Alp Aydınoğlu

Alp Aydınoğlu

PhD Student in GRASP Lab

University of Pennsylvania (DAIRLab)

Biography

I am a doctoral candidate in the ESE department and the GRASP Lab at Penn where I am advised by Michael Posa. Previously, I was an undergraduate at Istanbul Technical University where I worked with İbrahim Eksin, M. Turan Söylemez and Neslihan Serap Şengör.

I am interested in intersection of robotics, control theory, non-smooth mechanics and optimization. I am working on real-time multi-contact optimal control and currently validating our methods on a physical robot executing dynamic manipulation tasks. I am also exploring reinforcement learning algorithms for the same class of systems.

Interests
  • Robotics
  • Optimization
  • Control
  • Machine Learning
  • Dynamics
Education
  • PhD in Robotics, Ongoing

    University of Pennsylvania

  • BSc in Control Engineering, 2017

    Istanbul Technical University

Publications

(2022). Real-Time Multi-Contact Model Predictive Control via ADMM. In ICRA (Outstanding Dynamics and Control Paper Finalist) .

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(2022). Learning Linear Complementarity Systems. In L4DC.

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(2022). Stabilization of Complementarity Systems via Contact-Aware Controllers. In TRO (Best Paper Finalist, TC on Model-Based Optimization for Robotics) .

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(2022). Framework and Software for Real-Time Multi-Contact Model Predictive Control. In RSS Workshop.

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(2021). Stability Analysis of Complementarity Systems with Neural Network Controllers. In HSCC.

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(2020). Contact-Aware Controller Design for Complementarity Systems. In ICRA.

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(2019). Data-driven Stabilization of Nonlinear Systems via Tree-Based Ensemble Learning. In CDC.

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