Research Resources

My research is close related to Machine Learning, Optimization, and Humanoid Robot System Design and its Motion Control. During the past four plus years, I collected some useful information to my research and hopefully also to yours.

• GRASP in Univ. of Pennsylvania
  http://www.grasp.upenn.edu/
  General Robotics, Automation, Sensing and Perception
• Auton Lab @ CMU
  http://www.autonlab.org/autonweb/2.html
• LAIRLab
  http://robotwhisperer.org/
  
• Stefan Schaal Lab
  http://www-clmc.usc.edu/Research/LeggedLocomotion
• Sarcos Inc.
  http://www.sarcos.com/
• Boston Dynamics Inc.
  http://www.bostondynamics.com/
• the Institute for Human and Machine Cognition & Yobotics
  http://www.ihmc.us/Research/projects/HumanoidRobots/index.html
  Jerry Patt
• Leg lab in MIT
  http://www.ai.mit.edu/projects/leglab/
  Found by Marc Raibert

• http://groups.csail.mit.edu/locomotion/index.html
• http://www.cs.cmu.edu/~cga/kdc-07/
• http://people.cs.ubc.ca/~van/papers/index.html
  http://people.cs.ubc.ca/~van/ physically-based animation and simulation
• http://groups.csail.mit.edu/locomotion/index.html
  MIT Robot Locomotion Group
• http://alice.nc.huji.ac.il/~tassa/pmwiki.php?n=Main.YuvalTassa
  Yuval Tassa's homepage, who provide DDP code to download.
  See also his advisor's homepage
  http://www.cs.washington.edu/homes/todorov/index.htm

• Christopher G. Atkeson
  Machine Learning, Motion Control, Humanoid Robots
  http://www.cs.cmu.edu/~cga/
• Andreas Hofmann
  Humanoid Robot Balance & Walk control
  http://people.csail.mit.edu/hofma/Index.htm
• Paul Vernaza
  University of Pennsylvania
  Machine Learning, Robotics
  http://www.seas.upenn.edu/~vernaza/
• Marc Raibert
  Founder of MIT leg lab
• Stefan Schall
  Machine Learning, Motion Control, Humanoid Robots
  http://www-clmc.usc.edu/~sschaal/
• Remi Munos
  http://sequel.futurs.inria.fr/munos
  Approximate Dynamic Programming, RL, policy gradient, planning Variance reduction techniques
• Jerry Pratt
  http://www.ihmc.us/users/jpratt/
  His approach of maximizing speed, agility, and biological similarity through the understanding of biological counterparts, is helping to remove the stereotype of robots as being clunky, jerky-moving machines.
• Hartmut Geyer
  http://www.cs.cmu.edu/~hgeyer/index.html
• David M. Thompson,
  Class Introduction to the study of human walking
  http://moon.ouhsc.edu/dthompso/
• Garth Zeglin
  http://www.cs.cmu.edu/~garthz/
• Darrin Bentivegna
  Learning from demonstration & hydraulic control
  http://www.andrew.cmu.edu/user/darrinb/
• David Mayne
  Differential Dynamic Programming
  http://www.ee.ic.ac.uk/CAP/Staff/Dqm/
• Evangelos Theodorou
  PhD student in USC PI²
  http://www-clmc.usc.edu/Main/EvangelosTheodorou
• Yuval Tassa
  PhD student, DDP, swimmer with code
  http://alice.nc.huji.ac.il/~tassa/
• Bill Smart
  Washington Univ.
  Motion control, reinforce learning
  http://www.cse.wustl.edu/~wds/
• Tom Erez
  PhD student of Bill Smart
  walking control, swimmer, optimal control, reinforcement learning, and adaptive dynamic programming
  http://www.cse.wustl.edu/~etom/Main/HomePage
• Matthew West
  Variational Integrator & trajectory optimization
  http://lagrange.mechse.illinois.edu/mwest/
• J.E. Marsden
  Variational Integrator & trajectory optimization
  http://www.cds.caltech.edu/~marsden/dcm/home
• Professor Emanuel Todorov
  Homepage Website http://www.cs.washington.edu/homes/todorov/index.htm
• Russ Tedrake
  http://groups.csail.mit.edu/locomotion/russt.html
• Jessy W. Grizzle
  Nonlinear Control
  http://www.eecs.umich.edu/~grizzle/papers/index.html
• Martin Stolle
  PhD thesis on 'Policies based on Libraries'
  http://www.cs.cmu.edu/~mstoll/main.shtml
• Yuval Tassa
  PhD student, who use DDP and a trajectory library to control a simulated multi-link swimmer.
  http://alice.nc.huji.ac.il/~tassa/pmwiki.php?n=Main.YuvalTassa
• Matt Zucker
  Little dog motion planning
  http://www.cs.cmu.edu/~mzucker/
• 陈兴林
  哈尔滨工业大学
  
• Steven H. Collins.
  Efficient bipedal robots based on passive-dynamic walkers
  http://www-personal.umich.edu/~shc/
• Garth Zeglin with CMU
  dynamic programming, biped
  http://www-old.ri.cmu.edu/people/zeglin_garth.html
• Jun Morimoto
  Minimax DDP, biped
  http://www-old.ri.cmu.edu/people/morimoto_jun.html

• MOSEK linear programming, mixed integer programming and many types of nonlinear convex optimization problems. http://mosek.com/
• CPLEX http://www-01.ibm.com/software/integration/optimization/cplex-cp-optimizer/
• GPOPS Open Source Gauss Pseudo-spectral Optimal Control Software http://www.gpops.org/page5/page5.html
• ACADO Toolkit Open Source Toolkit for Automatic Control and Dynamic Optimization (C++, MATLAB interface available) http://www.acadotoolkit.org/
• GSL GNU Scientific Library http://www.gnu.org/software/gsl/manual/html_node/
• OOL Open Optimization Library http://ool.sourceforge.net/
• PROPT Matlab Optimal Control Software (DAE, ODE) (Commercial Software) http://tomdyn.com/
• numerical recipes http://www.fizyka.umk.pl/nrbook/bookcpdf.html
• NEOS Server for Optimization http://www.neos-server.org/neos/

• Data Mining by Andrew Moore @CMU
  http://www.autonlab.org/tutorials/
• Virtual humans, a real-time, physical simulation of a human that could interact with its virtual environment.
  http://www.washedashore.com/Humans/
• CGA dynamic optimization
  http://www.cs.cmu.edu/~cga/dynopt/
• Robert F. Stengel homepage
  optimal control docs http://www.princeton.edu/~stengel/
• Dynamic Programming and Optimal Control (Book) http://www.athenasc.com/dpbook.html
• Yobotics! Simulation Construction Set. in Java
  http://yobotics.com/simulation/simulation.htm
• C & C++ programming resource
  • boost C++ library https://www.boostpro.com/
• ADIC http://www.mcs.anl.gov/research/projects/adic/
• Introduction to the study of human walking
  http://moon.ouhsc.edu/dthompso/gait/intro.htm#term
• CDD LP solver
  http://control.ee.ethz.ch/~hybrid/cdd.php
• MPT Multi-Parametric Toolbox
  http://control.ee.ethz.ch/~mpt/downloads/ (free)
• Geometric Bounding Toolbox (GBT 7.3) for MATLAB
  http://sysbrain.com/gbt/gbt/index.htm
• qpOASES – Online Active Set Strategy QP online
  http://www.kuleuven.be/optec/software/qpOASES
• Professor Emanuel Todorov
  papers and codes, such as Iterative LQG, Kalman_LQG, Mimimum Jerk trajectory
  http://www.cs.washington.edu/homes/todorov/index.htm
• Optimal Control Systems Class examples and downloadable Matlab code
  Department of Electrical and Computer Engineering in Cleveland State University
  http://academic.csuohio.edu/simond/courses/eec644/
• Optimal Control and Estimation Class in Princeton University, good introductions
  http://www.princeton.edu/~stengel/MAE546.html
• Optimal control at Scholarpedia
  http://www.scholarpedia.org/article/Optimal_control
• Stanford Convex Optimization Coarse, book, videos, and slides
  http://www.stanford.edu/~boyd/cvxbook/
• Lectures notes in Dynamic Optimization by Richard Woodward with Texas A&M University
  http://agecon2.tamu.edu/people/faculty/woodward-richard/637/notes/default.htm
• Control tutorials for Matlab , wonderful resource of learning automatic control
  http://www.engin.umich.edu/group/ctm/index.html
• Constrained Control and Estimation, an optimization approach by Graham C. Goodwin
  http://www.eng.newcastle.edu.au/eecs/cdsc/books/cce/ code, lecture notes, good!!
• Reinforcement Learning: An Introduction by Richard S. Sutton
  free book, code, solutions http://webdocs.cs.ualberta.ca/~sutton/book/the-book.html

• Impact factor search Link here
• Transactions on Robotics Link here impact factor: 3.02 issues per year: 6

• Autonomous Robots Link here impact factor: 2.07

• International Journal of Robotics Research Link here impact factor: 1.66
• Robotics and Autonomous Systems Link here impact factor: 1.33 (5 years) frequency: 12
• Robotics and Computer-Integrated Manufacturing Link here impact factor: 1.09
• the IEEE Robotics and Automation Magazine Link here impact factor: 0.85 four issues per year
• Robotica Link here impact factor: 0.781
• Journal of Robotic System (Journal of Field Robotics) Link here impact factor: 0.7
• IEEE Transactions on Automation Science and Engineering frequency: 4
• Advanced Robotics Link here impact factor: 0.737
• JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS Link here impact factor: 0.88 (year 2002) frequency:
• Optimal Control Application and Methods Link here impact factor: 0.833 Frequency: Approximately 5 times a year review time:
• journal of computer science and technology (China) Link here impact fact: 0.576 issues per year: 6
• IEEE TRANSACTIONS ON AUTOMATIC CONTROL Link here impact factor: 0.8 issues: 12
• International Journal of Humanoid Robotics (IJHR) Link here impact factor: 0.542
• Dynamical System An International Journal Link here IPF: 0.718

• IEEE International Symposium on Approximate Dynamic Programming and Reinforcement Learning (ADPRL),
• ICRA
• International Conference on Intelligent Robots and Systems (IROS)
• CLAWAR
• Humanoids
• International Conference on Decision and Control (CDC)
• Robotics Science and Systems (RSS)
• Advances in Neural Information Processing Systems (NIPS)