Andres Valenzuela

TL;DR: This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments and presents a state estimator formulation that permits highly precise execution of extended walking plans over non-flat terrain.

TL;DR: This paper treats the dynamics of the robot in centroidal form and directly optimizing the joint trajectories for the actuated degrees of freedom to arrive at a method that enjoys simpler dynamics, while still having the expressiveness required to handle kinematic constraints such as collision avoidance or reaching to a target.

TL;DR: The design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot, which emphasized human interaction with an efficient motion planner, is described.

TL;DR: The use of Director—the open‐source user interface developed by Team MIT to pilot the Atlas robot in the DARPA Robotics Challenge (DRC) resulted in efficient high‐level task operation while being fully competitive with approaches focusing on teleoperation by highly trained operators.

TL;DR: In this article, the authors proposed a method to solve a set of problems in the field of Mechanical Engineering using a two-dimensional laser scanner, and demonstrated that it works well.