T
Twan Koolen
Researcher at Massachusetts Institute of Technology
Publications - 21
Citations - 2563
Twan Koolen is an academic researcher from Massachusetts Institute of Technology. The author has contributed to research in topics: Humanoid robot & Robot. The author has an hindex of 15, co-authored 21 publications receiving 2138 citations. Previous affiliations of Twan Koolen include Delft University of Technology & University of Michigan.
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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.
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Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
TL;DR: This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps, and introduces a theoretical framework for assessing N- stepCapturability.
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Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid
Jerry Pratt,Twan Koolen,Tomas De Boer,John R. Rebula,Sebastien Cotton,John Carff,Matthew Johnson,Peter Neuhaus +7 more
TL;DR: An algorithm that uses the ability of a legged system to come to a stop without falling by taking N or fewer steps and novel instantaneous capture point control strategies as approximations to control a humanoid robot is described.
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Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials
Matthew Johnson,Brandon Shrewsbury,Sylvain Bertrand,Tingfan Wu,Daniel Duran,Marshall Floyd,Peter Abeles,Douglas Stephen,Nathan Mertins,Alex Lesman,John Carff,William Rifenburgh,Pushyami Kaveti,Wessel Straatman,Jesper Smith,Maarten Griffioen,Brooke Layton,Tomas De Boer,Twan Koolen,Peter Neuhaus,Jerry Pratt +20 more
TL;DR: The challenges the IHMC team faced in transitioning from simulation to hardware and the lessons learned both during the DRC Trials and in the months of preparation leading up to it are discussed.
Journal ArticleDOI
Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas
Twan Koolen,Sylvain Bertrand,Gray C. Thomas,Tomas De Boer,Tingfan Wu,Jesper Smith,Johannes Englsberger,Jerry Pratt +7 more
TL;DR: A momentum-based control framework for floating-base robots and its application to the humanoid robot “Atlas” is presented and results for walking across rough terrain, basic manipulation, and multi-contact balancing on sloped surfaces are presented.