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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...
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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...
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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...
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04/11/2023
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization
Trajectory optimization problems for legged robots are commonly formulat...
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04/04/2023
Proprioception and reaction for walking among entanglements
Entanglements like vines and branches in natural settings or cords and p...
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04/01/2023
Grounding Robot Navigation in Self-Defense Law
Robots operating in close proximity to humans rely heavily on human trus...
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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...
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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...
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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...
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12/07/2022
Reacting to Contact: Transparency and Collision Reflex in Actuation
In unstructured environments, robots run the risk of unexpected collisio...
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09/06/2022
Adaptive Complexity Model Predictive Control
This work introduces a formulation of model predictive control (MPC) whi...
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07/13/2022
Environmental Sampling with the Boustrophedon Decomposition Algorithm
The automation of data collection via mobile robots holds promise for in...
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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...
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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...
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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...
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03/26/2021
iLQR for Piecewise-Smooth Hybrid Dynamical Systems
Trajectory optimization is a popular strategy for planning trajectories ...
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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...
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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...
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09/17/2018
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
In this paper we propose a method to improve the accuracy of trajectory ...
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10/02/2017
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
This paper introduces a novel system identification and tracking method ...
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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...
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02/05/2015