Matt Zucker

Office: Hicks 219 | mzucker1@swarthmore.edu | (610) 328-8636

I am interested in developing planning and control algorithms for complex legged robots and mobile manipulators. I believe that high-level planning, which reasons over sequences of discrete behavior primitives, is the best way to plan for such systems. My work focuses on leveraging optimization and machine learning techniques, as well as re-using previous computation, in order to produce fast planning software.

Since 2010, I have worked as an assistant professor in the Engineering department at Swarthmore College. Here is my CV.


Courses taught


Selected publications

Swarthmore student co-authors are highlighted. Please visit my Google Scholar page for a more complete listing.

robot joint angle plots
Multigrid CHOMP with local smoothing
Keliang He '13, Elizabeth Martin '13, and Matt Zucker. Proc. IEEE-RAS Int’l Conf. on Humanoid Robotics, 2013.
CHOMP in action
CHOMP: Covariant Hamiltonian Optimization and Motion Planning
Matt Zucker, Nathan Ratliff, Anca D. Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher M. Dellin, J. Andrew Bagnell, and Siddhartha S. Srinivasa. International Journal of Robotics Research, May 2013.
learning preferences for footstep planning
Optimization and Learning for Rough-Terrain Legged Locomotion
Matt Zucker, Nathan Ratliff, Martin Stole, Joel Chestnutt, J. Andrew Bagnell, Christopher G. Atkeson, and James Kuffner. International Journal of Robotics Research, February 2011.
robot opening door
Continuous trajectory optimization for autonomous humanoid door opening
Matt Zucker, Youngbum Jun, Brittany Killen, Tae-Goo Kim, and Paul Oh. Proc. IEEE Int'l Conf. on Technologies for Practical Robot Applications (TePRA), 2013.
marble maze
Reinforcement Planning: RL for Optimal Planners
Matt Zucker and J. Andrew Bagnell. Proc. IEEE Int'l Conf. on Robotics and Automation, 2012.
trajectory optimization
CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
Nathan Ratliff, Matt Zucker, J. Andrew Bagnell, and Siddhartha Srinivasa. Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2009.

Extracurricular interests


Features/Press appearances


Former students

Alums: please email me if you'd like your website to be added here!

Videos

Opening doors with the DRC-HUBO robot, using Multigrid CHOMP:

Getting Hubo walking during spring break 2013:

Robot solving a marble maze toy, June 2011

Rough terrain walking using the LittleDog quadruped robot: