RUSSELL L. T EDRAKE MIT 32-232 …

                              RUSSELL L. T EDRAKE
MIT 32-232                                                                                    russt@mit.edu
32 Vassar St.                                                              http://people.csail.mit.edu/russt/
Cambridge, MA 02139                                                                 Phone: (617) 253-1778
                                                                                       Fax: (617) 253-0778

R ESEARCH I NTERESTS
                  My research interests are in machine learning and robotics. They encompass reinforce-
                  ment learning, optimal control, legged robots, aerial vehicles, fluid dynamics, nonlinear
                  control theory, biological motor control, and computational neuroscience. I am particu-
                  larly interested in the difficult problems in robotics where classical model-based control
                  approaches have failed but simple trial-and-error learning strategies can succeed, and in
                  finding principles from biology that can be abstracted and applied to the robots.

ACADEMIC P OSITIONS AND E DUCATION
                  Massachusetts Institute of Technology                                    Cambridge, MA
                  Assistant Professor, Electrical Engineering and Computer Science           2005-present

                  Massachusetts Institute of Technology                                    Cambridge, MA
                  Postdoctoral Associate, Department of Brain and Cognitive Sciences           2004-2005

                  Massachusetts Institute of Technology                                  Cambridge, MA
                  Ph.D. in Electrical Engineering and Computer Science            Defended Aug. 30, 2004
                  Advisor: H. Sebastian Seung

                  University of Michigan                                                     Ann Arbor, MI
                  B.S.E. in Computer Engineering                                                May, 1999




Russell Tedrake                                                                                       1 of 6
P UBLICATIONS

 [1] John W. Roberts and Russ Tedrake. Signal-to-noise ratio analysis of policy gradient algorithms. In
     Submitted to the Proceedings of Neural Information Processing Systems (NIPS), page 8, 2008.

 [2] Abderrahmane Bennis, Miriam Leeser, Gilead Tadmor, and Russ Tedrake. Implementation of a highly
     parameterized digital piv system on reconfigurable hardware. In To Appear in the Proceedings of the
     Twelfth Annual Workshop on High Performance Embedded Computing (HPEC), September 2008.

 [3] Katie Byl, Alec Shkolnik, Sam Prentice, Nick Roy, and Russ Tedrake. Reliable dynamic motions
     for a stiff quadruped. In Proceedings of the 11th International Symposium on Experimental Robotics
     (ISER), 2008.

 [4] Alexander Shkolnik and Russ Tedrake. High-dimensional underactuated motion planning via task
     space control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS). IEEE/RSJ, 2008.

 [5] Rick Cory and Russ Tedrake. Experiments in fixed-wing UAV perching. In Proceedings of the AIAA
     Guidance, Navigation, and Control Conference. AIAA, 2008.

 [6] Katie Byl and Russ Tedrake. Metastable walking on stochastically rough terrain. In Robotics: Science
     and Systems, 2008.

 [7] Katie Byl and Russ Tedrake. Approximate optimal control of the compass gait on rough terrain. In
     Proc. IEEE International Conference on Robotics and Automation (ICRA), 2008.

 [8] Rick Cory and Russ Tedrake. On the controllability of agile fixed-wing flight. In Proceedings of the
     2007 Symposium on Flying Insects and Robots (FIR), August 2007.

 [9] Khashayar Rohanimanesh, Nicholas Roy, and Russ Tedrake. Towards feature selection in actor-critic
     algorithms. Technical report, Massachusetts Institute of Technology Computer Science and Artificial
     Intelligence Laboratory, 2007.

[10] Fumiya Iida and Russ Tedrake. Motor control optimization of compliant one-legged locomotion in
     rough terrain. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
     Systems, 2007.

[11] Finale Doshi, Emma Brunskill, Alec Shkolnik, Thomas Kollar, Khash Rohanimanesh, Russ Tedrake,
     and Nicholas Roy. A supervised learning approach for collision detection in legged locomotion. In
     Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.

[12] Alexander Shkolnik and Russ Tedrake. Inverse kinematics for a point-foot quadruped robot with dy-
     namic redundancy resolution. In Proceedings of the 2007 IEEE International Conference on Robotics
     and Automation, April 2007.

[13] Katie Byl and Russ Tedrake. Stability of passive dynamic walking on uneven terrain. In Art Kuo,
     editor, Proceedings of Dynamic Walking 2006, May 2006.

[14] Jerry E. Pratt and Russ Tedrake. Velocity based stability margins for fast bipedal walking. In Pro-
     ceedings of the First Ruperto Carola Symposium on Fast Motions in Biomechanics and Robotics:
     Optimization and Feedback Control, September 2005.

Russell Tedrake                                                                                    2 of 6
[15] Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. Learning to walk in 20 minutes. In
     Proceedings of the Fourteenth Yale Workshop on Adaptive and Learning Systems, Yale University,
     New Haven, CT, 2005.

[16] Steven H. Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. Efficient bipedal robots based on
     passive-dynamic walkers. Science, 307:1082­1085, February 18 2005.

[17] Russell L Tedrake. Applied Optimal Control for Dynamically Stable Legged Locomotion. PhD thesis,
     Massachusetts Institute of Technology, 2004.

[18] Russ Tedrake, Teresa Weirui Zhang, and H. Sebastian Seung. Stochastic policy gradient reinforcement
     learning on a simple 3D biped. In Proceedings of the IEEE International Conference on Intelligent
     Robots and Systems (IROS), volume 3, pages 2849­2854, Sendai, Japan, September 2004.

[19] Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. Actuating a simple
     3D passive dynamic walker. In Proceedings of the IEEE International Conference on Robotics and
     Automation (ICRA), volume 5, pages 4656­4661, New Orleans, LA, April 2004.

[20] Russ Tedrake and H. Sebastian Seung. Improved dynamic stability using reinforcement learning. In
     5th International Conference on Climbing and Walking Robots and the Support Technologies for Mo-
     bile Machines (CLAWAR), pages 341­348, Paris, France, September 2002. Professional Engineering
     Publishing Limited.

[21] Russ Tedrake. Soaring with descent 3. Proceedings of the 19th American Soar Workshop, 1999.

[22] Mike van Lent, John Laird, Josh Buckman, Joe Hartford, Steve Houchard, Kurt Steinkraus, and Russ
     Tedrake. Intelligent agents in computer games. In Proceedings of the American Association for Artifi-
     cial Intelligence, pages 929­930, Orlando, FL, July 1999.




Russell Tedrake                                                                                     3 of 6
T EACHING
Courses with a * indicate course development (first-time offerings)

Spring, 2008       6.832 - Underactuated Robotics
IAP, 2008          6.095 - Humanoid Robots Competition
Fall, 2007         6.011 - Introduction to Communication, Control, and Signal Processing (Recitations)
Spring, 2007       6.881 - Underactuated Robotics*
IAP, 2007          6.095 - Humanoid Robots Competition*
Fall, 2006         6.003 - Signals and Systems (Recitations)
Spring, 2006       6.003 - Signals and Systems (Recitations)

C URRENT S TUDENTS
                   Katie Byl (Ph.D. candidate, Mechanical and Ocean Engineering)
                   Rick Cory (Ph.D. candidate, Electrical Engineering and Computer Science)
                   Fumiya Iida (Postdoctoral Associate)
                   Kojiro Matsushita (Postdoctoral Associate)
                   John Roberts (Ph.D. candidate, Mechanical and Ocean Engineering)
                   Alexander Shknolnik (Ph.D. candidate, Electrical Engineering and Computer Science)


T HESES S UPERVISED
Masters Theses

Feb, 2008          Rick E. Cory. Perching with Fixed Wings. Master's Thesis, Electrical Engineering and
                   Computer Science, Massachusetts Institute of Technology. Winner of the 2008 MIT
                   Computer Science MS Thesis Award.

Feb, 2007          Vanessa Hsu. Passive dynamic walking with knees: A point-foot model. Master's Thesis,
                   Electrical Engineering and Computer Science, Massachusetts Institute of Technology.

Undergraduate Theses

June, 2007         John Glowa. Design and Process/Measurement for Immersed Element Control in a Re-
                   configurable Vertically Falling Soap Film. Undergraduate Thesis for MIT Mechanical
                   Engineering.

June, 2006         Arlis Reynolds. Design and Control of a Clutch for a Minimally-Actuated Biped Based
                   on the Passive-Dynamic Simple Walker. Undergraduate Thesis for MIT Mechanical En-
                   gineering.

June, 2005         Andrew G. Baines. Design and control of a knee-clutch mechanism for an under-actuated
                   3D bipedal robot. Undergraduate Thesis for MIT Mechanical Engineering.

June, 2005         Ming-fai Fong. Design, modeling, and control of a simple 3D bipedal robot. Undergrad-
                   uate Thesis for MIT Mechanical Engineering.



Russell Tedrake                                                                                    4 of 6
C URRENT AND R ECENT C OLLABORATORS


                  Emilio Bizzi            MIT                 Sebastian Seung          MIT
                  Hugh Herr               MIT                 Jean-Jacques Slotine     MIT
                  Miriam Leeser           Northeastern        Gilead Tadmor            Northeastern
                  Alex Megretski          MIT                 Michael Triantafyllou    MIT
                  Jovan Popovic           MIT                 Jane Wang                Cornell
                  Jerry Pratt             U West Florida      Eric Westervelt          Ohio State
                  Khash Rohanimanesh      U Mass Amherst      Martijn Wisse            Delft University
                  Nick Roy                MIT                 Rob Wood                 Harvard
                  Andy Ruina              Cornell             Jun Zhang                NYU (Courant Inst.)


P ROFESSIONAL ACTIVITIES & H ONORS


Awards:           Microsoft Research New Faculty Fellowship (2008)
                  NSF CAREER Award (2008)
                  X Consortium Career Development Chair (2008)
                  Jerome H. Saltzer Undergraduate Teaching Award, MIT (2008)
                  Engineering Distinguished Student Leadership Award, University of Michigan (1999)
                  Eton Fellowship (1999)
                  National Defense Science and Engineering Graduate Fellowship Program Honorable
                  Mention (1999)

Leadership:       Co-organizer of Full-Day Workshop: Learning for Locomotion at Robotics - Science and
                  Systems Conference, 2005 (with Jan Peters and Stefan Schaal)
                  Organizer of MIT Computational Motor Control Journal Club (2001-2003)

Outreach:         MIT Hobby Shop Committee (2007-present)
                  Discover EECS Prefreshman Orientation (Faculty Advisor, 2006 - present)
                  Lab tours and demos for preschool - college students (continuous 2005-present)
                  NSF WTEC Robotics Expo (2005)
                  WPI K-12 Outreach, Pre-College Engineering for Teachers Workshop (2005)

Program           BioRob 2008
Committees:       IROS 2008 (Associate Editor)
                  SIGGRAPH 2008
                  RSS 2008
                  ICRA 2008 (Associate Editor)
                  NIPS 2007
                  IROS 2007 (Associate Editor)
                  Robotics: Science and Systems 2007
                  ICRA 2007
                  AAAI 2006
                  SYRCO 2006
                  Workshop on Morphology, Control, and Passive Dynamics, IROS 2005

Russell Tedrake                                                                                    5 of 6
Journal           IEEE Transactions on Robotics
Reviews:          IEEE Transactions on Systems, Man & Cybernetics, Part B
                  International Journal of Robotics Research
                  Journal of Robotics and Autonomous Systems
                  Autonomous Robots
                  Journal of Mechanical Design
                  Journal of Ocean Engineering

Membership:       IEEE (since 2002)
                  IEEE Robotics & Automation Society (since 2002)
                  AIAA (since 2007)
                  Epeians (Engineering Student Leadership Honors Society (since 1997)
                  Tau Beta Pi (Engineering Honors Society) (since 1997)
                  Golden Key National Honors Society (since 1997)
                  Eta Kappa Nu, Beta Epsilon Chapter (since 1996, president 1997)

I NVITED TALKS

 July 2008         Lincoln Labs Chief Technology Office Seminar Series
 June 2008         RSS Workshop on Control of Locomotion
 May 2008          University of Michigan, CSE @ 50 Celebration
 March 2008        Carnegie Mellon University, Robotics Institute Robotics Seminar
 March 2008        Northeastern University, Electrical and Computer Engineering
 September 2007    Tufts University, Electrical and Computer Engineering Department Seminar
 May 2007          MIT Applied Math, Physical Mathematics Seminar
 April 2007        International Workshop on Walking Robots for Young Researchers (Keynote)
 September 2006    NYU Courant Institute Applied Mathematics Seminar
 September 2006    MIT CSAIL Student Retreat (Keynote)
 February 2006     MIT Mechanical Engineering Seminar Series
 February 2006     MIT CSAIL Robotics Seminar Series
 August 2005       BBN Technologies, Cambridge, MA
 June 2005         RSS Workshop on Learning Locomotion
 April 2005        University of Utah, School of Computing Colloquium
 March 2005        Worcester Polytechnic Institute, Computer Science Department Colloquium
 March 2005        MIT Computer Science and Artificial Intelligence Laboratory Special Seminar
 March 2005        Northeastern University, Department of Electrical and Computer Engineering
 February 2005     Yale University, Department of Mechanical Engineering Special Seminar
 February 2005     University of Michigan, Computer Science and Engineering Department Seminar
 January 2005      University of Pennsylvania, Electrical and Systems Engineering Seminar
 October 2004      Cornell University, Theoretical and Applied Mechanics Seminar
 March 2004        University of Alberta, Edmonton, AI Seminar
 March 2004        University of New Hampshire, Electrical and Computer Engineering Seminar
 February 2004     University of Massachusetts, Amherst, Autonomous Learning Lab meeting
 December 2003     MIT Computer Science & AI Lab Student Seminar
 October 2003      MIT Brain & Cognitive Sciences Student Seminar (Brain Lunch)



Russell Tedrake                                                                              6 of 6