Frank Permenter
Frank Permenter
Toyota Research Institute
Verified email at mit.edu - Homepage
Title
Cited by
Cited by
Year
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
S Kuindersma, R Deits, M Fallon, A Valenzuela, H Dai, F Permenter, ...
Autonomous robots 40 (3), 429-455, 2016
4652016
Robonaut 2-the first humanoid robot in space
MA Diftler, JS Mehling, ME Abdallah, NA Radford, LB Bridgwater, ...
2011 IEEE international conference on robotics and automation, 2178-2183, 2011
4472011
An efficiently solvable quadratic program for stabilizing dynamic locomotion
S Kuindersma, F Permenter, R Tedrake
2014 IEEE International Conference on Robotics and Automation (ICRA), 2589-2594, 2014
1902014
Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone
F Permenter, P Parrilo
Mathematical Programming 171 (1-2), 1-54, 2018
622018
System and method for calibrating a rotary absolute position sensor
DR Davis, FN Permenter, NA Radford
US Patent 8,250,901, 2012
462012
Humanoid robot
DM Linn, RO Ambrose, MA Diftler, SR Askew, R Platt, JS Mehling, ...
US Patent 8,511,964, 2013
372013
Using bayesian filtering to localize flexible materials during manipulation
R Platt, F Permenter, J Pfeiffer
IEEE Transactions on Robotics 27 (3), 586-598, 2011
322011
Solving conic optimization problems via self-dual embedding and facial reduction: a unified approach
F Permenter, HA Friberg, ED Andersen
SIAM Journal on Optimization 27 (3), 1257-1282, 2017
312017
Basis selection for SOS programs via facial reduction and polyhedral approximations
F Permenter, PA Parrilo
53rd IEEE Conference on Decision and Control, 6615-6620, 2014
292014
Rotary series elastic actuator
CA Ihrke, JS Mehling, AH Parsons, BK Griffith, NA Radford, FN Permenter, ...
US Patent 8,291,788, 2012
262012
Architecture for robust force and impedance control of series elastic actuators
MJ Reiland, B Hargrave, R Platt, ME Abdallah, FN Permenter
US Patent 8,525,460, 2013
242013
Tendon driven finger actuation system
CA Ihrke, DM Reich, L Bridgwater, DM Linn, SR Askew, MA Diftler, R Platt, ...
US Patent 8,467,903, 2013
202013
Framework and method for controlling a robotic system using a distributed computer network
AM Sanders, LG Barajas, FN Permenter, PA Strawser
US Patent 9,120,224, 2015
132015
Selecting a monomial basis for sums of squares programming over a quotient ring
F Permenter, PA Parrilo
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 1871-1876, 2012
132012
Contact state estimation for multi-finger robot hands using particle filters
R Platt, FN Permenter, CM Corcoran, IICW Wampler
US Patent 8,280,837, 2012
132012
Reduction methods in semidefinite and conic optimization
FN Permenter
Massachusetts Institute of Technology, 2017
112017
Rotary series elastic actuator
CA Ihrke, JS Mehling, AH Parsons, BK Griffith, NA Radford, FN Permenter, ...
112013
Position control of tendon-driven fingers with position controlled actuators
ME Abdallah, R Platt, B Hargrave, F Permenter
2012 IEEE International Conference on Robotics and Automation, 2859-2864, 2012
112012
Rotary series elastic actuator
CA Ihrke, JS Mehling, AH Parsons, BK Griffith, NA Radford, FN Permenter, ...
US Patent 8,443,694, 2013
102013
Dimension reduction for semidefinite programs via Jordan algebras
F Permenter, PA Parrilo
Mathematical Programming 181 (1), 51-84, 2020
92020
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