| Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot S Kuindersma, R Deits, M Fallon, A Valenzuela, H Dai, F Permenter, ... Autonomous robots 40, 429-455, 2016 | 1009 | 2016 |
| Whole-body Motion Planning with Centroidal Dynamics and Full Kinematics H Dai, A Valenzuela, R Tedrake IEEE-RAS International Conference on Humanoid Robots, 2014 | 528 | 2014 |
| Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization B Aceituno-Cabezas, C Mastalli, H Dai, M Focchi, A Radulescu, ... IEEE Robotics and Automation Letters 3 (3), 2531-2538, 2017 | 185 | 2017 |
| An architecture for online affordance‐based perception and whole‐body planning M Fallon, S Kuindersma, S Karumanchi, M Antone, T Schneider, H Dai, ... Journal of Field Robotics 32 (2), 229-254, 2015 | 180 | 2015 |
| Planning robust walking motion on uneven terrain via convex optimization H Dai, R Tedrake 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 142 | 2016 |
| Lyapunov-stable neural-network control H Dai, B Landry, L Yang, M Pavone, R Tedrake Robotics: Science and Systems (RSS), 2021 | 141 | 2021 |
| Optimizing robust limit cycles for legged locomotion on unknown terrain H Dai, R Tedrake 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 1207-1213, 2012 | 110 | 2012 |
| Director: A user interface designed for robot operation with shared autonomy P Marion, M Fallon, R Deits, A Valenzuela, CP D’Arpino, G Izatt, ... The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 237-270, 2018 | 86 | 2018 |
| Global inverse kinematics via mixed-integer convex optimization H Dai, G Izatt, R Tedrake The International Journal of Robotics Research 38 (12-13), 1420-1441, 2019 | 84 | 2019 |
| L2-gain optimization for robust bipedal walking on unknown terrain H Dai, R Tedrake 2013 IEEE international conference on robotics and automation, 3116-3123, 2013 | 79 | 2013 |
| Application of wrench-based feasibility analysis to the online trajectory optimization of legged robots R Orsolino, M Focchi, C Mastalli, H Dai, DG Caldwell, C Semini IEEE Robotics and Automation Letters 3 (4), 3363-3370, 2018 | 74 | 2018 |
| Globally optimal object pose estimation in point clouds with mixed-integer programming G Izatt, H Dai, R Tedrake International Symposium on Robotics Research, 2017 | 71 | 2017 |
| Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems H Dai, B Landry, M Pavone, R Tedrake IEEE Conference on Decision and Control (CDC), 2020 | 55 | 2020 |
| Synthesis and optimization of force closure grasps via sequential semidefinite programming H Dai, A Majumdar, R Tedrake International Symposium on Robotics Research, 2015 | 54 | 2015 |
| Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints H Dai, F Permenter 2023 American Control Conference (ACC), 4116-4123, 2023 | 37 | 2023 |
| Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators A Amice*, H Dai*, P Werner, A Zhang, R Tedrake International Workshop on the Algorithmic Foundations of Robotics, 328-348, 2022 | 31 | 2022 |
| A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain B Aceituno-Cabezas, H Dai, J Cappelletto, JC Grieco, ... 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017 | 21 | 2017 |
| A summary of team mit's approach to the virtual robotics challenge R Tedrake, M Fallon, S Karumanchi, S Kuindersma, M Antone, ... 2014 IEEE International Conference on Robotics and Automation (ICRA), 2087-2087, 2014 | 20 | 2014 |
| Diffusion policy policy optimization AZ Ren, J Lidard, LL Ankile, A Simeonov, P Agrawal, A Majumdar, ... arXiv preprint arXiv:2409.00588, 2024 | 18 | 2024 |
| Certified polyhedral decompositions of collision-free configuration space H Dai*, A Amice*, P Werner, A Zhang, R Tedrake International Journal of Robotics Research, 2024 | 18 | 2024 |
Russ TedrakeMIT (EECS, MechE, Aero/Astro) and Toyota Research InstituteVerified email at mit.edu
