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, Turan Söylemez and Neslihan Şengör.

I am interested in robots that make and break contact with their environment. I work in the intersection of robotics, optimization, control theory, learning and non-smooth mechanics. Currently, I am developing a real-time multi-contact model predictive control algorithm with a focus on dynamic manipulation tasks.

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

    University of Pennsylvania

  • BSc in Control Engineering, 2017

    Istanbul Technical University

Publications

(2023). Consensus Complementarity Control for Multi-Contact MPC. Submitted to T-RO.

PDF Cite Code Video

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

PDF Cite Code Video

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

PDF Cite Code

(2022). Stabilization of Complementarity Systems via Contact-Aware Controllers. In TRO (Honorable Mention for 2022 IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award) (Best Paper Finalist, TC on Model-Based Optimization for Robotics) .

PDF Cite Code Video

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

PDF Cite

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

PDF Cite Code Video

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

PDF Cite Code Video

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

PDF Cite