Papers
13
Total Citations
797
H-Index
13
About
Rohan Budhiraja is a leading roboticist specializing in whole-body model predictive control (MPC) and multi-contact locomotion for humanoid robots. His most significant contribution is the creation of **Crocoddyl** (Contact RObot COntrol by Differential DYnamic Library), an open-source framework that revolutionized multi-contact optimal control by efficiently computing state trajectories and control policies for predefined contact sequences—a work that has garnered over **257 citations**. Budhiraja was instrumental in developing **TALOS** (150 citations), a new humanoid research platform designed for industrial applications with advanced physical human interaction capabilities. He achieved a landmark first in robotics: successfully implementing **whole-body model predictive control with state feedback** on a torque-controlled humanoid robot, demonstrating robust balance control against strong external perturbations. His research bridges the gap between reduced centroidal models and full-body dynamics, ensuring feasibility constraints are respected during locomotion. Budhiraja also advanced high-frequency nonlinear MPC for manipulators, enabling real-time reactivity in dynamic environments. His work on the **RH5 Manus** upper-body design further showcases his commitment to creating powerful, dynamically capable humanoid platforms.
Research Focus
Key Achievements
Top Papers
- 1
- 2TALOS: A new humanoid research platform targeted for industrial applications150 citations · 2017
- 3Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics84 citations · 2018
- 4High-Frequency Nonlinear Model Predictive Control of a Manipulator73 citations · 2021
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- 8Proximal and Sparse Resolution of Constrained Dynamic Equations32 citations · 2021
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