Hongkai Dai
Hongkai Dai
Toyota Research Institute
Adresse e-mail validée de mit.edu - Page d'accueil
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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 (3), 429-455, 2016
5802016
Whole-body Motion Planning with Centroidal Dynamics and Full Kinematics
H Dai, A Valenzuela, R Tedrake
IEEE-RAS International Conference on Humanoid Robots, 2014
2872014
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
1562015
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
892016
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
882017
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
802012
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
612013
Director: A user interface designed for robot operation with shared autonomy
P Marion, M Fallon, R Deits, A Valenzuela, C Pérez D'Arpino, G Izatt, ...
Journal of Field Robotics 34 (2), 262-280, 2017
572017
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
40*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
382017
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
342019
Synthesis and optimization of force closure grasps via sequential semidefinite programming
H Dai, A Majumdar, R Tedrake
International Symposium on Robotics Research, 2015
332015
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
172014
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
102017
Robust multi-contact dynamical motion planning using contact wrench set
H Dai
Massachusetts Institute of Technology, 2016
102016
Generalizing over uncertain dynamics for online trajectory generation
B Kim, A Kim, H Dai, L Kaelbling, T Lozano-Perez
International Symposium on Robotics Research, 2015
52015
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
32020
SEAGuL: Sample Efficient Adversarially Guided Learning of Value Functions
B Landry, H Dai, M Pavone
Learning for Dynamics and Control, 1105-1117, 2021
22021
A Convex-Combinatorial Model for Planar Caging
B Aceituno-Cabezas, H Dai, A Rodriguez
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
22019
Lyapunov-stable neural-network control
H Dai, B Landry, L Yang, M Pavone, R Tedrake
Robotics: Science and Systems (RSS), 2021
2021
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