Jose C. Rojas-Rodriguez

Papers

Total Citations

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About

Jose C. Rojas-Rodriguez is a robotics researcher whose work centers on whole-body control and the dynamics of legged and humanoid robots. His major contributions lie in developing efficient algorithms for centroidal dynamics—the study of how a robot’s overall momentum and center of mass relate to its motion. In his 2021 paper, he introduced an O(N) algorithm using spatial and Lie algebra to compute the centroidal momentum matrix and its time derivative, enabling real-time postural balance in humanoid robots via whole-body control. This work has garnered 4 citations and laid the groundwork for his 2023 study, which tackled the challenge of whole-body motion generation by applying sequential bounds tightening of McCormick envelopes to centroidal dynamics—a novel optimization approach that has already earned 6 citations. Rojas-Rodriguez’s research is notable for bridging theoretical efficiency with practical robotic control, offering scalable solutions for complex locomotion tasks. His achievements highlight a focused trajectory in advancing humanoid robot autonomy, making his work essential reading for students and researchers interested in dynamic motion planning and real-time control systems.