We research building machines which exploit their natural dynamics to achieve extraordinary agility and efficiency.

We believe that deep connections are possible -- enabling very efficient optimization by exploiting structure in the governing equations -- and are working on both optimization algorithms and control applications. Our current projects include dynamics and control for humanoid robots, robotic manipulation, and dynamic walking over rough terrain, flight control for aggressive maneuvers in unmanned aerial vehicles, feedback control for fluid dynamics and soft robotics, and connections between perception and control.

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