GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients. - Plancher, Brian; Neuman, Sabrina M.; Ghosal, Radhika; Kuindersma, Scott; Reddi, Vijay Janapa (2022)

A new control framework for flapping-wing vehicles based on 3D pendulum dynamics. - Hyun, Nak-seung Patrick; McGill, Rebecca; Wood, Robert J.; Kuindersma, Scott (Autom., 2021)

Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA. - Plancher, Brian; Neuman, Sabrina M.; Bourgeat, Thomas; Kuindersma, Scott; Devadas, Srinivas; Reddi, Vijay Janapa (IEEE Robotics Autom. Lett., 2021)

GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients. - Plancher, Brian; Neuman, Sabrina M.; Ghosal, Radhika; Kuindersma, Scott; Reddi, Vijay Janapa (CoRR, 2021)

Robust direct trajectory optimization using approximate invariant funnels. - Manchester, Zachary; Kuindersma, Scott (Auton. Robots, 2019)

Contact-implicit trajectory optimization using variational integrators. - Manchester, Zachary; Doshi, Neel; Wood, Robert J.; Kuindersma, Scott (Int. J. Robotics Res., 2019)

Bayesian Optimization of Soft Exosuits Using a Metabolic Estimator Stopping Process. - Kim, Myunghee; Liu, Charles; Kim, Jinsoo; Lee, Sangjun; Meguid, Adham; Walsh, Conor J.; Kuindersma, Scott (2019)

A Comparison of Action Spaces for Learning Manipulation Tasks. - Varin, Patrick; Grossman, Lev; Kuindersma, Scott (2019)

Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot. - Doshi, Neel; Jayaram, Kaushik; Castellanos, Samantha; Kuindersma, Scott; Wood, Robert J. (CoRR, 2019)

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. - Doshi, Neel; Jayaram, Kaushik; Goldberg, Benjamin; Manchester, Zachary; Wood, Robert J.; Kuindersma, Scott (CoRR, 2019)

A Comparison of Action Spaces for Learning Manipulation Tasks. - Varin, Patrick; Grossman, Lev; Kuindersma, Scott (CoRR, 2019)

Special Issue on the 2017 Robotics: Science and Systems Conference. - Hermans, Tucker; Kuindersma, Scott (Int. J. Robotics Res., 2018)

Human-in-the-loop optimization of hip assistance with a soft exosuit during walking. - Kim, Myunghee; Kuindersma, Scott; Walsh, Conor J. (Sci. Robotics, 2018)

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot. - Doshi, Neel; Jayaram, Kaushik; Goldberg, Benjamin; Manchester, Zachary; Wood, Robert J.; Kuindersma, Scott (2018)

A Constrained Kalman Filter for Rigid Body Systems with Frictional Contact. - Varin, Patrick; Kuindersma, Scott (2018)

A Performance Analysis of Parallel Differential Dynamic Programming on a GPU. - Plancher, Brian; Kuindersma, Scott (2018)

Director: A User Interface Designed for Robot Operation with Shared Autonomy. - Marion, Pat; Fallon, Maurice F.; Deits, Robin; Valenzuela, Andres; Pérez-D'Arpino, Claudia; Izatt, Greg; Manuelli, Lucas; Antone, Matthew E.; Dai, Hongkai; Koolen, Twan; Carter, John; Kuindersma, Scott; et al. (J. Field Robotics, 2017)

Constrained unscented dynamic programming. - Plancher, Brian; Manchester, Zachary; Kuindersma, Scott (2017)

Variational Contact-Implicit Trajectory Optimization. - Manchester, Zachary; Kuindersma, Scott (2017)

DIRTREL: Robust Trajectory Optimization with Ellipsoidal Disturbances and LQR Feedback. - Manchester, Zachary; Kuindersma, Scott (2017)

Robotics: Science and Systems XIII, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA, July 12-16, 2017 (2017)

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. - Kuindersma, Scott; Deits, Robin; Fallon, Maurice F.; Valenzuela, Andres; Dai, Hongkai; Permenter, Frank; Koolen, Twan; Marion, Pat; Tedrake, Russ (Auton. Robots, 2016)

Derivative-free trajectory optimization with unscented dynamic programming. - Manchester, Zachary; Kuindersma, Scott (2016)

Optimization and stabilization of trajectories for constrained dynamical systems. - Posa, Michael; Kuindersma, Scott; Tedrake, Russ (2016)

Modeling and Control of Legged Robots. - Wieber, Pierre-Brice; Tedrake, Russ; Kuindersma, Scott (2016)

An Architecture for Online Affordance-based Perception and Whole-body Planning. - Fallon, Maurice F.; Kuindersma, Scott; Karumanchi, Sisir; Antone, Matthew E.; Schneider, Toby; Dai, Hongkai; Pérez-D'Arpino, Claudia; Deits, Robin; DiCicco, Matt; Fourie, Dehann; Koolen, Twan; Marion, Pat; et al. (J. Field Robotics, 2015)

A closed-form solution for real-time ZMP gait generation and feedback stabilization. - Tedrake, Russ; Kuindersma, Scott; Deits, Robin; Miura, Kanako (2015)

A summary of team MIT's approach to the virtual robotics challenge. - Tedrake, Russ; Fallon, Maurice F.; Karumanchi, Sisir; Kuindersma, Scott; Antone, Matthew E.; Schneider, Toby; Howard, Thomas M.; Walter, Matthew R.; Dai, Hongkai; Deits, Robin; Fleder, Michael; Fourie, Dehann; et al. (2014)

An efficiently solvable quadratic program for stabilizing dynamic locomotion. - Kuindersma, Scott; Permenter, Frank; Tedrake, Russ (2014)

Variable risk control via stochastic optimization. - Kuindersma, Scott; Grupen, Roderic A.; Barto, Andrew G. (Int. J. Robotics Res., 2013)

An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion. - Kuindersma, Scott; Permenter, Frank; Tedrake, Russ (CoRR, 2013)

Robot learning from demonstration by constructing skill trees. - Konidaris, George Dimitri; Kuindersma, Scott; Grupen, Roderic A.; Barto, Andrew G. (Int. J. Robotics Res., 2012)

Variational Bayesian Optimization for Runtime Risk-Sensitive Control. - Kuindersma, Scott; Grupen, Roderic A.; Barto, Andrew G. (2012)

Autonomous Skill Acquisition on a Mobile Manipulator. - Konidaris, George Dimitri; Kuindersma, Scott; Grupen, Roderic A.; Barto, Andrew G. (2011)

Learning dynamic arm motions for postural recovery. - Kuindersma, Scott; Grupen, Roderic A.; Barto, Andrew G. (2011)

Control Model Learning for Whole-Body Mobile Manipulation. - Kuindersma, Scott (2010)

Constructing Skill Trees for Reinforcement Learning Agents from Demonstration Trajectories. - Konidaris, George Dimitri; Kuindersma, Scott; Barto, Andrew G.; Grupen, Roderic A. (2010)

Dexterous mobility with the uBot-5 mobile manipulator. - Kuindersma, Scott; Hannigan, Edward; Ruiken, Dirk; Grupen, Roderic A. (2009)