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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, 429-455, 2016
9172016
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
6032011
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
2952014
Partial facial reduction: simplified, equivalent SDPs via approximations of the PSD cone
F Permenter, P Parrilo
Mathematical Programming 171, 1-54, 2018
992018
Humanoid robot
DM Linn, RO Ambrose, MA Diftler, SR Askew, R Platt, JS Mehling, ...
US Patent 8,511,964, 2013
532013
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
512017
System and method for calibrating a rotary absolute position sensor
DR Davis, FN Permenter, NA Radford
US Patent 8,250,901, 2012
502012
Using bayesian filtering to localize flexible materials during manipulation
R Platt, F Permenter, J Pfeiffer
IEEE Transactions on Robotics 27 (3), 586-598, 2011
462011
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
372014
Rotary series elastic actuator
CA Ihrke, JS Mehling, AH Parsons, BK Griffith, NA Radford, FN Permenter, ...
US Patent 8,291,788, 2012
332012
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
312013
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
252013
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
242015
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
H Dai, F Permenter
2023 American Control Conference (ACC), 4116-4123, 2023
212023
Dimension reduction for semidefinite programs via Jordan algebras
F Permenter, PA Parrilo
Mathematical Programming 181, 51-84, 2020
212020
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
202012
Rotary series elastic actuator
CA Ihrke, JS Mehling, AH Parsons, BK Griffith, NA Radford, FN Permenter, ...
US Patent 8,443,694, 2013
192013
Spotless polynomial and conic optimization
MM Tobenkin, F Permenter, A Megretski
View online, 2013
192013
An unconstrained convex formulation of compliant contact
AM Castro, FN Permenter, X Han
IEEE Transactions on Robotics 39 (2), 1301-1320, 2022
172022
Reduction methods in semidefinite and conic optimization
FN Permenter
Massachusetts Institute of Technology, 2017
172017
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