Jared Di Carlo
Papers
7
Total Citations
2,459
H-Index
7
About
Jared Di Carlo is a leading roboticist whose work has fundamentally advanced the field of dynamic legged locomotion. His primary research focuses on the design, control, and deployment of highly agile quadruped robots, with a particular emphasis on enabling robust, high-speed movement across challenging terrain. Di Carlo’s major contributions include the development of convex model-predictive control (MPC) for real-time ground reaction force planning, as demonstrated in his seminal 2018 paper on the MIT Cheetah 3, which has garnered over 700 citations. He also played a pivotal role in creating the Mini Cheetah, a small, inexpensive, yet powerful platform that has become a standard testbed for pushing the limits of dynamic quadruped control, amassing over 540 citations. His work integrates whole-body impulse control with MPC to handle aerial phases and high-speed leg swings, enabling behaviors like optimized jumping and vision-aided exploration of unstructured environments. With a total of over 2,400 citations across his most-cited papers, Di Carlo’s innovations in mechanical design and control algorithms have set new benchmarks for robot agility and robustness, inspiring a generation of researchers in legged robotics.
Research Focus
Key Achievements
Top Papers
- 1Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control717 citations · 2018
- 2MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot709 citations · 2018
- 3Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control540 citations · 2019
- 4
- 5Optimized Jumping on the MIT Cheetah 3 Robot135 citations · 2019
- 6
- 7MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot35 citations · 2019