Eric Whitman
Papers
7
Total Citations
544
H-Index
7
About
Eric Whitman is a leading researcher in humanoid robotics, specializing in optimization-based control for full-body locomotion and manipulation. His most significant contributions center on developing robust control frameworks for the Boston Dynamics Atlas robot, particularly during the DARPA Robotics Challenge (DRC). His seminal 2015 paper, "Optimization‐based Full Body Control for the DARPA Robotics Challenge," with 229 citations, details a novel approach that prioritized compliant, dynamic walking over stiff position tracking, enabling the robot to navigate complex disaster-response scenarios. Whitman further advanced the field by pioneering whole-body trajectory optimization for falling, a critical safety mechanism that minimizes impact damage. His work on human-in-the-loop control, documented in a 2015 paper with 78 citations, integrated mobility, manipulation, and perception to allow operators to guide a 28-degree-of-freedom Atlas robot through challenging tasks. By coordinating multiple optimal controllers and introducing variables for push recovery, Whitman has enhanced the stability and reactivity of bipedal walking. His research has profoundly influenced the design of resilient, humanoid robots capable of operating in unstructured environments, making him a key figure in the transition from theoretical control methods to practical, real-world deployment.
Research Focus
Key Achievements
Top Papers
- 1Optimization‐based Full Body Control for the DARPA Robotics Challenge229 citations · 2015
- 2Optimization based full body control for the atlas robot163 citations · 2014
- 3
- 4Whole-body trajectory optimization for humanoid falling32 citations · 2012
- 5Control of Instantaneously Coupled Systems applied to humanoid walking20 citations · 2010
- 6Torso rotation for push recovery using a simple change of variables12 citations · 2012
- 7