Miniature-legged robots are constrained by their onboard computation and control, thus
motivating the need for simple, first-principles-based geometric models that connect periodic …

We propose semidefinite trajectory optimization (STROM), a framework that computes fast
and certifiably optimal solutions for nonconvex trajectory optimization problems defined by …

Conic constraints appear in many important control applications like legged locomotion,
robotic manipulation, and autonomous rocket landing. However, current solvers for conic …

Flying insects can perform rapid, sophisticated maneuvers like backflips, sharp banked
turns, and in-flight collision recovery. To emulate these in aerial robots weighing less than a …

Model predictive control (MPC) is a powerful tool for controlling highly dynamic robotic
systems subject to complex constraints. However, MPC, and its underlying (nonlinear) …