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Matthew Chignoli
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The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors
M Chignoli, D Kim, E Stanger-Jones, S Kim
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 1-8, 2021
1062021
Variational-based optimal control of underactuated balancing for dynamic quadrupeds
M Chignoli, PM Wensing
IEEE Access 8, 49785-49797, 2020
652020
Robust autonomous navigation of a small-scale quadruped robot in real-world environments
T Dudzik, M Chignoli, G Bledt, B Lim, A Miller, D Kim, S Kim
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
322020
Online trajectory optimization for dynamic aerial motions of a quadruped robot
M Chignoli, S Kim
2021 IEEE International Conference on Robotics and Automation (ICRA), 7693-7699, 2021
292021
Rapid and reliable quadruped motion planning with omnidirectional jumping
M Chignoli, S Morozov, S Kim
2022 International Conference on Robotics and Automation (ICRA), 6621-6627, 2022
202022
Orientation-aware model predictive control with footstep adaptation for dynamic humanoid walking
Y Ding, C Khazoom, M Chignoli, S Kim
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022
102022
Trajectory optimization for dynamic aerial motions of legged robots
MMT Chignoli
Massachusetts Institute of Technology, 2021
62021
Dynamic walking with footstep adaptation on the mit humanoid via linear model predictive control
Y Ding, C Khazoom, M Chignoli, S Kim
Rn 1000, 6, 2022
42022
Recursive Rigid-Body Dynamics Algorithms for Systems with Kinematic Loops
M Chignoli, N Adrian, S Kim, PM Wensing
arXiv preprint arXiv:2311.13732, 2023
22023
Reinforcement learning for legged robots: Motion imitation from model-based optimal control
AJ Miller, S Fahmi, M Chignoli, S Kim
arXiv preprint arXiv:2305.10989, 2023
22023
Rapid and reliable trajectory planning involving omnidirectional jumping of quadruped robots
M Chignoli, S Morozov, S Kim
arXiv preprint, 2021
22021
Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform
A SaLoutos, E Stanger-Joncs, Y Ding, M Chignoli, S Kim
2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 1-8, 2023
12023
Improving contact-rich robotic simulation with generalized rigid-body dynamics algorithms
M Chignoli, N Adrian, S bae Kim, P Wensing
Embracing Contacts-Workshop at ICRA 2023, 2023
12023
Using Arms for Balance and Locomotion of Humanoid Robots
C Khazooma, M Chignolia, S Kima
Adaptive Motion of Animals and Machines Organizing Committee, 2021
2021
Contact Invariant Trajectory Optimization for Dynamic Quadruped Locomotion
M Chignoli, S Kim
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Articles 1–15