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Andres Valenzuela
Researcher at Massachusetts Institute of Technology
Publications - 10
Citations - 1450
Andres Valenzuela is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Humanoid robot & Robot kinematics. The author has an hindex of 8, co-authored 10 publications receiving 1143 citations.
Papers
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Journal ArticleDOI
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Scott Kuindersma,Robin Deits,Maurice Fallon,Andres Valenzuela,Hongkai Dai,Frank Noble Permenter,Twan Koolen,Pat Marion,Russ Tedrake +8 more
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.
Proceedings ArticleDOI
Whole-body motion planning with centroidal dynamics and full kinematics
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.
Journal ArticleDOI
An Architecture for Online Affordance-based Perception and Whole-body Planning
Maurice Fallon,Scott Kuindersma,Sisir Karumanchi,Matthew Antone,Toby Schneider,Hongkai Dai,Claudia Pérez D'Arpino,Robin Deits,Matt DiCicco,Dehann Fourie,Twan Koolen,Pat Marion,Michael Posa,Andres Valenzuela,Kuan-Ting Yu,Julie A. Shah,Karl Iagnemma,Russ Tedrake,Seth Teller +18 more
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.
Journal ArticleDOI
Director: A User Interface Designed for Robot Operation with Shared Autonomy
Pat Marion,Maurice Fallon,Robin Deits,Andres Valenzuela,Claudia Pérez D'Arpino,Greg Izatt,Lucas Manuelli,Matt Antone,Hongkai Dai,Twan Koolen,J. D. Carter,Scott Kuindersma,Russ Tedrake +12 more
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.
Dissertation
Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain
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.