on Humanoid Robots, Madrid, Spain, 2014. [ .pdf ] [ .com/watch?v=V_DxB76MkE4 ]

  • Hongkai Dai, Andrés Valenzuela, and Russ Tedrake. Whole-body motion planning with centroidal dynamics and full kinematics. IEEE-RAS International Conference on Humanoid Robots, 2014. [ .pdf ] [ .com/watch?v=l3TEnNAyjmg ]

  • Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake. Control and verification of high-dimensional systems with DSOS and SDSOS programming. In Proceedings of the 53rd Conference on Decision and Control (CDC), 2014. [ .pdf ]

  • Frank Permenter and Pablo Parrilo. Basis selection for SOS programs via facial reduction and polyhedral approximations. Proceedings of the IEEE Conference on Decision and Control, December 2014..pdf ]

  • Victor Shia, Ram Vasudevan, Ruzena Bajcsy, and Russ Tedrake. Convex computation of the reachable set for controlled polynomial hybrid systems. In Proceedings of the 53rd Conference on Decision and Control (CDC), page 8, 2014. [ .pdf ]

  • Robin L H Deits and Russ Tedrake. Computing large convex regions of obstacle-free space through semidefinite programming. In Proceedings of the Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR 2014), Istanbul, 2014. [ .pdf ]

  • Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Pérez D'Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andrés Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, and Seth Teller. An architecture for online affordance-based perception and whole-body planning. Journal of Field Robotics, 32(2):229-254, September 2014. [ .pdf ]

  • Joseph Moore, Rick Cory, and Russ Tedrake. Robust post-stall perching with a simple fixed-wing glider using lqr-trees. Bioinspiration and Biomimetics, 9(2):15, June 2014. [ .pdf ]

  • Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake. Convex optimization of nonlinear feedback controllers via occupation measures. International Journal of Robotics Research (IJRR), 33(9):1209-1230, August 2014. [ .pdf ]

  • Joseph Moore and Russ Tedrake. Adaptive control design for underactuated systems using sums-of-squares optimization. In Proceedings of the 2014 American Control Conference (ACC), Portland, Oregon, USA, June 2014. [ .pdf ]

  • Scott Kuindersma, Frank Permenter, and Russ Tedrake. An efficiently solvable quadratic program for stabilizing dynamic locomotion. In Proceedings of the International Conference on Robotics and Automation, Hong Kong, China, May 2014. IEEE. [ .pdf ] [ .1839v1 ]

  • R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D'Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, and S. Teller. A summary of team MIT's approach to the virtual robotics challenge. In Proceedings of the International Conference on Robotics and Automation (ICRA), page 1, Hong Kong, China, May 2014. [ .pdf ] [ .com/watch?v=CXHLntka5q4 ]

  • Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew Biewener, and Russ Tedrake. Flying between obstacles with an autonomous knife-edge maneuver. In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Video Track, 2014. [ .pdf ] [ .com/watch?v=LGel-SdAIRg ]

  • Michael Posa, Cecilia Cantu, and Russ Tedrake. A direct method for trajectory optimization of rigid bodies through contact. International Journal of Robotics Research, 33(1):69-81, January 2014. [ .pdf ] [ .com/watch?v=pH1pDXnCBx4 ]

  • Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake. Convex optimization of nonlinear feedback controllers via occupation measures. In Proceedings of Robotics: Science and Systems (RSS), 2013. [ .pdf ] [ .7484 ]

  • 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), pages 4054-4061, 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, page 8, Maui, Hawaii, December 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, page 8, Maui, Hawaii, 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, pages 527-542, Cambridge, MA, June 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, page 16, Cambridge, MA, June 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), page 8, Montreal, CA, June 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), page 8, Montreal, CA, June 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, Flagstaff, AZ, September 2011. Extended version available in CSAIL Tech Report MIT- CSAIL-TR-2011-039 [ .pdf ]

  • R. Platt, L. Kaelbling, T. Lozano-Perez, and R. Tedrake. Simultaneous localization and grasping using belief space planning. In Proceedings of the workshop on manipulation under uncertainty, ICRA 2011, 2011. [ .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.

  • 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 ]