William Yang

I am a member of technical staff at Dyna Robotics, working on dexterous whole-body manipulation across three axes: reliability, accuracy, and speed. I was previously an applied scientist at Amazon Robotics and did my PhD with Michael Posa, focusing on controlling contact for dynamic motions - spanning both legged locomotion and manipulation.



More Bio Info     Github     G. Scholar     LinkedIn    

A biconvex method for minimum-time motion planning through sequences of convex sets

Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew D Marchese
Robotics: Science and Systems (RSS) 2025

Code  •   Arxiv    

Dynamic On-Palm Manipulation via Controlled Sliding

William Yang, Michael Posa
Robotics: Science and Systems (RSS) 2024
Outstanding Student Paper Award
Code  •   Arxiv  •   Website    

Impact-Invariant Control: Maximizing Control Authority During Impacts

William Yang, Michael Posa
Code  •   Arxiv  •   Website    

Validating Robotics Simulators on Real-World Impacts

Brian Acosta*, William Yang*, Michael Posa
IEEE Robotics and Automation Letters (RA-L) 2022
Code  •   Arxiv  •   Dataset    

Impact Invariant Control with Applications to Bipedal Locomotion

William Yang, Michael Posa
IEEE International Conference on Intelligent Robots and Systems (IROS) 2021
Code  •   Arxiv    

Spine morphology and energetics: how principles from nature apply to robotics

Yevgeniy Yesilevskiy, William Yang, and C. David Remy
Bioinspiration & Biomimetics 2018
Paper    

2022

Impact-Invariant Running on the Cassie Bipedal Robot, Dynamic Walking 2022 - Madison, Wisconsin

2022

Impact-Invariant Running on the Cassie Bipedal Robot, ICRA 2022, Legged Robots Workshop - Philadelphia, Pennsylvania

2017

The Effect of Spine Morphology on the Motions and Energetics of Quadrupedal Robots, Dynamic Walking 2017 - Mariehamn, Finland

2023

Applied Scientist II intern - Amazon Robotics: Cambridge, Massachusetts

2019

NSF GRFP