Area of research
Biomedical Engineering · Mechanical Engineering
Research interest
Research interests include Robotic Locomotion and Control, Prosthetics and Rehabilitation Robotics, Muscle activation and electromyography studies, and Soft Robotics and Applications.
Tailoring Solution Accuracy for Fast Whole-Body Model Predictive Control of Legged Robots
Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform
Online Optimal Landing Control of the MIT Mini Cheetah
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Single-Cell Transcriptomics Identifies a Unique Entity and Signature Markers of Transit-Amplifying Cells in Human Corneal Limbus
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
Single-Cell Transcriptome Analysis Reveals Dynamic Cell Populations and Differential Gene Expression Patterns in Control and Aneurysmal Human Aortic Tissue
Single-cell transcriptomics identifies limbal stem cell population and cell types mapping its differentiation trajectory in limbal basal epithelium of human cornea
Jumping over obstacles with MIT Cheetah 2
Extracting Legged Locomotion Heuristics with Regularized Predictive Control
Robust Autonomous Navigation of a Small-Scale Quadruped Robot in Real-World Environments
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Generation, transcriptome profiling, and functional validation of cone-rich human retinal organoids
Single-nuclei RNA-seq on human retinal tissue provides improved transcriptome profiling
Optimized Jumping on the MIT Cheetah 3 Robot
Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation
Implementing Regularized Predictive Control for Simultaneous Real-Time Footstep and Ground Reaction Force Optimization
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
DSpace@MIT (Massachusetts Institute of Technology) 2019cited by 35position: last
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
Other repository 2018cited by 3position: last
Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots
High-speed bounding with the MIT Cheetah 2: Control design and experiments
Policy-regularized model predictive control to stabilize diverse quadrupedal gaits for the MIT cheetah
Design of Dynamic Legged Robots
Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I