Aaron M. Johnson | DeepAI

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Featured Co-authors

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∙ 08/16/2023

The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies

We present the design and experimental results of the first 1-DOF, hip-a...

0 James Kyle, et al. ∙

∙ 07/14/2023

Collision Detection for Multi-Robot Motion Planning with Efficient Quad-Tree Update and Skipping

This paper presents a novel and efficient collision checking approach ca...

0 Abdel Zaro, et al. ∙

∙ 06/12/2023

Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems

Hybrid dynamical systems, i.e. systems that have both continuous and dis...

0 Nathan J. Kong, et al. ∙

∙ 04/11/2023

Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization

Trajectory optimization problems for legged robots are commonly formulat...

0 Michael R. Turski, et al. ∙

∙ 04/04/2023

Proprioception and reaction for walking among entanglements

Entanglements like vines and branches in natural settings or cords and p...

0 Justin K. Yim, et al. ∙

∙ 04/01/2023

Grounding Robot Navigation in Self-Defense Law

Robots operating in close proximity to humans rely heavily on human trus...

0 James Zhu, et al. ∙

∙ 04/01/2023

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots

In order to perform highly dynamic and agile maneuvers, legged robots ty...

0 James Zhu, et al. ∙

∙ 03/08/2023

Proprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots

Legged robots leverage ground contacts and the reaction forces they prov...

0 Yanhao Yang, et al. ∙

∙ 03/02/2023

Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning

This paper presents a scalable multi-robot motion planning algorithm cal...

0 Ardalan Tajbakhsh, et al. ∙

∙ 12/07/2022

Reacting to Contact: Transparency and Collision Reflex in Actuation

In unstructured environments, robots run the risk of unexpected collisio...

0 Ankit Bhatia, et al. ∙

∙ 09/06/2022

Adaptive Complexity Model Predictive Control

This work introduces a formulation of model predictive control (MPC) whi...

0 Joseph Norby, et al. ∙

∙ 07/13/2022

Environmental Sampling with the Boustrophedon Decomposition Algorithm

The automation of data collection via mobile robots holds promise for in...

0 Hannah He, et al. ∙

∙ 07/11/2022

Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots

Model Predictive Control (MPC) is a popular strategy for controlling rob...

0 Nathan J. Kong, et al. ∙

∙ 05/03/2022

TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models

We present TartanDrive, a large scale dataset for learning dynamics mode...

0 Samuel Triest, et al. ∙

∙ 02/25/2022

The Uncertainty Aware Salted Kalman Filter: State Estimation for Hybrid Systems with Uncertain Guards

In this paper we present a method for updating robotic state belief thro...

0 J. Joe Payne, et al. ∙

∙ 03/26/2021

iLQR for Piecewise-Smooth Hybrid Dynamical Systems

Trajectory optimization is a popular strategy for planning trajectories ...

0 Nathan J. Kong, et al. ∙

∙ 07/23/2020

Mapping Distributions through Hybrid Dynamical Systems and its Application to Kalman Filtering

Many state estimation and control algorithms require knowledge of how pr...

0 Nathan J. Kong, et al. ∙

∙ 08/07/2019

Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping Sand

Autonomy for robots interacting with sand will enable a wide range of be...

0 Wooshik Kim, et al. ∙

∙ 09/17/2018

Contact-Implicit Trajectory Optimization using Orthogonal Collocation

In this paper we propose a method to improve the accuracy of trajectory ...

0 Amir Patel, et al. ∙

∙ 10/02/2017

Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems

This paper introduces a novel system identification and tracking method ...

0 Gilwoo Lee, et al. ∙

∙ 11/18/2015

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

This paper develops a comparative framework for the design of actuated i...

0 Thomas Libby, et al. ∙

∙ 02/05/2015

A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and ...

0 Aaron M. Johnson, et al. ∙

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