Michael Posa
Assistant Professor, MEAM
Michael’s interests center on planning, control, and formal analysis of robots as they interact with the world. Whether a robot is assisting within the home, or operating in a manufacturing plant, the fundamental promise of robotics requires touching and affecting a complex environment in a safe and controlled fashion. Michael focuses on developing computationally tractable algorithms which enable robots to operate both dynamically and safely as they quickly maneuver through and interact with their environments. This research involves understanding the interplay between the non-smooth dynamics of contact and numerical optimization, and then testing these techniques on both legged robots and robotic arms.
Research Areas
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Research Groups
Publications
Impact Invariant Control with Applications to Bipedal Locomotion
Publisher arXiv
Contact-Aware Controller Design for Complementarity Systems
Publisher arXiv
Modeling and Analysis of Non-unique Behaviors in Multiple Frictional Impacts
Publisher Robotics: Science and Systems (RSS)
Optimal reduced-order modeling of bipedal locomotion
Publisher arXiv
A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
Publisher Workshop on the Algorithmic Foundations of Robotics (WAFR)
News
Faculty News
Profs at Penn’s GRASP Lab snagged Toyota Research Institute funding for robotics research
February 1, 2021
Students
Alumni
Research Areas
- Contact Modeling
- Hybrid Systems
- Legged Locomotion
- Manipulation
- Optimal Control
- Autonomy