F
Frank Noble Permenter
Researcher at Massachusetts Institute of Technology
Publications - 39
Citations - 1593
Frank Noble Permenter is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Control theory & Computer science. The author has an hindex of 13, co-authored 32 publications receiving 1343 citations. Previous affiliations of Frank Noble Permenter include Government of the United States of America & Oceaneering International.
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
An efficiently solvable quadratic program for stabilizing dynamic locomotion
TL;DR: A whole-body dynamic walking controller implemented as a convex quadratic program that surpasses the performance of the best available off-the-shelf solvers and achieves 1kHz control rates for a 34-DOF humanoid.
Proceedings ArticleDOI
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
TL;DR: In this article, the authors describe a whole-body dynamic walking controller implemented as a convex quadratic program, which solves an optimal control problem using an approximate value function derived from a simple walking model while respecting the dynamic, input, and contact constraints.
Journal ArticleDOI
Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone
TL;DR: In this paper, a practical SDP facial reduction procedure was developed, which utilizes computationally efficient approximations of the positive semidefinite cone (PSD) for solving a sequence of easier optimization problems.
Patent
Rotary series elastic actuator
Chris A. Ihrke,Joshua S. Mehling,Adam H. Parsons,Bryan Kristian Griffith,Nicolaus A. Radford,Frank Noble Permenter,Donald R. Davis,Robert O. Ambrose,Lucien Q. Junkin +8 more
TL;DR: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot as mentioned in this paper, which includes a plurality of arm support frames each defining an axis.